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/*
* Copyright (C) 2012 Invensense, Inc.
*
* 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
//see also the EXTRA_VERBOSE define in the MPLSensor.h header file
#include <fcntl.h>
#include <errno.h>
#include <math.h>
#include <float.h>
#include <poll.h>
#include <unistd.h>
#include <dirent.h>
#include <stdlib.h>
#include <sys/select.h>
#include <sys/syscall.h>
#include <dlfcn.h>
#include <pthread.h>
#include <cutils/log.h>
#include <utils/KeyedVector.h>
#include <utils/String8.h>
#include <string.h>
#include <linux/input.h>
#include <utils/Atomic.h>
#include "MPLSensor.h"
#include "MPLSupport.h"
#include "sensor_params.h"
#include "local_log_def.h"
#include "invensense.h"
#include "invensense_adv.h"
#include "ml_stored_data.h"
#include "ml_load_dmp.h"
#include "ml_sysfs_helper.h"
// #define TESTING
#ifdef THIRD_PARTY_ACCEL
# warning "Third party accel"
# define USE_THIRD_PARTY_ACCEL (1)
#else
# define USE_THIRD_PARTY_ACCEL (0)
#endif
#define MAX_SYSFS_ATTRB (sizeof(struct sysfs_attrbs) / sizeof(char*))
/******************************************************************************/
/* MPL interface misc. */
/******************************************************************************/
static int hertz_request = 200;
#define DEFAULT_MPL_GYRO_RATE (20000L) //us
#define DEFAULT_MPL_COMPASS_RATE (20000L) //us
#define DEFAULT_HW_GYRO_RATE (100) //Hz
#define DEFAULT_HW_ACCEL_RATE (20) //ms
#define DEFAULT_HW_COMPASS_RATE (20000000L) //ns
#define DEFAULT_HW_AKMD_COMPASS_RATE (200000000L) //ns
/* convert ns to hardware units */
#define HW_GYRO_RATE_NS (1000000000LL / rate_request) // to Hz
#define HW_ACCEL_RATE_NS (rate_request / (1000000L)) // to ms
#define HW_COMPASS_RATE_NS (rate_request) // to ns
/* convert Hz to hardware units */
#define HW_GYRO_RATE_HZ (hertz_request)
#define HW_ACCEL_RATE_HZ (1000 / hertz_request)
#define HW_COMPASS_RATE_HZ (1000000000LL / hertz_request)
#define RATE_200HZ 5000000LL
#define RATE_15HZ 66667000LL
#define RATE_5HZ 200000000LL
static struct sensor_t sSensorList[] =
{
{"MPL Gyroscope", "Invensense", 1,
SENSORS_GYROSCOPE_HANDLE,
SENSOR_TYPE_GYROSCOPE, 2000.0f, 1.0f, 0.5f, 10000, 0, 0, 0, 0, 0, 0, {}},
{"MPL Raw Gyroscope", "Invensense", 1,
SENSORS_RAW_GYROSCOPE_HANDLE,
SENSOR_TYPE_GYROSCOPE, 2000.0f, 1.0f, 0.5f, 10000, 0, 0, 0, 0, 0, 0, {}},
{"MPL Accelerometer", "Invensense", 1,
SENSORS_ACCELERATION_HANDLE,
SENSOR_TYPE_ACCELEROMETER, 10240.0f, 1.0f, 0.5f, 10000, 0, 0, 0, 0, 0, 0, {}},
{"MPL Magnetic Field", "Invensense", 1,
SENSORS_MAGNETIC_FIELD_HANDLE,
SENSOR_TYPE_MAGNETIC_FIELD, 10240.0f, 1.0f, 0.5f, 10000, 0, 0, 0, 0, 0, 0, {}},
{"MPL Orientation", "Invensense", 1,
SENSORS_ORIENTATION_HANDLE,
SENSOR_TYPE_ORIENTATION, 360.0f, 1.0f, 9.7f, 10000, 0, 0, 0, 0, 0, 0, {}},
{"MPL Rotation Vector", "Invensense", 1,
SENSORS_ROTATION_VECTOR_HANDLE,
SENSOR_TYPE_ROTATION_VECTOR, 10240.0f, 1.0f, 0.5f, 10000, 0, 0, 0, 0, 0, 0, {}},
{"MPL Linear Acceleration", "Invensense", 1,
SENSORS_LINEAR_ACCEL_HANDLE,
SENSOR_TYPE_LINEAR_ACCELERATION, 10240.0f, 1.0f, 0.5f, 10000, 0, 0, 0, 0, 0, 0, {}},
{"MPL Gravity", "Invensense", 1,
SENSORS_GRAVITY_HANDLE,
SENSOR_TYPE_GRAVITY, 10240.0f, 1.0f, 0.5f, 10000, 0, 0, 0, 0, 0, 0, {}},
#ifdef ENABLE_DMP_SCREEN_AUTO_ROTATION
{"MPL Screen Orientation", "Invensense ", 1,
SENSORS_SCREEN_ORIENTATION_HANDLE,
SENSOR_TYPE_SCREEN_ORIENTATION, 100.0f, 1.0f, 1.1f, 0, 0, 0, 0, 0, 0, 0, {}},
#endif
};
MPLSensor *MPLSensor::gMPLSensor = NULL;
extern "C" {
void procData_cb_wrapper()
{
if(MPLSensor::gMPLSensor) {
MPLSensor::gMPLSensor->cbProcData();
}
}
void setCallbackObject(MPLSensor* gbpt)
{
MPLSensor::gMPLSensor = gbpt;
}
MPLSensor* getCallbackObject() {
return MPLSensor::gMPLSensor;
}
} // end of extern C
#ifdef INV_PLAYBACK_DBG
static FILE *logfile = NULL;
#endif
pthread_mutex_t GlobalHalMutex = PTHREAD_MUTEX_INITIALIZER;
/*******************************************************************************
* MPLSensor class implementation
******************************************************************************/
MPLSensor::MPLSensor(CompassSensor *compass, int (*m_pt2AccelCalLoadFunc)(long *))
: SensorBase(NULL, NULL),
mNewData(0),
mMasterSensorMask(INV_ALL_SENSORS),
mLocalSensorMask(0),
mPollTime(-1),
mHaveGoodMpuCal(0),
mGyroAccuracy(0),
mAccelAccuracy(0),
mCompassAccuracy(0),
mSampleCount(0),
dmp_orient_fd(-1),
mDmpOrientationEnabled(0),
mEnabled(0),
mOldEnabledMask(0),
mAccelInputReader(4),
mGyroInputReader(32),
mTempScale(0),
mTempOffset(0),
mTempCurrentTime(0),
mAccelScale(2),
mPendingMask(0),
mSensorMask(0),
mFeatureActiveMask(0) {
VFUNC_LOG;
inv_error_t rv;
int i, fd;
char *port = NULL;
char *ver_str;
unsigned long mSensorMask;
int res;
FILE *fptr;
mCompassSensor = compass;
LOGV_IF(EXTRA_VERBOSE,
"HAL:MPLSensor constructor : numSensors = %d", numSensors);
pthread_mutex_init(&mMplMutex, NULL);
pthread_mutex_init(&mHALMutex, NULL);
memset(mGyroOrientation, 0, sizeof(mGyroOrientation));
memset(mAccelOrientation, 0, sizeof(mAccelOrientation));
#ifdef INV_PLAYBACK_DBG
LOGV_IF(PROCESS_VERBOSE, "HAL:inv_turn_on_data_logging");
logfile = fopen("/data/playback.bin", "wb");
if (logfile)
inv_turn_on_data_logging(logfile);
#endif
/* setup sysfs paths */
inv_init_sysfs_attributes();
/* get chip name */
if (inv_get_chip_name(chip_ID) != INV_SUCCESS) {
LOGE("HAL:ERR- Failed to get chip ID\n");
} else {
LOGV_IF(PROCESS_VERBOSE, "HAL:Chip ID= %s\n", chip_ID);
}
enable_iio_sysfs();
/* turn on power state */
onPower(1);
/* reset driver master enable */
masterEnable(0);
if (isLowPowerQuatEnabled() || isDmpDisplayOrientationOn()) {
/* Load DMP image if capable, ie. MPU6xxx/9xxx */
loadDMP();
}
/* open temperature fd for temp comp */
LOGV_IF(EXTRA_VERBOSE, "HAL:gyro temperature path: %s", mpu.temperature);
gyro_temperature_fd = open(mpu.temperature, O_RDONLY);
if (gyro_temperature_fd == -1) {
LOGE("HAL:could not open temperature node");
} else {
LOGV_IF(EXTRA_VERBOSE,
"HAL:temperature_fd opened: %s", mpu.temperature);
}
/* read accel FSR to calcuate accel scale later */
if (!USE_THIRD_PARTY_ACCEL) {
char buf[3];
int count = 0;
LOGV_IF(SYSFS_VERBOSE,
"HAL:sysfs:cat %s (%lld)", mpu.accel_fsr, getTimestamp());
fd = open(mpu.accel_fsr, O_RDONLY);
if(fd < 0) {
LOGE("HAL:Error opening accel FSR");
} else {
memset(buf, 0, sizeof(buf));
count = read_attribute_sensor(fd, buf, sizeof(buf));
if(count < 1) {
LOGE("HAL:Error reading accel FSR");
} else {
count = sscanf(buf, "%d", &mAccelScale);
if(count)
LOGV_IF(EXTRA_VERBOSE, "HAL:Accel FSR used %d", mAccelScale);
}
close(fd);
}
}
/* initialize sensor data */
memset(mPendingEvents, 0, sizeof(mPendingEvents));
mPendingEvents[RotationVector].version = sizeof(sensors_event_t);
mPendingEvents[RotationVector].sensor = ID_RV;
mPendingEvents[RotationVector].type = SENSOR_TYPE_ROTATION_VECTOR;
mPendingEvents[LinearAccel].version = sizeof(sensors_event_t);
mPendingEvents[LinearAccel].sensor = ID_LA;
mPendingEvents[LinearAccel].type = SENSOR_TYPE_LINEAR_ACCELERATION;
mPendingEvents[Gravity].version = sizeof(sensors_event_t);
mPendingEvents[Gravity].sensor = ID_GR;
mPendingEvents[Gravity].type = SENSOR_TYPE_GRAVITY;
mPendingEvents[Gyro].version = sizeof(sensors_event_t);
mPendingEvents[Gyro].sensor = ID_GY;
mPendingEvents[Gyro].type = SENSOR_TYPE_GYROSCOPE;
mPendingEvents[RawGyro].version = sizeof(sensors_event_t);
mPendingEvents[RawGyro].sensor = ID_RG;
mPendingEvents[RawGyro].type = SENSOR_TYPE_GYROSCOPE;
mPendingEvents[Accelerometer].version = sizeof(sensors_event_t);
mPendingEvents[Accelerometer].sensor = ID_A;
mPendingEvents[Accelerometer].type = SENSOR_TYPE_ACCELEROMETER;
/* Invensense compass calibration */
mPendingEvents[MagneticField].version = sizeof(sensors_event_t);
mPendingEvents[MagneticField].sensor = ID_M;
mPendingEvents[MagneticField].type = SENSOR_TYPE_MAGNETIC_FIELD;
mPendingEvents[MagneticField].magnetic.status =
SENSOR_STATUS_ACCURACY_HIGH;
