| /* |
| * Copyright (C) 2014 The Android Open Source Project |
| * |
| * Licensed under the Apache License, Version 2.0 (the "License"); |
| * you may not use this file except in compliance with the License. |
| * You may obtain a copy of the License at |
| * |
| * http://www.apache.org/licenses/LICENSE-2.0 |
| * |
| * Unless required by applicable law or agreed to in writing, software |
| * distributed under the License is distributed on an "AS IS" BASIS, |
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| * See the License for the specific language governing permissions and |
| * limitations under the License. |
| */ |
| |
| #define LOG_NDEBUG 0 |
| |
| #include <fcntl.h> |
| #include <errno.h> |
| #include <math.h> |
| #include <unistd.h> |
| #include <dirent.h> |
| #include <sys/select.h> |
| #include <cutils/log.h> |
| #include <linux/input.h> |
| #include <string.h> |
| |
| #include "CompassSensor.IIO.9150.h" |
| #include "sensors.h" |
| #include "MPLSupport.h" |
| #include "sensor_params.h" |
| #include "ml_sysfs_helper.h" |
| |
| #define COMPASS_MAX_SYSFS_ATTRB sizeof(compassSysFs) / sizeof(char*) |
| #define COMPASS_NAME "USE_SYSFS" |
| |
| #if defined COMPASS_YAS53x |
| #pragma message("HAL:build Invensense compass cal with YAS53x IIO on secondary bus") |
| #define USE_MPL_COMPASS_HAL (1) |
| #define COMPASS_NAME "INV_YAS530" |
| |
| #elif defined COMPASS_AK8975 |
| #pragma message("HAL:build Invensense compass cal with AK8975 on primary bus") |
| #define USE_MPL_COMPASS_HAL (1) |
| #define COMPASS_NAME "INV_AK8975" |
| |
| #elif defined INVENSENSE_COMPASS_CAL |
| # define COMPASS_NAME "USE_SYSFS" |
| #pragma message("HAL:build Invensense compass cal with compass IIO on secondary bus") |
| #define USE_MPL_COMPASS_HAL (1) |
| #else |
| #pragma message("HAL:build third party compass cal HAL") |
| #define USE_MPL_COMPASS_HAL (0) |
| // TODO: change to vendor's name |
| #define COMPASS_NAME "AKM8975" |
| |
| #endif |
| |
| /*****************************************************************************/ |
| |
| CompassSensor::CompassSensor() |
| : SensorBase(NULL, NULL), |
| compass_fd(-1), |
| mCompassTimestamp(0), |
| mCompassInputReader(8) |
| { |
| VFUNC_LOG; |
| |
| if(!strcmp(COMPASS_NAME, "USE_SYSFS")) { |
| int result = find_name_by_sensor_type("in_magn_scale", "iio:device", |
| sensor_name); |
| if(result) { |
| LOGE("HAL:Cannot read secondary device name - (%d)", result); |
| } |
| dev_name = sensor_name; |
| } |
| LOGI_IF(PROCESS_VERBOSE, "HAL:Secondary Chip Id: %s", dev_name); |
| |
| if(inv_init_sysfs_attributes()) { |
| LOGE("Error Instantiating Compass\n"); |
| return; |
| } |
| |
| memset(mCachedCompassData, 0, sizeof(mCachedCompassData)); |
| |
| LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:cat %s (%lld)", |
| compassSysFs.compass_orient, getTimestamp()); |
| FILE *fptr; |
| fptr = fopen(compassSysFs.compass_orient, "r"); |
| if (fptr != NULL) { |
| int om[9]; |
| if (fscanf(fptr, "%d,%d,%d,%d,%d,%d,%d,%d,%d", |
| &om[0], &om[1], &om[2], &om[3], &om[4], &om[5], |
| &om[6], &om[7], &om[8]) < 0 || fclose(fptr) < 0) { |
| LOGE("HAL:Could not read compass mounting matrix"); |
| } else { |
| LOGV_IF(EXTRA_VERBOSE, "HAL:compass mounting matrix: " |
| "%+d %+d %+d %+d %+d %+d %+d %+d %+d", om[0], om[1], om[2], |
