1 /*
2 * Copyright (C) 2008 The Android Open Source Project
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 */
16
17 #define LOG_TAG "Sensors"
18
19 #include <hardware/sensors.h>
20 #include <fcntl.h>
21 #include <errno.h>
22 #include <dirent.h>
23 #include <math.h>
24 #include <poll.h>
25 #include <pthread.h>
26 #include <stdlib.h>
27 #include <string.h>
28
29 #include <linux/input.h>
30
31 #include <utils/Atomic.h>
32 #include <utils/Log.h>
33
34 #include "sensors.h"
35
36 #if defined SENSORHAL_ACC_ADXL346
37 #include "AdxlSensor.h"
38 #elif defined SENSORHAL_ACC_KXTF9
39 #include "KionixSensor.h"
40 #else
41 #error "Sensor configuration ERROR: No sensor is defined."
42 #endif
43
44 #include "AkmSensor.h"
45
46 /*****************************************************************************/
47
48 #define DELAY_OUT_TIME 0x7FFFFFFF
49
50 #define LIGHT_SENSOR_POLLTIME 2000000000
51
52
53 #define SENSORS_ACCELERATION (1<<ID_A)
54 #define SENSORS_MAGNETIC_FIELD (1<<ID_M)
55 #define SENSORS_ORIENTATION (1<<ID_O)
56
57 #define SENSORS_ACCELERATION_HANDLE 0
58 #define SENSORS_MAGNETIC_FIELD_HANDLE 1
59 #define SENSORS_ORIENTATION_HANDLE 2
60
61 /*****************************************************************************/
62
63 /* The SENSORS Module */
64 static const struct sensor_t sSensorList[] = {
65 { "AK8975 3-axis Magnetic field sensor",
66 "Asahi Kasei Microdevices",
67 1,
68 SENSORS_MAGNETIC_FIELD_HANDLE,
69 SENSOR_TYPE_MAGNETIC_FIELD, 1228.8f,
70 CONVERT_M, 0.35f, 10000, 0, 0, 0, 0, 0, 0, { } },
71 #ifdef SENSORHAL_ACC_ADXL346
72 { "Analog Devices ADXL345/6 3-axis Accelerometer",
73 "ADI",
74 1, SENSORS_ACCELERATION_HANDLE,
75 SENSOR_TYPE_ACCELEROMETER, (GRAVITY_EARTH * 16.0f),
76 (GRAVITY_EARTH * 16.0f) / 4096.0f, 0.145f, 10000, 0, 0, 0, 0, 0, 0, { } },
77 { "AK8975 Orientation sensor",
78 "Asahi Kasei Microdevices",
79 1, SENSORS_ORIENTATION_HANDLE,
80 SENSOR_TYPE_ORIENTATION, 360.0f,
81 CONVERT_O, 0.495f, 10000, 0, 0, 0, 0, 0, 0, { } }
82 #endif
83 #ifdef SENSORHAL_ACC_KXTF9
84 { "Kionix KXTF9 3-axis Accelerometer",
85 "Kionix",
86 1, SENSORS_ACCELERATION_HANDLE,
87 SENSOR_TYPE_ACCELEROMETER, (GRAVITY_EARTH * 2.0f),
88 (GRAVITY_EARTH) / 1024.0f, 0.7f, 10000, 0, 0, 0, 0, 0, 0, { } },
89 { "AK8975 Orientation sensor",
90 "Asahi Kasei Microdevices",
91 1, SENSORS_ORIENTATION_HANDLE,
92 SENSOR_TYPE_ORIENTATION, 360.0f,
93 CONVERT_O, 1.05f, 10000, 0, 0, 0, 0, 0, 0, { } }
94 #endif
95 };
96
97
98 static int open_sensors(const struct hw_module_t* module, const char* id,
99 struct hw_device_t** device);
100
sensors__get_sensors_list(struct sensors_module_t * module,struct sensor_t const ** list)101 static int sensors__get_sensors_list(struct sensors_module_t* module,
102 struct sensor_t const** list)
103 {
104 *list = sSensorList;
105 return ARRAY_SIZE(sSensorList);
106 }
107
108 static struct hw_module_methods_t sensors_module_methods = {
109 .open = open_sensors
110 };
111
112 struct sensors_module_t HAL_MODULE_INFO_SYM = {
113 .common = {
114 .tag = HARDWARE_MODULE_TAG,
115 .version_major = 1,
116 .version_minor = 0,
117 .id = SENSORS_HARDWARE_MODULE_ID,
118 .name = "AKM Sensor module",
119 .author = "Asahi Kasei Microdevices",
120 .methods = &sensors_module_methods,
121 .dso = NULL,
122 .reserved = {0},
123 },
124 .get_sensors_list = sensors__get_sensors_list,
125 };
126
127 struct sensors_poll_context_t {
128 struct sensors_poll_device_t device; // must be first
129
130 sensors_poll_context_t();
131 ~sensors_poll_context_t();
132 int activate(int handle, int enabled);
133 int setDelay(int handle, int64_t ns);
134 int setDelay_sub(int handle, int64_t ns);
135 int pollEvents(sensors_event_t* data, int count);
136
137 private:
138 enum {
139 acc = 0,
140 akm = 1,
141 numSensorDrivers,
142 numFds,
143 };
144
145 static const size_t wake = numFds - 1;
146 static const char WAKE_MESSAGE = 'W';
147 struct pollfd mPollFds[numFds];
148 int mWritePipeFd;
149 SensorBase* mSensors[numSensorDrivers];
150
151 /* These function will be different depends on
152 * which sensor is implemented in AKMD program.