mPendingEvents[Orientation].version = sizeof(sensors_event_t);
mPendingEvents[Orientation].sensor = ID_O;
mPendingEvents[Orientation].type = SENSOR_TYPE_ORIENTATION;
mPendingEvents[Orientation].orientation.status
= SENSOR_STATUS_ACCURACY_HIGH;
mHandlers[RotationVector] = &MPLSensor::rvHandler;
mHandlers[LinearAccel] = &MPLSensor::laHandler;
mHandlers[Gravity] = &MPLSensor::gravHandler;
mHandlers[Gyro] = &MPLSensor::gyroHandler;
mHandlers[RawGyro] = &MPLSensor::rawGyroHandler;
mHandlers[Accelerometer] = &MPLSensor::accelHandler;
mHandlers[MagneticField] = &MPLSensor::compassHandler;
mHandlers[Orientation] = &MPLSensor::orienHandler;
for (int i = 0; i < numSensors; i++) {
mDelays[i] = 0;
}
(void)inv_get_version(&ver_str);
LOGV_IF(PROCESS_VERBOSE, "%s\n", ver_str);
/* setup MPL */
inv_constructor_init();
/* load calibration file from /data/inv_cal_data.bin */
rv = inv_load_calibration();
if(rv == INV_SUCCESS)
LOGV_IF(PROCESS_VERBOSE, "HAL:Calibration file successfully loaded");
else
LOGE("HAL:Could not open or load MPL calibration file (%d)", rv);
/* Takes external Accel Calibration Load Method */
if( m_pt2AccelCalLoadFunc != NULL)
{
long accel_offset[3];
long tmp_offset[3];
int result = m_pt2AccelCalLoadFunc(accel_offset);
if(result)
LOGW("HAL:Vendor accelerometer calibration file load failed %d\n", result);
else
{
LOGW("HAL:Vendor accelerometer calibration file successfully loaded");
inv_get_accel_bias(tmp_offset, NULL);
LOGV_IF(PROCESS_VERBOSE, "HAL:Original accel offset, %ld, %ld, %ld\n",
tmp_offset[0], tmp_offset[1], tmp_offset[2]);
inv_set_accel_bias(accel_offset, mAccelAccuracy);
inv_get_accel_bias(tmp_offset, NULL);
LOGV_IF(PROCESS_VERBOSE, "HAL:Set accel offset, %ld, %ld, %ld\n",
tmp_offset[0], tmp_offset[1], tmp_offset[2]);
}
}
/* End of Accel Calibration Load Method */
inv_set_device_properties();
/* disable driver master enable the first sensor goes on */
masterEnable(0);
enableGyro(0);
enableAccel(0);
enableCompass(0);
if (isLowPowerQuatEnabled()) {
enableLPQuaternion(0);
}
onPower(0);
if (isDmpDisplayOrientationOn()) {
enableDmpOrientation(!isDmpScreenAutoRotationEnabled());
}
}
void MPLSensor::enable_iio_sysfs()
{
VFUNC_LOG;
char iio_trigger_name[MAX_CHIP_ID_LEN], iio_device_node[MAX_CHIP_ID_LEN];
FILE *tempFp = NULL;
/* ignore failures */
write_sysfs_int(mpu.in_timestamp_en, 1);
LOGV_IF(SYSFS_VERBOSE,
"HAL:sysfs:cat %s (%lld)",
mpu.trigger_name, getTimestamp());
tempFp = fopen(mpu.trigger_name, "r");
if (tempFp == NULL) {
LOGE("HAL:could not open trigger name");
} else {
if (fscanf(tempFp, "%s", iio_trigger_name) < 0) {
LOGE("HAL:could not read trigger name");
}
fclose(tempFp);
}
LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %s > %s (%lld)",
iio_trigger_name, mpu.current_trigger, getTimestamp());
tempFp = fopen(mpu.current_trigger, "w");
if (tempFp == NULL) {
LOGE("HAL:could not open current trigger");
} else {
if (fprintf(tempFp, "%s", iio_trigger_name) < 0 || fclose(tempFp) < 0) {
LOGE("HAL:could not write current trigger %s err=%d", iio_trigger_name, errno);
}
}
write_sysfs_int(mpu.buffer_length, IIO_BUFFER_LENGTH);
if (inv_get_iio_device_node(iio_device_node) < 0) {
LOGE("HAL:could retrive the iio device node");
}
iio_fd = open(iio_device_node, O_RDONLY);
if (iio_fd < 0) {
LOGE("HAL:could not open iio device node");
} else {
LOGV_IF(PROCESS_VERBOSE, "HAL:iio iio_fd (%s) opened: %d", iio_device_node, iio_fd);
}
}
int MPLSensor::inv_constructor_init()
{
VFUNC_LOG;
inv_error_t result = inv_init_mpl();
if (result) {
LOGE("HAL:inv_init_mpl() failed");
return result;
}
result = inv_constructor_default_enable();
result = inv_start_mpl();
if (result) {
LOGE("HAL:inv_start_mpl() failed");
LOG_RESULT_LOCATION(result);
return result;
}
return result;
}
int MPLSensor::inv_constructor_default_enable()
{
VFUNC_LOG;
inv_error_t result;
result = inv_enable_quaternion();
if (result) {
LOGE("HAL:Cannot enable quaternion\n");
return result;
}
result = inv_enable_in_use_auto_calibration();
if (result) {
return result;
}
// result = inv_enable_motion_no_motion();
result = inv_enable_fast_nomot();
if (result) {
return result;
}
result = inv_enable_gyro_tc();
if (result) {
return result;
}
result = inv_enable_hal_outputs();
if (result) {
return result;
}
if (!mCompassSensor->providesCalibration()) {
/* Invensense compass calibration */
LOGV_IF(PROCESS_VERBOSE, "HAL:Invensense vector compass cal enabled");
result = inv_enable_vector_compass_cal();
if (result) {
LOG_RESULT_LOCATION(result);
return result;
} else {
mFeatureActiveMask |= INV_COMPASS_CAL;
}
// specify MPL's trust weight, used by compass algorithms
inv_vector_compass_cal_sensitivity(3);
result = inv_enable_compass_bias_w_gyro();
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
result = inv_enable_heading_from_gyro();
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
result = inv_enable_magnetic_disturbance();
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
}
result = inv_enable_9x_sensor_fusion();
if (result) {
LOG_RESULT_LOCATION(result);
return result;
} else {
// 9x sensor fusion enables Compass fit
mFeatureActiveMask |= INV_COMPASS_FIT;
}
result = inv_enable_no_gyro_fusion();
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
result = inv_enable_quat_accuracy_monitor();
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
return result;
}
/* TODO: create function pointers to calculate scale */
void MPLSensor::inv_set_device_properties()
{
VFUNC_LOG;
unsigned short orient;
inv_get_sensors_orientation();
inv_set_gyro_sample_rate(DEFAULT_MPL_GYRO_RATE);
inv_set_compass_sample_rate(DEFAULT_MPL_COMPASS_RATE);
/* gyro setup */
orient = inv_orientation_matrix_to_scalar(mGyroOrientation);
inv_set_gyro_orientation_and_scale(orient, 2000L << 15);
/* accel setup */
orient = inv_orientation_matrix_to_scalar(mAccelOrientation);
/* use for third party accel input subsystem driver
inv_set_accel_orientation_and_scale(orient, 1LL << 22);
*/
inv_set_accel_orientation_and_scale(orient, mAccelScale << 15);
/* compass setup */
signed char orientMtx[9];
mCompassSensor->getOrientationMatrix(orientMtx);
orient =
inv_orientation_matrix_to_scalar(orientMtx);
long sensitivity;
sensitivity = mCompassSensor->getSensitivity();
inv_set_compass_orientation_and_scale(orient, sensitivity);
}
void MPLSensor::loadDMP()
{
int res, fd;
FILE *fptr;
if (isMpu3050()) {
//DMP support only for MPU6xxx/9xxx currently
return;
}
/* load DMP firmware */
LOGV_IF(SYSFS_VERBOSE,
"HAL:sysfs:cat %s (%lld)", mpu.firmware_loaded, getTimestamp());
fd = open(mpu.firmware_loaded, O_RDONLY);
if(fd < 0) {
LOGE("HAL:could not open dmp state");
return;
}
if(inv_read_dmp_state(fd)) {
LOGV_IF(PROCESS_VERBOSE, "HAL:DMP is already loaded");
return;
}
LOGV_IF(EXTRA_VERBOSE, "HAL:load dmp: %s", mpu.dmp_firmware);
fptr = fopen(mpu.dmp_firmware, "w");
if(!fptr) {
LOGE("HAL:could open %s for write. %s", mpu.dmp_firmware, strerror(errno));
return;
}
res = inv_load_dmp(fptr);
if(res < 0) {
LOGE("HAL:load DMP failed");
} else {
LOGV_IF(PROCESS_VERBOSE, "HAL:DMP loaded");
}
fclose(fptr);
// onDMP(1); //Can't enable here. See note onDMP()
}
void MPLSensor::inv_get_sensors_orientation()
{
FILE *fptr;
// get gyro orientation
LOGV_IF(SYSFS_VERBOSE,
"HAL:sysfs:cat %s (%lld)", mpu.gyro_orient, getTimestamp());
fptr = fopen(mpu.gyro_orient, "r");
if (fptr != NULL) {
int om[9];
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]);
fclose(fptr);
LOGV_IF(EXTRA_VERBOSE,
"HAL:gyro 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]);
mGyroOrientation[0] = om[0];
mGyroOrientation[1] = om[1];
mGyroOrientation[2] = om[2];
mGyroOrientation[3] = om[3];
mGyroOrientation[4] = om[4];
mGyroOrientation[5] = om[5];
mGyroOrientation[6] = om[6];
mGyroOrientation[7] = om[7];
mGyroOrientation[8] = om[8];
} else {
LOGE("HAL:Couldn't read gyro mounting matrix");
}
// get accel orientation
LOGV_IF(SYSFS_VERBOSE,
"HAL:sysfs:cat %s (%lld)", mpu.accel_orient, getTimestamp());
