MPLSensor.h revision c3d4ca9f2df5ddf9894b36d1554fdfc95d625d3f 
1/*
2* Copyright (C) 2012 Invensense, Inc.
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#ifndef ANDROID_MPL_SENSOR_H
18#define ANDROID_MPL_SENSOR_H
19
20#include <stdint.h>
21#include <errno.h>
22#include <sys/cdefs.h>
23#include <sys/types.h>
24#include <poll.h>
25#include <time.h>
26#include <utils/Vector.h>
27#include <utils/KeyedVector.h>
28#include <utils/String8.h>
29#include "sensors.h"
30#include "SensorBase.h"
31#include "InputEventReader.h"
32
33#ifndef INVENSENSE_COMPASS_CAL
34#pragma message("unified HAL for AKM")
35#include "CompassSensor.AKM.h"
36#endif
37
38#ifdef SENSOR_ON_PRIMARY_BUS
39#pragma message("Sensor on Primary Bus")
40#include "CompassSensor.IIO.primary.h"
41#else
42#pragma message("Sensor on Secondary Bus")
43#include "CompassSensor.IIO.9150.h"
44#endif
45
46class PressureSensor;
47
48/*****************************************************************************/
49/* Sensors Enable/Disable Mask
50 *****************************************************************************/
51#define MAX_CHIP_ID_LEN             (20)
52
53#define INV_THREE_AXIS_GYRO         (0x000F)
54#define INV_THREE_AXIS_ACCEL        (0x0070)
55#define INV_THREE_AXIS_COMPASS      (0x0380)
56#define INV_ONE_AXIS_PRESSURE       (0x0400)
57#define INV_ALL_SENSORS             (0x7FFF)
58
59#ifdef INVENSENSE_COMPASS_CAL
60#define ALL_MPL_SENSORS_NP          (INV_THREE_AXIS_ACCEL \
61                                      | INV_THREE_AXIS_COMPASS \
62                                      | INV_THREE_AXIS_GYRO)
63#else
64#define ALL_MPL_SENSORS_NP          (INV_THREE_AXIS_ACCEL \
65                                      | INV_THREE_AXIS_COMPASS \
66                                      | INV_THREE_AXIS_GYRO)
67#endif
68
69// mask of virtual sensors that require gyro + accel + compass data
70#define VIRTUAL_SENSOR_9AXES_MASK (         \
71        (1 << Orientation)                  \
72        | (1 << RotationVector)             \
73        | (1 << LinearAccel)                \
74        | (1 << Gravity)                    \
75)
76// mask of virtual sensors that require gyro + accel data (but no compass data)
77#define VIRTUAL_SENSOR_GYRO_6AXES_MASK (    \
78        (1 << GameRotationVector)           \
79)
80// mask of virtual sensors that require mag + accel data (but no gyro data)
81#define VIRTUAL_SENSOR_MAG_6AXES_MASK (     \
82        (1 << GeomagneticRotationVector)    \
83)
84// mask of all virtual sensors
85#define VIRTUAL_SENSOR_ALL_MASK (           \
86        VIRTUAL_SENSOR_9AXES_MASK           \
87        | VIRTUAL_SENSOR_GYRO_6AXES_MASK    \
88        | VIRTUAL_SENSOR_MAG_6AXES_MASK     \
89)
90
91// bit mask of current MPL active features (mMplFeatureActiveMask)
92#define INV_COMPASS_CAL              0x01
93#define INV_COMPASS_FIT              0x02
94
95// bit mask of current DMP active features (mFeatureActiveMask)
96#define INV_DMP_QUATERNION           0x001 //3 elements without real part, 32 bit each
97#define INV_DMP_DISPL_ORIENTATION    0x002 //screen orientation
98#define INV_DMP_SIGNIFICANT_MOTION   0x004 //significant motion
99#define INV_DMP_PEDOMETER            0x008 //interrupt-based pedometer
100#define INV_DMP_PEDOMETER_STEP       0x010 //timer-based pedometer
101#define INV_DMP_PED_STANDALONE       0x020 //timestamps only
102#define INV_DMP_6AXIS_QUATERNION     0x040 //3 elements without real part, 32 bit each
103#define INV_DMP_PED_QUATERNION       0x080 //3 elements without real part, 16 bit each
104#define INV_DMP_PED_INDICATOR        0x100 //tag along header with step indciator
105#define INV_DMP_BATCH_MODE           0x200 //batch mode
106
107// bit mask of whether DMP should be turned on
108#define DMP_FEATURE_MASK (                           \
109        (INV_DMP_QUATERNION)                         \
110        | (INV_DMP_DISPL_ORIENTATION)                \
111        | (INV_DMP_SIGNIFICANT_MOTION)               \
112        | (INV_DMP_PEDOMETER)                        \
113        | (INV_DMP_PEDOMETER_STEP)                   \
114        | (INV_DMP_6AXIS_QUATERNION)                 \
115        | (INV_DMP_PED_QUATERNION)                   \
116        | (INV_DMP_BATCH_MODE)                       \
117)
118
119// bit mask of DMP features as sensors
120#define DMP_SENSOR_MASK (                            \
121        (INV_DMP_DISPL_ORIENTATION)                  \
122        | (INV_DMP_SIGNIFICANT_MOTION)               \
123        | (INV_DMP_PEDOMETER)                        \
124        | (INV_DMP_PEDOMETER_STEP)                   \
125        | (INV_DMP_6AXIS_QUATERNION)                 \
126)
127
128// data header format used by kernel driver.