| om[3], om[4], om[5], om[6], om[7], om[8]); |
| mCompassOrientation[0] = om[0]; |
| mCompassOrientation[1] = om[1]; |
| mCompassOrientation[2] = om[2]; |
| mCompassOrientation[3] = om[3]; |
| mCompassOrientation[4] = om[4]; |
| mCompassOrientation[5] = om[5]; |
| mCompassOrientation[6] = om[6]; |
| mCompassOrientation[7] = om[7]; |
| mCompassOrientation[8] = om[8]; |
| } |
| } |
| |
| if (!isIntegrated()) { |
| enable(ID_M, 0); |
| } |
| } |
| |
| CompassSensor::~CompassSensor() |
| { |
| VFUNC_LOG; |
| free(pathP); |
| if( compass_fd > 0) |
| close(compass_fd); |
| } |
| |
| int CompassSensor::getFd() const |
| { |
| VFUNC_LOG; |
| return compass_fd; |
| } |
| |
| /** |
| * @brief This function will enable/disable sensor. |
| * @param[in] handle |
| * which sensor to enable/disable. |
| * @param[in] en |
| * en=1, enable; |
| * en=0, disable |
| * @return if the operation is successful. |
| */ |
| int CompassSensor::enable(int32_t handle, int en) |
| { |
| VFUNC_LOG; |
| int res = 0; |
| LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)", |
| en, compassSysFs.compass_enable, getTimestamp()); |
| res = write_sysfs_int(compassSysFs.compass_enable, en); |
| return res; |
| } |
| |
| int CompassSensor::setDelay(int32_t handle, int64_t ns) |
| { |
| VFUNC_LOG; |
| int tempFd; |
| int res; |
| |
| LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %.0f > %s (%lld)", |
| 1000000000.f / ns, compassSysFs.compass_rate, getTimestamp()); |
| mDelay = ns; |
| if (ns == 0) |
| return -1; |
| tempFd = open(compassSysFs.compass_rate, O_RDWR); |
| res = write_attribute_sensor(tempFd, 1000000000.f / ns); |
| if(res < 0) { |
| LOGE("HAL:Compass update delay error"); |
| } |
| return res; |
| } |
| |
| int CompassSensor::turnOffCompassFifo(void) |
| { |
| int i, res = 0, tempFd; |
| LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)", |
| 0, compassSysFs.compass_fifo_enable, getTimestamp()); |
| res += write_sysfs_int(compassSysFs.compass_fifo_enable, 0); |
| return res; |
| } |
| |
| int CompassSensor::turnOnCompassFifo(void) |
| { |
| int i, res = 0, tempFd; |
| LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)", |
| 1, compassSysFs.compass_fifo_enable, getTimestamp()); |
| res += write_sysfs_int(compassSysFs.compass_fifo_enable, 1); |
| return res; |
| } |
| |
| /** |
| @brief This function will return the state of the sensor. |
| @return 1=enabled; 0=disabled |
| **/ |
| int CompassSensor::getEnable(int32_t handle) |
| { |
| VFUNC_LOG; |
| return mEnable; |
| } |
| |
| /* use for Invensense compass calibration */ |
| #define COMPASS_EVENT_DEBUG (0) |
| void CompassSensor::processCompassEvent(const input_event *event) |
| { |
| VHANDLER_LOG; |
| |
| switch (event->code) { |
| case EVENT_TYPE_ICOMPASS_X: |
| LOGV_IF(COMPASS_EVENT_DEBUG, "EVENT_TYPE_ICOMPASS_X\n"); |
| mCachedCompassData[0] = event->value; |
| break; |
| case EVENT_TYPE_ICOMPASS_Y: |
| LOGV_IF(COMPASS_EVENT_DEBUG, "EVENT_TYPE_ICOMPASS_Y\n"); |
| mCachedCompassData[1] = event->value; |
| break; |
| case EVENT_TYPE_ICOMPASS_Z: |
| LOGV_IF(COMPASS_EVENT_DEBUG, "EVENT_TYPE_ICOMPASS_Z\n"); |
| mCachedCompassData[2] = event->value; |
| break; |
| } |
| |
| mCompassTimestamp = |
| (int64_t)event->time.tv_sec * 1000000000L + event->time.tv_usec * 1000L; |