fptr = fopen(mpu.accel_orient, "r");
if (fptr != NULL) {
int om[9];
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]);
fclose(fptr);
LOGV_IF(EXTRA_VERBOSE,
"HAL:accel 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]);
mAccelOrientation[0] = om[0];
mAccelOrientation[1] = om[1];
mAccelOrientation[2] = om[2];
mAccelOrientation[3] = om[3];
mAccelOrientation[4] = om[4];
mAccelOrientation[5] = om[5];
mAccelOrientation[6] = om[6];
mAccelOrientation[7] = om[7];
mAccelOrientation[8] = om[8];
} else {
LOGE("HAL:Couldn't read accel mounting matrix");
}
}
MPLSensor::~MPLSensor()
{
VFUNC_LOG;
mCompassSensor = NULL;
/* Close open fds */
if (iio_fd > 0)
close(iio_fd);
if( accel_fd > 0 )
close(accel_fd );
if (gyro_temperature_fd > 0)
close(gyro_temperature_fd);
if (sysfs_names_ptr)
free(sysfs_names_ptr);
if (isDmpDisplayOrientationOn()) {
closeDmpOrientFd();
}
/* Turn off Gyro master enable */
/* A workaround until driver handles it */
/* TODO: Turn off and close all sensors */
if(write_sysfs_int(mpu.chip_enable, 0) < 0) {
LOGE("HAL:could not disable gyro master enable");
}
#ifdef INV_PLAYBACK_DBG
inv_turn_off_data_logging();
fclose(logfile);
#endif
}
#define GY_ENABLED (((1 << ID_GY) | (1 << ID_RG)) & enabled_sensors)
#define A_ENABLED ((1 << ID_A) & enabled_sensors)
#define M_ENABLED ((1 << ID_M) & enabled_sensors)
#define O_ENABLED ((1 << ID_O) & enabled_sensors)
#define LA_ENABLED ((1 << ID_LA) & enabled_sensors)
#define GR_ENABLED ((1 << ID_GR) & enabled_sensors)
#define RV_ENABLED ((1 << ID_RV) & enabled_sensors)
/* TODO: this step is optional, remove? */
int MPLSensor::setGyroInitialState()
{
VFUNC_LOG;
int res = 0;
LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
HW_GYRO_RATE_HZ, mpu.gyro_fifo_rate, getTimestamp());
int fd = open(mpu.gyro_fifo_rate, O_RDWR);
res = errno;
if(fd < 0) {
LOGE("HAL:open of %s failed with '%s' (%d)",
mpu.gyro_fifo_rate, strerror(res), res);
return res;
}
res = write_attribute_sensor(fd, HW_GYRO_RATE_HZ);
if(res < 0) {
LOGE("HAL:write_attribute_sensor : error writing %s with %d",
mpu.gyro_fifo_rate, HW_GYRO_RATE_HZ);
return res;
}
// Setting LPF is deprecated
return 0;
}
/* this applies to BMA250 Input Subsystem Driver only */
int MPLSensor::setAccelInitialState()
{
VFUNC_LOG;
struct input_absinfo absinfo_x;
struct input_absinfo absinfo_y;
struct input_absinfo absinfo_z;
float value;
if (!ioctl(accel_fd, EVIOCGABS(EVENT_TYPE_ACCEL_X), &absinfo_x) &&
!ioctl(accel_fd, EVIOCGABS(EVENT_TYPE_ACCEL_Y), &absinfo_y) &&
!ioctl(accel_fd, EVIOCGABS(EVENT_TYPE_ACCEL_Z), &absinfo_z)) {
value = absinfo_x.value;
mPendingEvents[Accelerometer].data[0] = value * CONVERT_A_X;
value = absinfo_y.value;
mPendingEvents[Accelerometer].data[1] = value * CONVERT_A_Y;
value = absinfo_z.value;
mPendingEvents[Accelerometer].data[2] = value * CONVERT_A_Z;
//mHasPendingEvent = true;
}
return 0;
}
int MPLSensor::onPower(int en)
{
VFUNC_LOG;
int res;
int count, curr_power_state;
LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
en, mpu.power_state, getTimestamp());
res = read_sysfs_int(mpu.power_state, &curr_power_state);
if (res < 0) {
LOGE("HAL:Error reading power state");
// will set power_state anyway
curr_power_state = -1;
}
if (en != curr_power_state) {
if((res = write_sysfs_int(mpu.power_state, en)) < 0) {
LOGE("HAL:Couldn't write power state");
}
} else {
LOGV_IF(EXTRA_VERBOSE,
"HAL:Power state already enable/disable curr=%d new=%d",
curr_power_state, en);
}
return res;
}
int MPLSensor::onDMP(int en)
{
VFUNC_LOG;
int res = -1;
int status;
//Sequence to enable DMP
//1. Turn On power if not already on
//2. Load DMP image if not already loaded
//3. Either Gyro or Accel must be enabled/configured before next step
//4. Enable DMP
LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:cat %s (%lld)",
mpu.firmware_loaded, getTimestamp());
res = read_sysfs_int(mpu.firmware_loaded, &status);
if (res < 0){
LOGE("HAL:ERR can't get firmware_loaded status");
return res;
}
LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs: %s status=%d", mpu.firmware_loaded, status);
if (status) {
//Write only if curr DMP state <> request
LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:cat %s (%lld)",
mpu.dmp_on, getTimestamp());
if (read_sysfs_int(mpu.dmp_on, &status) < 0) {
LOGE("HAL:ERR can't read DMP state");
} else if (status != en) {
res = write_sysfs_int(mpu.dmp_on, en);
//Enable DMP interrupt
if (write_sysfs_int(mpu.dmp_int_on, en) < 0) {
LOGE("HAL:ERR can't en/dis DMP interrupt");
}
} else {
res = 0; //DMP already set as requested
}
} else {
LOGE("HAL:ERR No DMP image");
}
return res;
}
int MPLSensor::checkLPQuaternion(void)
{
VFUNC_LOG;
return ((mFeatureActiveMask & INV_DMP_QUATERNION)? 1:0);
}
int MPLSensor::enableLPQuaternion(int en)
{
VFUNC_LOG;
if (!en) {
enableQuaternionData(0);
onDMP(0);
mFeatureActiveMask &= ~INV_DMP_QUATERNION;
LOGV_IF(PROCESS_VERBOSE, "HAL:LP Quat disabled");
} else {
if (enableQuaternionData(1) < 0 || onDMP(1) < 0) {
LOGE("HAL:ERR can't enable LP Quaternion");
} else {
mFeatureActiveMask |= INV_DMP_QUATERNION;
LOGV_IF(PROCESS_VERBOSE, "HAL:LP Quat enabled");
}
}
return 0;
}
int MPLSensor::enableQuaternionData(int en)
{
int res = 0;
VFUNC_LOG;
// Enable DMP quaternion
res = write_sysfs_int(mpu.quaternion_on, en);
if (!en) {
LOGV_IF(PROCESS_VERBOSE, "HAL:Disabling quat scan elems");
} else {
LOGV_IF(PROCESS_VERBOSE, "HAL:Enabling quat scan elems");
}
write_sysfs_int(mpu.in_quat_r_en, en);
write_sysfs_int(mpu.in_quat_x_en, en);
write_sysfs_int(mpu.in_quat_y_en, en);
write_sysfs_int(mpu.in_quat_z_en, en);
LOGV_IF(EXTRA_VERBOSE, "HAL:DMP quaternion data was turned off");
if (!en) {
inv_quaternion_sensor_was_turned_off();
}
return res;
}
int MPLSensor::enableTap(int /*en*/)
{
VFUNC_LOG;
return 0;
}
int MPLSensor::enableFlick(int /*en*/)
{
VFUNC_LOG;
return 0;
}
int MPLSensor::enablePedometer(int /*en*/)
{
VFUNC_LOG;
return 0;
}
int MPLSensor::masterEnable(int en)
{
VFUNC_LOG;
return write_sysfs_int(mpu.chip_enable, en);
}
int MPLSensor::enableGyro(int en)
{
VFUNC_LOG;
/* TODO: FIX error handling. Handle or ignore it appropriately for hw. */
int res;
/* need to also turn on/off the master enable */
res = write_sysfs_int(mpu.gyro_enable, en);
if (!en) {
LOGV_IF(EXTRA_VERBOSE, "HAL:MPL:inv_gyro_was_turned_off");
inv_gyro_was_turned_off();
} else {
write_sysfs_int(mpu.gyro_x_fifo_enable, en);
write_sysfs_int(mpu.gyro_y_fifo_enable, en);
res = write_sysfs_int(mpu.gyro_z_fifo_enable, en);
}
return res;
}
int MPLSensor::enableAccel(int en)
{
VFUNC_LOG;
/* TODO: FIX error handling. Handle or ignore it appropriately for hw. */
int res;
/* need to also turn on/off the master enable */
res = write_sysfs_int(mpu.accel_enable, en);
if (!en) {
LOGV_IF(EXTRA_VERBOSE, "HAL:MPL:inv_accel_was_turned_off");
inv_accel_was_turned_off();
} else {
write_sysfs_int(mpu.accel_x_fifo_enable, en);
write_sysfs_int(mpu.accel_y_fifo_enable, en);
res = write_sysfs_int(mpu.accel_z_fifo_enable, en);
}
return res;
}
int MPLSensor::enableCompass(int en)
{
VFUNC_LOG;
int res = mCompassSensor->enable(ID_M, en);
if (!en) {
LOGV_IF(EXTRA_VERBOSE, "HAL:MPL:inv_compass_was_turned_off");
inv_compass_was_turned_off();
}
return res;
}
void MPLSensor::computeLocalSensorMask(int enabled_sensors)
{
VFUNC_LOG;
do {
if (LA_ENABLED || GR_ENABLED || RV_ENABLED || O_ENABLED) {
LOGV_IF(ENG_VERBOSE, "FUSION ENABLED");
mLocalSensorMask = ALL_MPL_SENSORS_NP;
break;
}
if(!A_ENABLED && !M_ENABLED && !GY_ENABLED) {
/* Invensense compass cal */
LOGV_IF(ENG_VERBOSE, "ALL DISABLED");
mLocalSensorMask = 0;
break;
}
if (GY_ENABLED) {
LOGV_IF(ENG_VERBOSE, "G ENABLED");
mLocalSensorMask |= INV_THREE_AXIS_GYRO;
} else {
LOGV_IF(ENG_VERBOSE, "G DISABLED");
mLocalSensorMask &= ~INV_THREE_AXIS_GYRO;
}
if (A_ENABLED) {
LOGV_IF(ENG_VERBOSE, "A ENABLED");
mLocalSensorMask |= INV_THREE_AXIS_ACCEL;
} else {
LOGV_IF(ENG_VERBOSE, "A DISABLED");
mLocalSensorMask &= ~INV_THREE_AXIS_ACCEL;
}
/* Invensense compass calibration */