153 */
154 int handleToDriver(int handle);
155 int proxy_enable(int handle, int enabled);
156 int proxy_setDelay(int handle, int64_t ns);
157 };
158
159 /*****************************************************************************/
160
sensors_poll_context_t()161 sensors_poll_context_t::sensors_poll_context_t()
162 {
163 #ifdef SENSORHAL_ACC_ADXL346
164 mSensors[acc] = new AdxlSensor();
165 #endif
166 #ifdef SENSORHAL_ACC_KXTF9
167 mSensors[acc] = new KionixSensor();
168 #endif
169 mPollFds[acc].fd = mSensors[acc]->getFd();
170 mPollFds[acc].events = POLLIN;
171 mPollFds[acc].revents = 0;
172
173 mSensors[akm] = new AkmSensor();
174 mPollFds[akm].fd = mSensors[akm]->getFd();
175 mPollFds[akm].events = POLLIN;
176 mPollFds[akm].revents = 0;
177
178 int wakeFds[2];
179 int result = pipe(wakeFds);
180 ALOGE_IF(result<0, "error creating wake pipe (%s)", strerror(errno));
181 fcntl(wakeFds[0], F_SETFL, O_NONBLOCK);
182 fcntl(wakeFds[1], F_SETFL, O_NONBLOCK);
183 mWritePipeFd = wakeFds[1];
184
185 mPollFds[wake].fd = wakeFds[0];
186 mPollFds[wake].events = POLLIN;
187 mPollFds[wake].revents = 0;
188 }
189
~sensors_poll_context_t()190 sensors_poll_context_t::~sensors_poll_context_t() {
191 for (int i=0 ; i<numSensorDrivers ; i++) {
192 delete mSensors[i];
193 }
194 close(mPollFds[wake].fd);
195 close(mWritePipeFd);
196 }
197
handleToDriver(int handle)198 int sensors_poll_context_t::handleToDriver(int handle) {
199 switch (handle) {
200 case ID_A:
201 return acc;
202 case ID_M:
203 case ID_O:
204 return akm;
205 }
206 return -EINVAL;
207 }
208
activate(int handle,int enabled)209 int sensors_poll_context_t::activate(int handle, int enabled) {
210 int drv = handleToDriver(handle);
211 int err;
212
213 switch (handle) {
214 case ID_A:
215 case ID_M:
216 /* No dependencies */
217 break;
218
219 case ID_O:
220 /* These sensors depend on ID_A and ID_M */
221 mSensors[handleToDriver(ID_A)]->setEnable(ID_A, enabled);
222 mSensors[handleToDriver(ID_M)]->setEnable(ID_M, enabled);
223 break;
224
225 default:
226 return -EINVAL;
227 }
228 err = mSensors[drv]->setEnable(handle, enabled);
229
230 if (enabled && !err) {
231 const char wakeMessage(WAKE_MESSAGE);
232 int result = write(mWritePipeFd, &wakeMessage, 1);
233 ALOGE_IF(result<0, "error sending wake message (%s)", strerror(errno));
234 }
235 return err;
236 }
237
setDelay(int handle,int64_t ns)238 int sensors_poll_context_t::setDelay(int handle, int64_t ns) {
239 switch (handle) {
240 case ID_A:
241 case ID_M:
242 /* No dependencies */
243 break;
244
245 case ID_O:
246 /* These sensors depend on ID_A and ID_M */
247 setDelay_sub(ID_A, ns);
248 setDelay_sub(ID_M, ns);
249 break;
250
251 default:
252 return -EINVAL;
253 }
254 return setDelay_sub(handle, ns);
255 }
256
setDelay_sub(int handle,int64_t ns)257 int sensors_poll_context_t::setDelay_sub(int handle, int64_t ns) {
258 int drv = handleToDriver(handle);
259 int en = mSensors[drv]->getEnable(handle);
260 int64_t cur = mSensors[drv]->getDelay(handle);
261 int err = 0;
262
263 if (en <= 1) {
264 /* no dependencies */
265 if (cur != ns) {
266 err = mSensors[drv]->setDelay(handle, ns);
267 }
268 } else {
269 /* has dependencies, choose shorter interval */
270 if (cur > ns) {
271 err = mSensors[drv]->setDelay(handle, ns);
272 }
273 }
274 return err;
275 }
276
pollEvents(sensors_event_t * data,int count)277 int sensors_poll_context_t::pollEvents(sensors_event_t* data, int count)