| } |
| |
| void CompassSensor::getOrientationMatrix(signed char *orient) |
| { |
| VFUNC_LOG; |
| memcpy(orient, mCompassOrientation, sizeof(mCompassOrientation)); |
| } |
| |
| long CompassSensor::getSensitivity() |
| { |
| VFUNC_LOG; |
| |
| long sensitivity; |
| LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:cat %s (%lld)", |
| compassSysFs.compass_scale, getTimestamp()); |
| inv_read_data(compassSysFs.compass_scale, &sensitivity); |
| return sensitivity; |
| } |
| |
| /** |
| @brief This function is called by sensors_mpl.cpp |
| to read sensor data from the driver. |
| @param[out] data sensor data is stored in this variable. Scaled such that |
| 1 uT = 2^16 |
| @para[in] timestamp data's timestamp |
| @return 1, if 1 sample read, 0, if not, negative if error |
| */ |
| int CompassSensor::readSample(long *data, int64_t *timestamp) |
| { |
| VHANDLER_LOG; |
| |
| int numEventReceived = 0, done = 0; |
| |
| ssize_t n = mCompassInputReader.fill(compass_fd); |
| if (n < 0) { |
| LOGE("HAL:no compass events read"); |
| return n; |
| } |
| |
| input_event const* event; |
| |
| while (done == 0 && mCompassInputReader.readEvent(&event)) { |
| int type = event->type; |
| if (type == EV_REL) { |
| processCompassEvent(event); |
| } else if (type == EV_SYN) { |
| *timestamp = mCompassTimestamp; |
| memcpy(data, mCachedCompassData, sizeof(mCachedCompassData)); |
| done = 1; |
| } else { |
| LOGE("HAL:Compass Sensor: unknown event (type=%d, code=%d)", |
| type, event->code); |
| } |
| mCompassInputReader.next(); |
| } |
| |
| return done; |
| } |
| |
| /** |
| * @brief This function will return the current delay for this sensor. |
| * @return delay in nanoseconds. |
| */ |
| int64_t CompassSensor::getDelay(int32_t handle) |
| { |
| VFUNC_LOG; |
| return mDelay; |
| } |
| |
| void CompassSensor::fillList(struct sensor_t *list) |
| { |
| VFUNC_LOG; |
| |
| const char *compass = sensor_name; |
| |
| if (compass) { |
| if(!strcmp(compass, "INV_COMPASS")) { |
| list->maxRange = COMPASS_MPU9150_RANGE; |
| list->resolution = COMPASS_MPU9150_RESOLUTION; |
| list->power = COMPASS_MPU9150_POWER; |
| list->minDelay = COMPASS_MPU9150_MINDELAY; |
| return; |
| } |
| if(!strcmp(compass, "compass") |
| || !strcmp(compass, "INV_AK8975") |
| || !strcmp(compass, "AK8975") |
| || !strcmp(compass, "ak8975")) { |
| list->maxRange = COMPASS_AKM8975_RANGE; |
| list->resolution = COMPASS_AKM8975_RESOLUTION; |
| list->power = COMPASS_AKM8975_POWER; |
| list->minDelay = COMPASS_AKM8975_MINDELAY; |
| return; |
| } |
| if(!strcmp(compass, "compass") |
| || !strcmp(compass, "INV_AK8963") |
| || !strcmp(compass, "AK8963") |
| || !strcmp(compass, "ak8963")) { |
| list->maxRange = COMPASS_AKM8963_RANGE; |
| list->resolution = COMPASS_AKM8963_RESOLUTION; |
| list->power = COMPASS_AKM8963_POWER; |
| list->minDelay = COMPASS_AKM8963_MINDELAY; |
| return; |
| } |
| if(!strcmp(compass, "compass") |
| || !strcmp(compass, "INV_AK09911") |
| || !strcmp(compass, "AK09911") |
| || !strcmp(compass, "ak09911")) { |
| list->maxRange = COMPASS_AKM9911_RANGE; |
| list->resolution = COMPASS_AKM9911_RESOLUTION; |
| list->power = COMPASS_AKM9911_POWER; |
| list->minDelay = COMPASS_AKM9911_MINDELAY; |
| return; |
| } |