if (M_ENABLED) {
LOGV_IF(ENG_VERBOSE, "M ENABLED");
mLocalSensorMask |= INV_THREE_AXIS_COMPASS;
} else {
LOGV_IF(ENG_VERBOSE, "M DISABLED");
mLocalSensorMask &= ~INV_THREE_AXIS_COMPASS;
}
} while (0);
}
int MPLSensor::enableOneSensor(int en, const char *name, int (MPLSensor::*enabler)(int)) {
LOGV_IF(PROCESS_VERBOSE, "HAL:enableSensors - %s %s", en ? "enabled" : "disable", name);
return (this->*enabler)(en);
}
int MPLSensor::enableSensors(unsigned long sensors, int /*en*/, uint32_t changed) {
VFUNC_LOG;
inv_error_t res = -1;
bool store_cal = false;
bool ext_compass_changed = false;
// Sequence to enable or disable a sensor
// 1. enable Power state
// 2. reset master enable (=0)
// 3. enable or disable a sensor
// 4. set master enable (=1)
pthread_mutex_lock(&GlobalHalMutex);
uint32_t all_changeables = (1 << Gyro) | (1 << RawGyro) | (1 << Accelerometer)
| (1 << MagneticField);
uint32_t all_integrated_changeables = all_changeables;
if (!mCompassSensor->isIntegrated()) {
ext_compass_changed = changed & (1 << MagneticField);
all_integrated_changeables = all_changeables & ~(1 << MagneticField);
}
if (isLowPowerQuatEnabled() || (changed & all_integrated_changeables)) {
/* ensure power state is on */
onPower(1);
/* reset master enable */
res = masterEnable(0);
if(res < 0) {
goto unlock_res;
}
}
LOGV_IF(PROCESS_VERBOSE, "HAL:enableSensors - sensors: 0x%0x", (unsigned int)sensors);
if (changed & ((1 << Gyro) | (1 << RawGyro))) {
res = enableOneSensor(sensors & INV_THREE_AXIS_GYRO, "gyro", &MPLSensor::enableGyro);
if(res < 0) {
goto unlock_res;
}
}
if (changed & (1 << Accelerometer)) {
res = enableOneSensor(sensors & INV_THREE_AXIS_ACCEL, "accel", &MPLSensor::enableAccel);
if(res < 0) {
goto unlock_res;
}
}
if (changed & (1 << MagneticField)) {
/* Invensense compass calibration */
res = enableOneSensor(sensors & INV_THREE_AXIS_COMPASS, "compass", &MPLSensor::enableCompass);
if(res < 0) {
goto unlock_res;
}
}
if ( isLowPowerQuatEnabled() ) {
// Enable LP Quat
if ((mEnabled & ((1 << Orientation) | (1 << RotationVector) |
(1 << LinearAccel) | (1 << Gravity)))) {
if (!(changed & all_integrated_changeables)) {
/* ensure power state is on */
onPower(1);
/* reset master enable */
res = masterEnable(0);
if(res < 0) {
goto unlock_res;
}
}
if (!checkLPQuaternion()) {
enableLPQuaternion(1);
} else {
LOGV_IF(PROCESS_VERBOSE, "HAL:LP Quat already enabled");
}
} else if (checkLPQuaternion()) {
enableLPQuaternion(0);
}
}
if (changed & all_integrated_changeables) {
if (sensors &
(INV_THREE_AXIS_GYRO
| INV_THREE_AXIS_ACCEL
| (INV_THREE_AXIS_COMPASS * mCompassSensor->isIntegrated()))) {
if ( isLowPowerQuatEnabled() ||
(isDmpDisplayOrientationOn() && mDmpOrientationEnabled) ) {
// disable DMP event interrupt only (w/ data interrupt)
if (write_sysfs_int(mpu.dmp_event_int_on, 0) < 0) {
res = -1;
LOGE("HAL:ERR can't disable DMP event interrupt");
goto unlock_res;
}
}
if (isDmpDisplayOrientationOn() && mDmpOrientationEnabled) {
// enable DMP
onDMP(1);
res = enableAccel(1);
if(res < 0) {
goto unlock_res;
}
if ((sensors & INV_THREE_AXIS_ACCEL) == 0) {
res = turnOffAccelFifo();
}
if(res < 0) {
goto unlock_res;
}
}
res = masterEnable(1);
if(res < 0) {
goto unlock_res;
}
} else { // all sensors idle -> reduce power
if (isDmpDisplayOrientationOn() && mDmpOrientationEnabled) {
// enable DMP
onDMP(1);
// enable DMP event interrupt only (no data interrupt)
if (write_sysfs_int(mpu.dmp_event_int_on, 1) < 0) {
res = -1;
LOGE("HAL:ERR can't enable DMP event interrupt");
}
res = enableAccel(1);
if(res < 0) {
goto unlock_res;
}
if ((sensors & INV_THREE_AXIS_ACCEL) == 0) {
res = turnOffAccelFifo();
}
if(res < 0) {
goto unlock_res;
}
res = masterEnable(1);
if(res < 0) {
goto unlock_res;
}
}
else {
res = onPower(0);
if(res < 0) {
goto unlock_res;
}
}
store_cal = true;
}
} else if (ext_compass_changed &&
!(sensors & (INV_THREE_AXIS_GYRO | INV_THREE_AXIS_ACCEL
| (INV_THREE_AXIS_COMPASS * (!mCompassSensor->isIntegrated()))))) {
store_cal = true;
}
if (store_cal || ((changed & all_changeables) != all_changeables)) {
storeCalibration();
}
unlock_res:
pthread_mutex_unlock(&GlobalHalMutex);
return res;
}
/* Store calibration file */
void MPLSensor::storeCalibration()
{
if(mHaveGoodMpuCal || mAccelAccuracy >= 2 || mCompassAccuracy >= 3) {
int res = inv_store_calibration();
if (res) {
LOGE("HAL:Cannot store calibration on file");
} else {
LOGV_IF(PROCESS_VERBOSE, "HAL:Cal file updated");
}
}
}
void MPLSensor::cbProcData()
{
mNewData = 1;
mSampleCount++;
LOGV_IF(EXTRA_VERBOSE, "HAL:new data");
}
/* these handlers transform mpl data into one of the Android sensor types */
int MPLSensor::gyroHandler(sensors_event_t* s)
{
VHANDLER_LOG;
int8_t status;
int update;
update = inv_get_sensor_type_gyroscope(s->gyro.v, &status, &s->timestamp);
LOGV_IF(HANDLER_DATA, "HAL:gyro data : %+f %+f %+f -- %lld - %d",
s->gyro.v[0], s->gyro.v[1], s->gyro.v[2], s->timestamp, update);
return update;
}
int MPLSensor::rawGyroHandler(sensors_event_t* s)
{
VHANDLER_LOG;
int8_t status;
int update;
update = inv_get_sensor_type_gyroscope_raw(s->gyro.v, &status, &s->timestamp);
LOGV_IF(HANDLER_DATA, "HAL:raw gyro data : %+f %+f %+f -- %lld - %d",
s->gyro.v[0], s->gyro.v[1], s->gyro.v[2], s->timestamp, update);
return update;
}
int MPLSensor::accelHandler(sensors_event_t* s)
{
VHANDLER_LOG;
int8_t status;
int update;
update = inv_get_sensor_type_accelerometer(
s->acceleration.v, &status, &s->timestamp);
LOGV_IF(HANDLER_DATA, "HAL:accel data : %+f %+f %+f -- %lld - %d",
s->acceleration.v[0], s->acceleration.v[1], s->acceleration.v[2],
s->timestamp, update);
mAccelAccuracy = status;
return update;
}
int MPLSensor::compassHandler(sensors_event_t* s)
{
VHANDLER_LOG;
int update;
update = inv_get_sensor_type_magnetic_field(
s->magnetic.v, &s->magnetic.status, &s->timestamp);
LOGV_IF(HANDLER_DATA, "HAL:compass data: %+f %+f %+f -- %lld - %d",
s->magnetic.v[0], s->magnetic.v[1], s->magnetic.v[2], s->timestamp, update);
mCompassAccuracy = s->magnetic.status;
return update;
}
int MPLSensor::rvHandler(sensors_event_t* s)
{
// rotation vector does not have an accuracy or status
VHANDLER_LOG;
int8_t status;
int update;
update = inv_get_sensor_type_rotation_vector(s->data, &status, &s->timestamp);
LOGV_IF(HANDLER_DATA, "HAL:rv data: %+f %+f %+f %+f - %+lld - %d",
s->data[0], s->data[1], s->data[2], s->data[3], s->timestamp, update);
return update;
}
int MPLSensor::laHandler(sensors_event_t* s)
{
VHANDLER_LOG;
int8_t status;
int update;
update = inv_get_sensor_type_linear_acceleration(
s->gyro.v, &status, &s->timestamp);
LOGV_IF(HANDLER_DATA, "HAL:la data: %+f %+f %+f - %lld - %d",
s->gyro.v[0], s->gyro.v[1], s->gyro.v[2], s->timestamp, update);
return update;
}
int MPLSensor::gravHandler(sensors_event_t* s)
{
VHANDLER_LOG;
int8_t status;
int update;
update = inv_get_sensor_type_gravity(s->gyro.v, &status, &s->timestamp);
LOGV_IF(HANDLER_DATA, "HAL:gr data: %+f %+f %+f - %lld - %d",
s->gyro.v[0], s->gyro.v[1], s->gyro.v[2], s->timestamp, update);
return update;
}
int MPLSensor::orienHandler(sensors_event_t* s)
{
VHANDLER_LOG;
int update;
update = inv_get_sensor_type_orientation(
s->orientation.v, &s->orientation.status, &s->timestamp);
LOGV_IF(HANDLER_DATA, "HAL:or data: %f %f %f - %lld - %d",
s->orientation.v[0], s->orientation.v[1], s->orientation.v[2], s->timestamp, update);
return update;
}
int MPLSensor::enable(int32_t handle, int en)
{
VFUNC_LOG;
android::String8 sname;
int what = -1, err = 0;
switch (handle) {
case ID_SO:
sname = "Screen Orientation";
LOGV_IF(PROCESS_VERBOSE, "HAL:enable - sensor %s (handle %d) %s -> %s", sname.string(), handle,
(mDmpOrientationEnabled? "en": "dis"),
(en? "en" : "dis"));
enableDmpOrientation(en && isDmpDisplayOrientationOn());
/* TODO: stop manually testing/using 0 and 1 instead of
* false and true, but just use 0 and non-0.
* This allows passing 0 and non-0 ints around instead of
* having to convert to 1 and test against 1.