278 {
279 int nbEvents = 0;
280 int n = 0;
281
282 do {
283 // see if we have some leftover from the last poll()
284 for (int i=0 ; count && i<numSensorDrivers ; i++) {
285 SensorBase* const sensor(mSensors[i]);
286 if ((mPollFds[i].revents & POLLIN) || (sensor->hasPendingEvents())) {
287 int nb = sensor->readEvents(data, count);
288 if (nb < count) {
289 // no more data for this sensor
290 mPollFds[i].revents = 0;
291 }
292 if ((0 != nb) && (acc == i)) {
293 ((AkmSensor*)(mSensors[akm]))->setAccel(&data[nb-1]);
294 }
295 count -= nb;
296 nbEvents += nb;
297 data += nb;
298 }
299 }
300
301 if (count) {
302 // we still have some room, so try to see if we can get
303 // some events immediately or just wait if we don't have
304 // anything to return
305 n = poll(mPollFds, numFds, nbEvents ? 0 : -1);
306 if (n<0) {
307 ALOGE("poll() failed (%s)", strerror(errno));
308 return -errno;
309 }
310 if (mPollFds[wake].revents & POLLIN) {
311 char msg;
312 int result = read(mPollFds[wake].fd, &msg, 1);
313 ALOGE_IF(result<0, "error reading from wake pipe (%s)", strerror(errno));
314 ALOGE_IF(msg != WAKE_MESSAGE, "unknown message on wake queue (0x%02x)", int(msg));
315 mPollFds[wake].revents = 0;
316 }
317 }
318 // if we have events and space, go read them
319 } while (n && count);
320
321 return nbEvents;
322 }
323
324 /*****************************************************************************/
325
poll__close(struct hw_device_t * dev)326 static int poll__close(struct hw_device_t *dev)
327 {
328 sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev;
329 if (ctx) {
330 delete ctx;
331 }
332 return 0;
333 }
334
poll__activate(struct sensors_poll_device_t * dev,int handle,int enabled)335 static int poll__activate(struct sensors_poll_device_t *dev,
336 int handle, int enabled) {
337 sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev;
338 return ctx->activate(handle, enabled);
339 }
340
poll__setDelay(struct sensors_poll_device_t * dev,int handle,int64_t ns)341 static int poll__setDelay(struct sensors_poll_device_t *dev,
342 int handle, int64_t ns) {
343 sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev;
344 return ctx->setDelay(handle, ns);
345 }
346
poll__poll(struct sensors_poll_device_t * dev,sensors_event_t * data,int count)347 static int poll__poll(struct sensors_poll_device_t *dev,
348 sensors_event_t* data, int count) {
349 sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev;
350 return ctx->pollEvents(data, count);
351 }
352
353 /*****************************************************************************/
354
355 /** Open a new instance of a sensor device using name */
open_sensors(const struct hw_module_t * module,const char * id,struct hw_device_t ** device)356 static int open_sensors(const struct hw_module_t* module, const char* id,
357 struct hw_device_t** device)
358 {
359 int status = -EINVAL;
360 sensors_poll_context_t *dev = new sensors_poll_context_t();
361
362 memset(&dev->device, 0, sizeof(sensors_poll_device_t));
363
364 dev->device.common.tag = HARDWARE_DEVICE_TAG;
365 dev->device.common.version = 0;
366 dev->device.common.module = const_cast<hw_module_t*>(module);
367 dev->device.common.close = poll__close;
368 dev->device.activate = poll__activate;
369 dev->device.setDelay = poll__setDelay;
370 dev->device.poll = poll__poll;
371
372 *device = &dev->device.common;
373 status = 0;
374
375 return status;
376 }
377
378