| if(!strcmp(compass, "compass") |
| || !strcmp(compass, "INV_AK09912") |
| || !strcmp(compass, "AK09912") |
| || !strcmp(compass, "ak09912")) { |
| list->maxRange = COMPASS_AKM9912_RANGE; |
| list->resolution = COMPASS_AKM9912_RESOLUTION; |
| list->power = COMPASS_AKM9912_POWER; |
| list->minDelay = COMPASS_AKM9912_MINDELAY; |
| return; |
| } |
| if(!strcmp(compass, "compass") |
| || !strncmp(compass, "mlx90399",3) |
| || !strncmp(compass, "MLX90399",3)) { |
| list->maxRange = COMPASS_MPU9350_RANGE; |
| list->resolution = COMPASS_MPU9350_RESOLUTION; |
| list->power = COMPASS_MPU9350_POWER; |
| list->minDelay = COMPASS_MPU9350_MINDELAY; |
| return; |
| } |
| if(!strcmp(compass, "INV_YAS530")) { |
| list->maxRange = COMPASS_YAS53x_RANGE; |
| list->resolution = COMPASS_YAS53x_RESOLUTION; |
| list->power = COMPASS_YAS53x_POWER; |
| list->minDelay = COMPASS_YAS53x_MINDELAY; |
| return; |
| } |
| if(!strcmp(compass, "INV_AMI306")) { |
| list->maxRange = COMPASS_AMI306_RANGE; |
| list->resolution = COMPASS_AMI306_RESOLUTION; |
| list->power = COMPASS_AMI306_POWER; |
| list->minDelay = COMPASS_AMI306_MINDELAY; |
| return; |
| } |
| } |
| LOGE("HAL:unknown compass id %s -- " |
| "params default to ak8975 and might be wrong.", |
| compass); |
| list->maxRange = COMPASS_AKM8975_RANGE; |
| list->resolution = COMPASS_AKM8975_RESOLUTION; |
| list->power = COMPASS_AKM8975_POWER; |
| list->minDelay = COMPASS_AKM8975_MINDELAY; |
| } |
| |
| int CompassSensor::inv_init_sysfs_attributes(void) |
| { |
| VFUNC_LOG; |
| |
| char sysfs_path[MAX_SYSFS_NAME_LEN]; |
| char iio_trigger_path[MAX_SYSFS_NAME_LEN]; |
| |
| pathP = (char*)calloc(COMPASS_MAX_SYSFS_ATTRB, |
| sizeof(char[MAX_SYSFS_NAME_LEN])); |
| if (pathP == NULL) |
| return -1; |
| |
| memset(sysfs_path, 0, sizeof(sysfs_path)); |
| memset(iio_trigger_path, 0, sizeof(iio_trigger_path)); |
| |
| char *sptr = pathP; |
| char **dptr = reinterpret_cast<char **>(&compassSysFs); |
| for (size_t i = 0; i < COMPASS_MAX_SYSFS_ATTRB; i++) { |
| *dptr++ = sptr; |
| sptr += sizeof(char[MAX_SYSFS_NAME_LEN]); |
| } |
| |
| // get proper (in absolute/relative) IIO path & build MPU's sysfs paths |
| // inv_get_sysfs_abs_path(sysfs_path); |
| inv_get_sysfs_path(sysfs_path); |
| inv_get_iio_trigger_path(iio_trigger_path); |
| |
| #if defined COMPASS_AK8975 |
| char tbuf[2]; |
| int num; |
| |
| inv_get_input_number(dev_name, &num); |
| tbuf[0] = num + 0x30; |
| tbuf[1] = 0; |
| sprintf(sysfs_path, "%s%s", "sys/class/input/input", tbuf); |
| strcat(sysfs_path, "/ak8975"); |
| |
| sprintf(compassSysFs.compass_enable, "%s%s", sysfs_path, "/enable"); |
| sprintf(compassSysFs.compass_rate, "%s%s", sysfs_path, "/rate"); |
| sprintf(compassSysFs.compass_scale, "%s%s", sysfs_path, "/scale"); |
| sprintf(compassSysFs.compass_orient, "%s%s", sysfs_path, "/compass_matrix"); |
| #else |
| sprintf(compassSysFs.compass_enable, "%s%s", sysfs_path, "/compass_enable"); |
| sprintf(compassSysFs.compass_fifo_enable, "%s%s", sysfs_path, "/compass_fifo_enable"); |
| sprintf(compassSysFs.compass_rate, "%s%s", sysfs_path, "/compass_rate"); |
| sprintf(compassSysFs.compass_scale, "%s%s", sysfs_path, "/in_magn_scale"); |
| sprintf(compassSysFs.compass_orient, "%s%s", sysfs_path, "/compass_matrix"); |
| #endif |
| |
| return 0; |
| } |