*/
mDmpOrientationEnabled = en;
return 0;
case ID_A:
what = Accelerometer;
sname = "Accelerometer";
break;
case ID_M:
what = MagneticField;
sname = "MagneticField";
break;
case ID_O:
what = Orientation;
sname = "Orientation";
break;
case ID_GY:
what = Gyro;
sname = "Gyro";
break;
case ID_RG:
what = RawGyro;
sname = "RawGyro";
break;
case ID_GR:
what = Gravity;
sname = "Gravity";
break;
case ID_RV:
what = RotationVector;
sname = "RotationVector";
break;
case ID_LA:
what = LinearAccel;
sname = "LinearAccel";
break;
default: //this takes care of all the gestures
what = handle;
sname = "Others";
break;
}
if (uint32_t(what) >= numSensors)
return -EINVAL;
int newState = en ? 1 : 0;
unsigned long sen_mask;
LOGV_IF(PROCESS_VERBOSE, "HAL:enable - sensor %s (handle %d) %s -> %s", sname.string(), handle,
((mEnabled & (1 << what)) ? "en" : "dis"),
((uint32_t(newState) << what) ? "en" : "dis"));
LOGV_IF(PROCESS_VERBOSE,
"HAL:%s sensor state change what=%d", sname.string(), what);
// pthread_mutex_lock(&mMplMutex);
// pthread_mutex_lock(&mHALMutex);
if ((uint32_t(newState) << what) != (mEnabled & (1 << what))) {
uint32_t sensor_type;
short flags = newState;
uint32_t lastEnabled = mEnabled, changed = 0;
mEnabled &= ~(1 << what);
mEnabled |= (uint32_t(flags) << what);
LOGV_IF(PROCESS_VERBOSE, "HAL:handle = %d", handle);
LOGV_IF(PROCESS_VERBOSE, "HAL:flags = %d", flags);
computeLocalSensorMask(mEnabled);
LOGV_IF(PROCESS_VERBOSE, "HAL:enable : mEnabled = %d", mEnabled);
sen_mask = mLocalSensorMask & mMasterSensorMask;
mSensorMask = sen_mask;
LOGV_IF(PROCESS_VERBOSE, "HAL:sen_mask= 0x%0lx", sen_mask);
switch (what) {
case Gyro:
case RawGyro:
case Accelerometer:
case MagneticField:
if (!(mEnabled & ((1 << Orientation) | (1 << RotationVector) |
(1 << LinearAccel) | (1 << Gravity))) &&
((lastEnabled & (1 << what)) != (mEnabled & (1 << what)))) {
changed |= (1 << what);
}
break;
case Orientation:
case RotationVector:
case LinearAccel:
case Gravity:
if ((en && !(lastEnabled & ((1 << Orientation) | (1 << RotationVector) |
(1 << LinearAccel) | (1 << Gravity)))) ||
(!en && !(mEnabled & ((1 << Orientation) | (1 << RotationVector) |
(1 << LinearAccel) | (1 << Gravity))))) {
for (int i = Gyro; i <= MagneticField; i++) {
if (!(mEnabled & (1 << i))) {
changed |= (1 << i);
}
}
}
break;
}
LOGV_IF(PROCESS_VERBOSE, "HAL:changed = %d", changed);
enableSensors(sen_mask, flags, changed);
}
// pthread_mutex_unlock(&mMplMutex);
// pthread_mutex_unlock(&mHALMutex);
#ifdef INV_PLAYBACK_DBG
/* apparently the logging needs to be go through this sequence
to properly flush the log file */
inv_turn_off_data_logging();
fclose(logfile);
logfile = fopen("/data/playback.bin", "ab");
if (logfile)
inv_turn_on_data_logging(logfile);
#endif
return err;
}
int MPLSensor::setDelay(int32_t handle, int64_t ns)
{
VFUNC_LOG;
android::String8 sname;
int what = -1;
switch (handle) {
case ID_SO:
return update_delay();
case ID_A:
what = Accelerometer;
sname = "Accelerometer";
break;
case ID_M:
what = MagneticField;
sname = "MagneticField";
break;
case ID_O:
what = Orientation;
sname = "Orientation";
break;
case ID_GY:
what = Gyro;
sname = "Gyro";
break;
case ID_RG:
what = RawGyro;
sname = "RawGyro";
break;
case ID_GR:
what = Gravity;
sname = "Gravity";
break;
case ID_RV:
what = RotationVector;
sname = "RotationVector";
break;
case ID_LA:
what = LinearAccel;
sname = "LinearAccel";
break;
default: // this takes care of all the gestures
what = handle;
sname = "Others";
break;
}
#if 0
// skip the 1st call for enalbing sensors called by ICS/JB sensor service
static int counter_delay = 0;
if (!(mEnabled & (1 << what))) {
counter_delay = 0;
} else {
if (++counter_delay == 1) {
return 0;
}
else {
counter_delay = 0;
}
}
#endif
if (uint32_t(what) >= numSensors)
return -EINVAL;
if (ns < 0)
return -EINVAL;
LOGV_IF(PROCESS_VERBOSE, "setDelay : %llu ns, (%.2f Hz)", ns, 1000000000.f / ns);
// limit all rates to reasonable ones */
if (ns < 5000000LL) {
ns = 5000000LL;
}
/* store request rate to mDelays array for each sensor */
mDelays[what] = ns;
switch (what) {
case Gyro:
case RawGyro:
case Accelerometer:
for (int i = Gyro; i <= Accelerometer + mCompassSensor->isIntegrated();
i++) {
if (i != what && (mEnabled & (1 << i)) && ns > mDelays[i]) {
LOGV_IF(PROCESS_VERBOSE, "HAL:ignore delay set due to sensor %d", i);
return 0;
}
}
break;
case MagneticField:
if (mCompassSensor->isIntegrated() &&
(((mEnabled & (1 << Gyro)) && ns > mDelays[Gyro]) ||
((mEnabled & (1 << RawGyro)) && ns > mDelays[RawGyro]) ||
((mEnabled & (1 << Accelerometer)) && ns > mDelays[Accelerometer]))) {
LOGV_IF(PROCESS_VERBOSE, "HAL:ignore delay set due to gyro/accel");
return 0;
}
break;
case Orientation:
case RotationVector:
case LinearAccel:
case Gravity:
if (isLowPowerQuatEnabled()) {
LOGV_IF(PROCESS_VERBOSE, "HAL:need to update delay due to LPQ");
break;
}
for (int i = 0; i < numSensors; i++) {
if (i != what && (mEnabled & (1 << i)) && ns > mDelays[i]) {
LOGV_IF(PROCESS_VERBOSE, "HAL:ignore delay set due to sensor %d", i);
return 0;
}
}
break;
}
// pthread_mutex_lock(&mHALMutex);
int res = update_delay();
// pthread_mutex_unlock(&mHALMutex);
return res;
}
int MPLSensor::update_delay() {
VHANDLER_LOG;
int res = 0;
int64_t got;
pthread_mutex_lock(&GlobalHalMutex);
if (mEnabled) {
int64_t wanted = 1000000000;
int64_t wanted_3rd_party_sensor = 1000000000;
// Sequence to change sensor's FIFO rate
// 1. enable Power state
// 2. reset master enable
// 3. Update delay
// 4. set master enable
// ensure power on
onPower(1);
// reset master enable
masterEnable(0);
/* search the minimum delay requested across all enabled sensors */
for (int i = 0; i < numSensors; i++) {
if (mEnabled & (1 << i)) {
int64_t ns = mDelays[i];
wanted = wanted < ns ? wanted : ns;
}
}
// same delay for 3rd party Accel or Compass
wanted_3rd_party_sensor = wanted;
/* mpl rate in us in future maybe different for
gyro vs compass vs accel */
int rateInus = (int)wanted / 1000LL;
int mplGyroRate = rateInus;
int mplAccelRate = rateInus;
int mplCompassRate = rateInus;
LOGV_IF(PROCESS_VERBOSE, "HAL:wanted rate for all sensors : "
"%llu ns, mpl rate: %d us, (%.2f Hz)",
wanted, rateInus, 1000000000.f / wanted);
/* set rate in MPL */
/* compass can only do 100Hz max */
inv_set_gyro_sample_rate(mplGyroRate);
inv_set_accel_sample_rate(mplAccelRate);
inv_set_compass_sample_rate(mplCompassRate);
#ifdef LIBMLLITE_FROM_SOURCE
inv_set_linear_acceleration_sample_rate(rateInus);
inv_set_gravity_sample_rate(rateInus);
#endif
/* TODO: Test 200Hz */
// inv_set_gyro_sample_rate(5000);
LOGV_IF(PROCESS_VERBOSE, "HAL:MPL gyro sample rate: %d", mplGyroRate);
LOGV_IF(PROCESS_VERBOSE, "HAL:MPL accel sample rate: %d", mplAccelRate);
LOGV_IF(PROCESS_VERBOSE, "HAL:MPL compass sample rate: %d", mplCompassRate);
int enabled_sensors = mEnabled;
int tempFd = -1;
if (LA_ENABLED || GR_ENABLED || RV_ENABLED || O_ENABLED) {
if (isLowPowerQuatEnabled() ||
(isDmpDisplayOrientationOn() && mDmpOrientationEnabled)) {
bool setDMPrate= 0;
// Set LP Quaternion sample rate if enabled
if (checkLPQuaternion()) {
if (wanted < RATE_200HZ) {
enableLPQuaternion(0);
} else {
inv_set_quat_sample_rate(rateInus);
setDMPrate= 1;
}
}
if (checkDMPOrientation() || setDMPrate==1) {
getDmpRate(&wanted);
}
}
int64_t tempRate = wanted;
LOGV_IF(EXTRA_VERBOSE, "HAL:setDelay - Fusion");
//nsToHz
LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %.0f > %s (%lld)",
1000000000.f / tempRate, mpu.gyro_fifo_rate,
getTimestamp());
tempFd = open(mpu.gyro_fifo_rate, O_RDWR);
res = write_attribute_sensor(tempFd, 1000000000.f / tempRate);
if(res < 0) {
LOGE("HAL:GYRO update delay error");
}
//nsToHz (BMA250)
if(USE_THIRD_PARTY_ACCEL) {
LOGV_IF(SYSFS_VERBOSE, "echo %lld > %s (%lld)",
wanted_3rd_party_sensor / 1000000L, mpu.accel_fifo_rate,
getTimestamp());
tempFd = open(mpu.accel_fifo_rate, O_RDWR);
res = write_attribute_sensor(tempFd, wanted_3rd_party_sensor / 1000000L);
LOGE_IF(res < 0, "HAL:ACCEL update delay error");
}
if (!mCompassSensor->isIntegrated()) {
LOGV_IF(PROCESS_VERBOSE, "HAL:Ext compass rate %.2f Hz", 1000000000.f / wanted_3rd_party_sensor);
mCompassSensor->setDelay(ID_M, wanted_3rd_party_sensor);
got = mCompassSensor->getDelay(ID_M);
inv_set_compass_sample_rate(got / 1000);
}
} else {
if (GY_ENABLED) {
wanted = (mDelays[Gyro] <= mDelays[RawGyro]?
(mEnabled & (1 << Gyro)? mDelays[Gyro]: mDelays[RawGyro]):
(mEnabled & (1 << RawGyro)? mDelays[RawGyro]: mDelays[Gyro]));
if (isDmpDisplayOrientationOn() && mDmpOrientationEnabled) {
getDmpRate(&wanted);
}
LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %.0f > %s (%lld)",
1000000000.f / wanted, mpu.gyro_fifo_rate, getTimestamp());
tempFd = open(mpu.gyro_fifo_rate, O_RDWR);
res = write_attribute_sensor(tempFd, 1000000000.f / wanted);
LOGE_IF(res < 0, "HAL:GYRO update delay error");
}
if (A_ENABLED) { /* else if because there is only 1 fifo rate for MPUxxxx */
if (GY_ENABLED && mDelays[Gyro] < mDelays[Accelerometer]) {
wanted = mDelays[Gyro];
}
else if (GY_ENABLED && mDelays[RawGyro] < mDelays[Accelerometer]) {
wanted = mDelays[RawGyro];
} else {
wanted = mDelays[Accelerometer];
}
if (isDmpDisplayOrientationOn() && mDmpOrientationEnabled) {
getDmpRate(&wanted);
}
/* TODO: use function pointers to calculate delay value specific to vendor */
LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %.0f > %s (%lld)",
1000000000.f / wanted, mpu.accel_fifo_rate, getTimestamp());
tempFd = open(mpu.accel_fifo_rate, O_RDWR);
if(USE_THIRD_PARTY_ACCEL) {
//BMA250 in ms
res = write_attribute_sensor(tempFd, wanted / 1000000L);
}
else {
//MPUxxxx in hz
res = write_attribute_sensor(tempFd, 1000000000.f/wanted);
}
LOGE_IF(res < 0, "HAL:ACCEL update delay error");
}
/* Invensense compass calibration */
if (M_ENABLED) {
if (!mCompassSensor->isIntegrated()) {
wanted = mDelays[MagneticField];
} else {
if (GY_ENABLED && mDelays[Gyro] < mDelays[MagneticField]) {
wanted = mDelays[Gyro];
}
else if (GY_ENABLED && mDelays[RawGyro] < mDelays[MagneticField]) {
wanted = mDelays[RawGyro];
} else if (A_ENABLED && mDelays[Accelerometer] < mDelays[MagneticField]) {
wanted = mDelays[Accelerometer];
} else {
wanted = mDelays[MagneticField];
}
if (isDmpDisplayOrientationOn() && mDmpOrientationEnabled) {
getDmpRate(&wanted);
}
}
mCompassSensor->setDelay(ID_M, wanted);
got = mCompassSensor->getDelay(ID_M);
inv_set_compass_sample_rate(got / 1000);
}
}
unsigned long sensors = mLocalSensorMask & mMasterSensorMask;
if (sensors &
(INV_THREE_AXIS_GYRO
| INV_THREE_AXIS_ACCEL
| (INV_THREE_AXIS_COMPASS * mCompassSensor->isIntegrated()))) {
res = masterEnable(1);
} else { // all sensors idle -> reduce power
res = onPower(0);
}
}
pthread_mutex_unlock(&GlobalHalMutex);
return res;
}
/* For Third Party Accel Input Subsystem Drivers only */
/* TODO: FIX! data is not used and count not decremented, results is hardcoded to 0 */
int MPLSensor::readAccelEvents(sensors_event_t* /*data*/, int count)
{
VHANDLER_LOG;
if (count < 1)
return -EINVAL;
ssize_t n = mAccelInputReader.fill(accel_fd);
if (n < 0) {
LOGE("HAL:missed accel events, exit");
return n;
}
int numEventReceived = 0;
input_event const* event;
int nb, done = 0;
while (!done && count && mAccelInputReader.readEvent(&event)) {
int type = event->type;
if (type == EV_ABS) {
if (event->code == EVENT_TYPE_ACCEL_X) {
mPendingMask |= 1 << Accelerometer;
mCachedAccelData[0] = event->value;
} else if (event->code == EVENT_TYPE_ACCEL_Y) {
mPendingMask |= 1 << Accelerometer;
mCachedAccelData[1] = event->value;
} else if (event->code == EVENT_TYPE_ACCEL_Z) {
mPendingMask |= 1 << Accelerometer;
mCachedAccelData[2] =event-> value;
}
} else if (type == EV_SYN) {
done = 1;
if (mLocalSensorMask & INV_THREE_AXIS_ACCEL) {
inv_build_accel(mCachedAccelData, 0, getTimestamp());
}
} else {
LOGE("HAL:AccelSensor: unknown event (type=%d, code=%d)",
type, event->code);
}
mAccelInputReader.next();
}
return numEventReceived;
}
/**
* Should be called after reading at least one of gyro
* compass or accel data. (Also okay for handling all of them).
* @returns 0, if successful, error number if not.
*/
/* TODO: This should probably be called "int readEvents(...)"
* and readEvents() called "void cacheData(void)".
*/
int MPLSensor::executeOnData(sensors_event_t* data, int count)
{
VFUNC_LOG;
inv_execute_on_data();
int numEventReceived = 0;
long msg;
msg = inv_get_message_level_0(1);
if (msg) {
if (msg & INV_MSG_MOTION_EVENT) {
LOGV_IF(PROCESS_VERBOSE, "HAL:**** Motion ****\n");
}
if (msg & INV_MSG_NO_MOTION_EVENT) {
LOGV_IF(PROCESS_VERBOSE, "HAL:***** No Motion *****\n");
/* after the first no motion, the gyro should be
calibrated well */
mGyroAccuracy = SENSOR_STATUS_ACCURACY_HIGH;
/* if gyros are on and we got a no motion, set a flag
indicating that the cal file can be written. */
mHaveGoodMpuCal = true;
}
}
// load up virtual sensors
for (int i = 0; i < numSensors; i++) {
int update;
if (mEnabled & (1 << i)) {
update = CALL_MEMBER_FN(this, mHandlers[i])(mPendingEvents + i);
mPendingMask |= (1 << i);
if (update && (count > 0)) {
*data++ = mPendingEvents[i];
count--;
numEventReceived++;
}
}
}
return numEventReceived;
}
// collect data for MPL (but NOT sensor service currently), from driver layer
/* TODO: FIX! data and count are not used, results is hardcoded to 0 */
/* TODO: This should probably be called "void cacheEvents(void)"
* And executeOnData() should be int readEvents(data,count)
*/
int MPLSensor::readEvents(sensors_event_t* /*data*/, int /*count*/) {
int lp_quaternion_on = 0, nbyte;
int i, nb, mask = 0, numEventReceived = 0,
sensors = ((mLocalSensorMask & INV_THREE_AXIS_GYRO)? 1 : 0) +
((mLocalSensorMask & INV_THREE_AXIS_ACCEL)? 1 : 0) +
(((mLocalSensorMask & INV_THREE_AXIS_COMPASS) && mCompassSensor->isIntegrated())? 1 : 0);
char *rdata = mIIOBuffer;
nbyte= (8 * sensors + 8) * 1;
if (isLowPowerQuatEnabled()) {
lp_quaternion_on = checkLPQuaternion();
if (lp_quaternion_on) {
nbyte += sizeof(mCachedQuaternionData); //currently 16 bytes for Q data
}
}
// pthread_mutex_lock(&mMplMutex);
// pthread_mutex_lock(&mHALMutex);
ssize_t rsize = read(iio_fd, rdata, nbyte);
if (sensors == 0) {
// read(iio_fd, rdata, nbyte);
rsize = read(iio_fd, rdata, sizeof(mIIOBuffer));
}
#ifdef TESTING
LOGI("get one sample of IIO data with size: %d", rsize);
LOGI("sensors: %d", sensors);
LOGI_IF(mLocalSensorMask & INV_THREE_AXIS_GYRO, "gyro x/y/z: %d/%d/%d",
*((short *) (rdata + 0)), *((short *) (rdata + 2)),
*((short *) (rdata + 4)));
LOGI_IF(mLocalSensorMask & INV_THREE_AXIS_ACCEL, "accel x/y/z: %d/%d/%d",
*((short *) (rdata + 0 + ((mLocalSensorMask & INV_THREE_AXIS_GYRO)? 6: 0))),
*((short *) (rdata + 2 + ((mLocalSensorMask & INV_THREE_AXIS_GYRO)? 6: 0))),
*((short *) (rdata + 4) + ((mLocalSensorMask & INV_THREE_AXIS_GYRO)? 6: 0)));
LOGI_IF(mLocalSensorMask & INV_THREE_AXIS_COMPASS &
mCompassSensor->isIntegrated(), "compass x/y/z: %d/%d/%d",
*((short *) (rdata + 0 + ((mLocalSensorMask & INV_THREE_AXIS_GYRO)? 6: 0) +
((mLocalSensorMask & INV_THREE_AXIS_ACCEL)? 6: 0))),
*((short *) (rdata + 2 + ((mLocalSensorMask & INV_THREE_AXIS_GYRO)? 6: 0) +
((mLocalSensorMask & INV_THREE_AXIS_ACCEL)? 6: 0))),
*((short *) (rdata + 4) + ((mLocalSensorMask & INV_THREE_AXIS_GYRO)? 6: 0) +
((mLocalSensorMask & INV_THREE_AXIS_ACCEL)? 6: 0)));
#endif
if (rsize != nbyte) {
LOGE("HAL:ERR Full data packet was not read. rsize=%zd nbyte=%d sensors=%d errno=%d(%s)",
rsize, nbyte, sensors, errno, strerror(errno));
rsize = read(iio_fd, rdata, sizeof(mIIOBuffer));
return -1;
}
if (isLowPowerQuatEnabled() && lp_quaternion_on) {
for (i=0; i< 4; i++) {
mCachedQuaternionData[i]= *(long*)rdata;
rdata += sizeof(long);
}
}
for (i = 0; i < 3; i++) {
if (mLocalSensorMask & INV_THREE_AXIS_GYRO) {
mCachedGyroData[i] = *((short *) (rdata + i * 2));
}
if (mLocalSensorMask & INV_THREE_AXIS_ACCEL) {
mCachedAccelData[i] = *((short *) (rdata + i * 2 +
((mLocalSensorMask & INV_THREE_AXIS_GYRO)? 6: 0)));
}
if ((mLocalSensorMask & INV_THREE_AXIS_COMPASS) && mCompassSensor->isIntegrated()) {
mCachedCompassData[i] = *((short *) (rdata + i * 2 + 6 * (sensors - 1)));
}
}
mask |= (((mLocalSensorMask & INV_THREE_AXIS_GYRO)? 1 << Gyro: 0) +
((mLocalSensorMask & INV_THREE_AXIS_ACCEL)? 1 << Accelerometer: 0));
if ((mLocalSensorMask & INV_THREE_AXIS_COMPASS) && mCompassSensor->isIntegrated() &&
(mCachedCompassData[0] != 0 || mCachedCompassData[1] != 0 || mCachedCompassData[0] != 0)) {
mask |= 1 << MagneticField;
}
mSensorTimestamp = *((long long *) (rdata + 8 * sensors));
if (mCompassSensor->isIntegrated()) {
mCompassTimestamp = mSensorTimestamp;
}
if (mask & (1 << Gyro)) {
// send down temperature every 0.5 seconds
// with timestamp measured in "driver" layer
if(mSensorTimestamp - mTempCurrentTime >= 500000000LL) {
mTempCurrentTime = mSensorTimestamp;
long long temperature[2];
if(inv_read_temperature(temperature) == 0) {
LOGV_IF(INPUT_DATA,
"HAL:inv_read_temperature = %lld, timestamp= %lld",
temperature[0], temperature[1]);
inv_build_temp(temperature[0], temperature[1]);
}
#ifdef TESTING
long bias[3], temp, temp_slope[3];
inv_get_gyro_bias(bias, &temp);
inv_get_gyro_ts(temp_slope);
LOGI("T: %.3f "
"GB: %+13f %+13f %+13f "
"TS: %+13f %+13f %+13f "
"\n",
(float)temperature[0] / 65536.f,
(float)bias[0] / 65536.f / 16.384f,
(float)bias[1] / 65536.f / 16.384f,
(float)bias[2] / 65536.f / 16.384f,
temp_slope[0] / 65536.f,
temp_slope[1] / 65536.f,
temp_slope[2] / 65536.f);
#endif
}
mPendingMask |= 1 << Gyro;
mPendingMask |= 1 << RawGyro;
if (mLocalSensorMask & INV_THREE_AXIS_GYRO) {
inv_build_gyro(mCachedGyroData, mSensorTimestamp);
LOGV_IF(INPUT_DATA,
"HAL:inv_build_gyro: %+8d %+8d %+8d - %lld",
mCachedGyroData[0], mCachedGyroData[1],
mCachedGyroData[2], mSensorTimestamp);
}
}
if (mask & (1 << Accelerometer)) {
mPendingMask |= 1 << Accelerometer;
if (mLocalSensorMask & INV_THREE_AXIS_ACCEL) {
inv_build_accel(mCachedAccelData, 0, mSensorTimestamp);
LOGV_IF(INPUT_DATA,
"HAL:inv_build_accel: %+8ld %+8ld %+8ld - %lld",
mCachedAccelData[0], mCachedAccelData[1],
mCachedAccelData[2], mSensorTimestamp);
}
}
if ((mask & (1 << MagneticField)) && mCompassSensor->isIntegrated()) {
int status = 0;
if (mCompassSensor->providesCalibration()) {
status = mCompassSensor->getAccuracy();
status |= INV_CALIBRATED;
}
if (mLocalSensorMask & INV_THREE_AXIS_COMPASS) {
inv_build_compass(mCachedCompassData, status,
mCompassTimestamp);
LOGV_IF(INPUT_DATA, "HAL:inv_build_compass: %+8ld %+8ld %+8ld - %lld",
mCachedCompassData[0], mCachedCompassData[1],
mCachedCompassData[2], mCompassTimestamp);
}
}
if (isLowPowerQuatEnabled() && lp_quaternion_on) {
inv_build_quat(mCachedQuaternionData, 32 /*default 32 for now (16/32bits)*/, mSensorTimestamp);
LOGV_IF(INPUT_DATA, "HAL:inv_build_quat: %+8ld %+8ld %+8ld %+8ld - %lld",
mCachedQuaternionData[0], mCachedQuaternionData[1],
mCachedQuaternionData[2], mCachedQuaternionData[3], mSensorTimestamp);
}
// pthread_mutex_unlock(&mMplMutex);
// pthread_mutex_unlock(&mHALMutex);
return numEventReceived;
}
/* use for both MPUxxxx and third party compass */
int MPLSensor::readCompassEvents(sensors_event_t* /*data*/, int count)
{
VHANDLER_LOG;
if (count < 1)
return -EINVAL;
int numEventReceived = 0;
int done = 0;
int nb;
// pthread_mutex_lock(&mMplMutex);
// pthread_mutex_lock(&mHALMutex);
done = mCompassSensor->readSample(mCachedCompassData, &mCompassTimestamp);
#ifdef COMPASS_YAS53x
if (mCompassSensor->checkCoilsReset()) {
//Reset relevant compass settings
resetCompass();
}
#endif
if (done > 0) {
int status = 0;
if (mCompassSensor->providesCalibration()) {
status = mCompassSensor->getAccuracy();
status |= INV_CALIBRATED;
}
if (mLocalSensorMask & INV_THREE_AXIS_COMPASS) {
inv_build_compass(mCachedCompassData, status,
mCompassTimestamp);
LOGV_IF(INPUT_DATA, "HAL:inv_build_compass: %+8ld %+8ld %+8ld - %lld",
mCachedCompassData[0], mCachedCompassData[1],
mCachedCompassData[2], mCompassTimestamp);
}
}
// pthread_mutex_unlock(&mMplMutex);
// pthread_mutex_unlock(&mHALMutex);
return numEventReceived;
}
#ifdef COMPASS_YAS53x
int MPLSensor::resetCompass()
{
VFUNC_LOG;
//Reset compass cal if enabled
if (mFeatureActiveMask & INV_COMPASS_CAL) {
LOGV_IF(EXTRA_VERBOSE, "HAL:Reset compass cal");
inv_init_vector_compass_cal();
}
//Reset compass fit if enabled
if (mFeatureActiveMask & INV_COMPASS_FIT) {
LOGV_IF(EXTRA_VERBOSE, "HAL:Reset compass fit");
inv_init_compass_fit();
}
return 0;
}
#endif
int MPLSensor::getFd() const
{
VFUNC_LOG;
LOGV_IF(EXTRA_VERBOSE, "MPLSensor::getFd returning %d", iio_fd);
return iio_fd;
}
int MPLSensor::getAccelFd() const
{
VFUNC_LOG;
LOGV_IF(EXTRA_VERBOSE, "MPLSensor::getAccelFd returning %d", accel_fd);
return accel_fd;
}
int MPLSensor::getCompassFd() const
{
VFUNC_LOG;
int fd = mCompassSensor->getFd();
LOGV_IF(EXTRA_VERBOSE, "MPLSensor::getCompassFd returning %d", fd);
return fd;
}
int MPLSensor::turnOffAccelFifo() {
int i, res, tempFd;
char *accel_fifo_enable[3] = {mpu.accel_x_fifo_enable,
mpu.accel_y_fifo_enable, mpu.accel_z_fifo_enable};
for (i = 0; i < 3; i++) {
res = write_sysfs_int(accel_fifo_enable[i], 0);
if (res < 0) {
return res;
}
}
return 0;
}
int MPLSensor::enableDmpOrientation(int en)
{
VFUNC_LOG;
/* TODO: FIX error handling. Handle or ignore it appropriately for hw. */
int res = 0;
int enabled_sensors = mEnabled;
if (isMpu3050())
return res;
pthread_mutex_lock(&GlobalHalMutex);
// on power if not already On
res = onPower(1);
// reset master enable
res = masterEnable(0);
if (en) {
//Enable DMP orientation
if (write_sysfs_int(mpu.display_orientation_on, en) < 0) {
LOGE("HAL:ERR can't enable Android orientation");
res = -1; // indicate an err
}
// open DMP Orient Fd
res = openDmpOrientFd();
// enable DMP
res = onDMP(1);
// default DMP output rate to FIFO
if (write_sysfs_int(mpu.dmp_output_rate, 5) < 0) {
LOGE("HAL:ERR can't default DMP output rate");
}
// set DMP rate to 200Hz
if (write_sysfs_int(mpu.accel_fifo_rate, 200) < 0) {
res = -1;
LOGE("HAL:ERR can't set DMP rate to 200Hz");
}
// enable accel engine
res = enableAccel(1);
// disable accel FIFO
if (!A_ENABLED) {
res = turnOffAccelFifo();
}
mFeatureActiveMask |= INV_DMP_DISPL_ORIENTATION;
} else {
// disable DMP
res = onDMP(0);
// disable accel engine
if (!A_ENABLED) {
res = enableAccel(0);
}
}
res = masterEnable(1);
pthread_mutex_unlock(&GlobalHalMutex);
return res;
}
int MPLSensor::openDmpOrientFd()
{
VFUNC_LOG;
if (!isDmpDisplayOrientationOn() || dmp_orient_fd >= 0) {
LOGV_IF(PROCESS_VERBOSE, "HAL:DMP display orientation disabled or file desc opened");
return -1;
}
dmp_orient_fd = open(mpu.event_display_orientation, O_RDONLY| O_NONBLOCK);
if (dmp_orient_fd < 0) {
LOGE("HAL:ERR couldn't open dmpOrient node");
return -1;
} else {
LOGV_IF(PROCESS_VERBOSE, "HAL:dmp_orient_fd opened : %d", dmp_orient_fd);
return 0;
}
}
int MPLSensor::closeDmpOrientFd()
{
VFUNC_LOG;
if (dmp_orient_fd >= 0)
close(dmp_orient_fd);
return 0;
}
int MPLSensor::dmpOrientHandler(int orient)
{
VFUNC_LOG;
LOGV_IF(PROCESS_VERBOSE, "HAL:orient %x", orient);
return 0;
}
int MPLSensor::readDmpOrientEvents(sensors_event_t* data, int count) {
VFUNC_LOG;
char dummy[4];
int screen_orientation = 0;
FILE *fp;
fp = fopen(mpu.event_display_orientation, "r");
if (fp == NULL) {
LOGE("HAL:cannot open event_display_orientation");
return 0;
}
fscanf(fp, "%d\n", &screen_orientation);
fclose(fp);
int numEventReceived = 0;
if (mDmpOrientationEnabled && count > 0) {
sensors_event_t temp;
bzero(&temp, sizeof(temp)); /* Let's hope that SENSOR_TYPE_NONE is 0 */
temp.version = sizeof(sensors_event_t);
temp.sensor = ID_SO;
#ifdef ENABLE_DMP_SCREEN_AUTO_ROTATION
temp.type = SENSOR_TYPE_SCREEN_ORIENTATION;
temp.screen_orientation = screen_orientation;
#endif
struct timespec ts;
clock_gettime(CLOCK_MONOTONIC, &ts);
temp.timestamp = (int64_t) ts.tv_sec * 1000000000 + ts.tv_nsec;
*data++ = temp;
count--;
numEventReceived++;
}
// read dummy data per driver's request
dmpOrientHandler(screen_orientation);
read(dmp_orient_fd, dummy, 4);
return numEventReceived;
}
int MPLSensor::getDmpOrientFd()
{
VFUNC_LOG;
LOGV_IF(EXTRA_VERBOSE, "MPLSensor::getDmpOrientFd returning %d", dmp_orient_fd);
return dmp_orient_fd;
}
int MPLSensor::checkDMPOrientation()
{
VFUNC_LOG;
return ((mFeatureActiveMask & INV_DMP_DISPL_ORIENTATION) ? 1 : 0);
}
int MPLSensor::getDmpRate(int64_t *wanted)
{
if (checkDMPOrientation() || checkLPQuaternion()) {
// set DMP output rate to FIFO
write_sysfs_int(mpu.dmp_output_rate, 1000000000.f / *wanted);
LOGV_IF(PROCESS_VERBOSE, "HAL:DMP FIFO rate %.2f Hz", 1000000000.f / *wanted);
//DMP running rate must be @ 200Hz
*wanted= RATE_200HZ;
LOGV_IF(PROCESS_VERBOSE, "HAL:DMP rate= %.2f Hz", 1000000000.f / *wanted);
}
return 0;
}
int MPLSensor::getPollTime()
{
VHANDLER_LOG;
return mPollTime;
}
bool MPLSensor::hasPendingEvents() const
{
VHANDLER_LOG;
// if we are using the polling workaround, force the main
// loop to check for data every time
return (mPollTime != -1);
}
/* TODO: support resume suspend when we gain more info about them*/
void MPLSensor::sleepEvent()
{
VFUNC_LOG;
}
void MPLSensor::wakeEvent()
{
VFUNC_LOG;
}
int MPLSensor::inv_float_to_q16(float *fdata, long *ldata)
{
VHANDLER_LOG;
if (!fdata || !ldata)
return -1;
ldata[0] = (long)(fdata[0] * 65536.f);
ldata[1] = (long)(fdata[1] * 65536.f);
ldata[2] = (long)(fdata[2] * 65536.f);
return 0;
}
int MPLSensor::inv_long_to_q16(long *fdata, long *ldata)
{
VHANDLER_LOG;
if (!fdata || !ldata)
return -1;
ldata[0] = (fdata[1] * 65536.f);
ldata[1] = (fdata[2] * 65536.f);
ldata[2] = (fdata[3] * 65536.f);
return 0;
}
int MPLSensor::inv_float_to_round(float *fdata, long *ldata)
{
VHANDLER_LOG;
if (!fdata || !ldata)
return -1;
ldata[0] = (long)fdata[0];
ldata[1] = (long)fdata[1];
ldata[2] = (long)fdata[2];
return 0;
}
int MPLSensor::inv_float_to_round2(float *fdata, short *ldata)
{
VHANDLER_LOG;
if (!fdata || !ldata)
return -1;
ldata[0] = (short)fdata[0];
ldata[1] = (short)fdata[1];
ldata[2] = (short)fdata[2];
return 0;
}
int MPLSensor::inv_read_temperature(long long *data)
{
VHANDLER_LOG;
int count = 0;
char raw_buf[40];
long raw = 0;
long long timestamp = 0;
memset(raw_buf, 0, sizeof(raw_buf));
count = read_attribute_sensor(gyro_temperature_fd, raw_buf,
sizeof(raw_buf));
if(count < 1) {
LOGE("HAL:error reading gyro temperature");
return -1;
}
count = sscanf(raw_buf, "%ld%lld", &raw, &timestamp);
if(count < 0) {
return -1;
}
LOGV_IF(ENG_VERBOSE,
"HAL:temperature raw = %ld, timestamp = %lld, count = %d",
raw, timestamp, count);
data[0] = raw;
data[1] = timestamp;
return 0;
}
int MPLSensor::inv_read_dmp_state(int fd)
{
VFUNC_LOG;
if(fd < 0)
return -1;
int count = 0;
char raw_buf[10];
short raw = 0;
memset(raw_buf, 0, sizeof(raw_buf));
count = read_attribute_sensor(fd, raw_buf, sizeof(raw_buf));
if(count < 1) {
LOGE("HAL:error reading dmp state");
close(fd);
return -1;
}
count = sscanf(raw_buf, "%hd", &raw);
if(count < 0) {
LOGE("HAL:dmp state data is invalid");
close(fd);
return -1;
}
LOGV_IF(EXTRA_VERBOSE, "HAL:dmp state = %d, count = %d", raw, count);
close(fd);
return (int)raw;
}
int MPLSensor::inv_read_sensor_bias(int fd, long *data)
{
VFUNC_LOG;
if(fd == -1) {
return -1;
}
char buf[50];
char x[15], y[15], z[15];
memset(buf, 0, sizeof(buf));
int count = read_attribute_sensor(fd, buf, sizeof(buf));
if(count < 1) {
LOGE("HAL:Error reading gyro bias");
return -1;
}
count = sscanf(buf, "%[^','],%[^','],%[^',']", x, y, z);
if(count) {
/* scale appropriately for MPL */
LOGV_IF(ENG_VERBOSE,
"HAL:pre-scaled bias: X:Y:Z (%ld, %ld, %ld)",
atol(x), atol(y), atol(z));
data[0] = (long)(atol(x) / 10000 * (1L << 16));
data[1] = (long)(atol(y) / 10000 * (1L << 16));
data[2] = (long)(atol(z) / 10000 * (1L << 16));
LOGV_IF(ENG_VERBOSE,
"HAL:scaled bias: X:Y:Z (%ld, %ld, %ld)",
data[0], data[1], data[2]);
}
return 0;
}
/** fill in the sensor list based on which sensors are configured.
* return the number of configured sensors.
* parameter list must point to a memory region of at least 7*sizeof(sensor_t)
* parameter len gives the length of the buffer pointed to by list
*/
int MPLSensor::populateSensorList(struct sensor_t *list, int len)
{
VFUNC_LOG;
int numsensors;
if(len < (int)((sizeof(sSensorList) / sizeof(sensor_t)) * sizeof(sensor_t))) {
LOGE("HAL:sensor list too small, not populating.");
return -(sizeof(sSensorList) / sizeof(sensor_t));
}
/* fill in the base values */
memcpy(list, sSensorList, sizeof (struct sensor_t) * (sizeof(sSensorList) / sizeof(sensor_t)));
/* first add gyro, accel and compass to the list */
/* fill in gyro/accel values */
if(chip_ID == NULL) {
LOGE("HAL:Can not get gyro/accel id");
}
fillGyro(chip_ID, list);
fillAccel(chip_ID, list);
// TODO: need fixes for unified HAL and 3rd-party solution
mCompassSensor->fillList(&list[MagneticField]);
if(1) {
numsensors = (sizeof(sSensorList) / sizeof(sensor_t));
/* all sensors will be added to the list
fill in orientation values */
fillOrientation(list);
/* fill in rotation vector values */
fillRV(list);
/* fill in gravity values */
fillGravity(list);
/* fill in Linear accel values */
fillLinearAccel(list);
} else {
/* no 9-axis sensors, zero fill that part of the list */
numsensors = 3;
memset(list + 3, 0, 4 * sizeof(struct sensor_t));
}
return numsensors;
}
void MPLSensor::fillAccel(const char* accel, struct sensor_t *list)
{
VFUNC_LOG;
if (accel) {
if(accel != NULL && strcmp(accel, "BMA250") == 0) {
list[Accelerometer].maxRange = ACCEL_BMA250_RANGE;
list[Accelerometer].resolution = ACCEL_BMA250_RESOLUTION;
list[Accelerometer].power = ACCEL_BMA250_POWER;
list[Accelerometer].minDelay = ACCEL_BMA250_MINDELAY;
return;
} else if (accel != NULL && strcmp(accel, "MPU6050") == 0) {
list[Accelerometer].maxRange = ACCEL_MPU6050_RANGE;
list[Accelerometer].resolution = ACCEL_MPU6050_RESOLUTION;
list[Accelerometer].power = ACCEL_MPU6050_POWER;
list[Accelerometer].minDelay = ACCEL_MPU6050_MINDELAY;
return;
} else if (accel != NULL && strcmp(accel, "MPU6500") == 0) {
list[Accelerometer].maxRange = ACCEL_MPU6500_RANGE;
list[Accelerometer].resolution = ACCEL_MPU6500_RESOLUTION;
list[Accelerometer].power = ACCEL_MPU6500_POWER;
list[Accelerometer].minDelay = ACCEL_MPU6500_MINDELAY;
return;
} else if (accel != NULL && strcmp(accel, "MPU9150") == 0) {
list[Accelerometer].maxRange = ACCEL_MPU9150_RANGE;
list[Accelerometer].resolution = ACCEL_MPU9150_RESOLUTION;
list[Accelerometer].power = ACCEL_MPU9150_POWER;
list[Accelerometer].minDelay = ACCEL_MPU9150_MINDELAY;
return;
} else if (accel != NULL && strcmp(accel, "MPU3050") == 0) {
list[Accelerometer].maxRange = ACCEL_BMA250_RANGE;
list[Accelerometer].resolution = ACCEL_BMA250_RESOLUTION;
list[Accelerometer].power = ACCEL_BMA250_POWER;
list[Accelerometer].minDelay = ACCEL_BMA250_MINDELAY;
return;
}
}
LOGE("HAL:unknown accel id %s -- "
"params default to bma250 and might be wrong.",
accel);
list[Accelerometer].maxRange = ACCEL_BMA250_RANGE;
list[Accelerometer].resolution = ACCEL_BMA250_RESOLUTION;
list[Accelerometer].power = ACCEL_BMA250_POWER;
list[Accelerometer].minDelay = ACCEL_BMA250_MINDELAY;
}
void MPLSensor::fillGyro(const char* gyro, struct sensor_t *list)
{
VFUNC_LOG;
if ( gyro != NULL && strcmp(gyro, "MPU3050") == 0) {
list[Gyro].maxRange = GYRO_MPU3050_RANGE;
list[Gyro].resolution = GYRO_MPU3050_RESOLUTION;
list[Gyro].power = GYRO_MPU3050_POWER;
list[Gyro].minDelay = GYRO_MPU3050_MINDELAY;
} else if( gyro != NULL && strcmp(gyro, "MPU6050") == 0) {
list[Gyro].maxRange = GYRO_MPU6050_RANGE;
list[Gyro].resolution = GYRO_MPU6050_RESOLUTION;
list[Gyro].power = GYRO_MPU6050_POWER;
list[Gyro].minDelay = GYRO_MPU6050_MINDELAY;
} else if( gyro != NULL && strcmp(gyro, "MPU6500") == 0) {
list[Gyro].maxRange = GYRO_MPU6500_RANGE;
list[Gyro].resolution = GYRO_MPU6500_RESOLUTION;
list[Gyro].power = GYRO_MPU6500_POWER;
list[Gyro].minDelay = GYRO_MPU6500_MINDELAY;
} else if( gyro != NULL && strcmp(gyro, "MPU9150") == 0) {
list[Gyro].maxRange = GYRO_MPU9150_RANGE;
list[Gyro].resolution = GYRO_MPU9150_RESOLUTION;
list[Gyro].power = GYRO_MPU9150_POWER;
list[Gyro].minDelay = GYRO_MPU9150_MINDELAY;
} else {
LOGE("HAL:unknown gyro id -- gyro params will be wrong.");
LOGE("HAL:default to use mpu3050 params");
list[Gyro].maxRange = GYRO_MPU3050_RANGE;
list[Gyro].resolution = GYRO_MPU3050_RESOLUTION;
list[Gyro].power = GYRO_MPU3050_POWER;
list[Gyro].minDelay = GYRO_MPU3050_MINDELAY;
}
list[RawGyro].maxRange = list[Gyro].maxRange;
list[RawGyro].resolution = list[Gyro].resolution;
list[RawGyro].power = list[Gyro].power;
list[RawGyro].minDelay = list[Gyro].minDelay;
return;
}
/* fillRV depends on values of accel and compass in the list */
void MPLSensor::fillRV(struct sensor_t *list)
{
VFUNC_LOG;
/* compute power on the fly */
list[RotationVector].power = list[Gyro].power +
list[Accelerometer].power +
list[MagneticField].power;
list[RotationVector].resolution = .00001;
list[RotationVector].maxRange = 1.0;
list[RotationVector].minDelay = 5000;
return;
}
void MPLSensor::fillOrientation(struct sensor_t *list)
{
VFUNC_LOG;
list[Orientation].power = list[Gyro].power +
list[Accelerometer].power +
list[MagneticField].power;
list[Orientation].resolution = .00001;
list[Orientation].maxRange = 360.0;
list[Orientation].minDelay = 5000;
return;