129#define DATA_FORMAT_STEP           0x0001
130#define DATA_FORMAT_MARKER         0x0010
131#define DATA_FORMAT_EMPTY_MARKER   0x0020
132#define DATA_FORMAT_PED_STANDALONE 0x0100
133#define DATA_FORMAT_PED_QUAT       0x0200
134#define DATA_FORMAT_6_AXIS         0x0400
135#define DATA_FORMAT_QUAT           0x0800
136#define DATA_FORMAT_COMPASS        0x1000
137#define DATA_FORMAT_GYRO           0x2000
138#define DATA_FORMAT_ACCEL          0x4000
139#define DATA_FORMAT_PRESSURE       0x8000
140#define DATA_FORMAT_MASK           0xffff
141
142#define BYTES_PER_SENSOR                8
143#define BYTES_PER_SENSOR_PACKET         16
144#define QUAT_ONLY_LAST_PACKET_OFFSET    16
145#define BYTES_QUAT_DATA                 24
146#define MAX_READ_SIZE                   BYTES_QUAT_DATA
147#define MAX_SUSPEND_BATCH_PACKET_SIZE   1024
148#define MAX_PACKET_SIZE                 80 //8 * 4 + (2 * 24)
149
150/* Uncomment to enable Low Power Quaternion */
151#define ENABLE_LP_QUAT_FEAT
152
153/* Enable Pressure sensor support */
154#define ENABLE_PRESSURE
155
156/* Screen Orientation is not currently supported */
157int isDmpScreenAutoRotationEnabled()
158{
159#ifdef ENABLE_DMP_SCREEN_AUTO_ROTATION
160    return 1;
161#else
162    return 0;
163#endif
164}
165
166int (*m_pt2AccelCalLoadFunc)(long *bias) = NULL;
167/*****************************************************************************/
168/** MPLSensor implementation which fits into the HAL example for crespo provided
169 *  by Google.
170 *  WARNING: there may only be one instance of MPLSensor, ever.
171 */
172
173class MPLSensor: public SensorBase
174{
175    typedef int (MPLSensor::*hfunc_t)(sensors_event_t*);
176
177public:
178
179    MPLSensor(CompassSensor *, int (*m_pt2AccelCalLoadFunc)(long*) = 0);
180    virtual ~MPLSensor();
181
182    virtual int setDelay(int32_t handle, int64_t ns);
183    virtual int enable(int32_t handle, int enabled);
184    virtual int batch(int handle, int flags, int64_t period_ns, int64_t timeout);
185    virtual int flush(int handle);
186    int selectAndSetQuaternion(int batchMode, int mEnabled, long long featureMask);
187    int checkBatchEnabled();
188    int setBatch(int en, int toggleEnable);
189    int32_t getEnableMask() { return mEnabled; }
190    void getHandle(int32_t handle, int &what, android::String8 &sname);
191
192    virtual int readEvents(sensors_event_t *data, int count);
193    virtual int getFd() const;
194    virtual int getAccelFd() const;
195    virtual int getCompassFd() const;
196    virtual int getPollTime();
197    virtual int getStepCountPollTime();
198    virtual bool hasPendingEvents() const;
199    virtual bool hasStepCountPendingEvents();
200    int populateSensorList(struct sensor_t *list, int len);
201
202    int readAccelEvents(sensors_event_t* data, int count);
203    void buildCompassEvent();
204    void buildMpuEvent();
205    int checkValidHeader(unsigned short data_format);
206
207    int turnOffAccelFifo();
208    int turnOffGyroFifo();
209    int enableDmpOrientation(int);
210    int dmpOrientHandler(int);
211    int readDmpOrientEvents(sensors_event_t* data, int count);
212    int getDmpOrientFd();
213    int openDmpOrientFd();
214    int closeDmpOrientFd();
215
216    int getDmpRate(int64_t *);
217    int checkDMPOrientation();
218
219    int getDmpSignificantMotionFd();
220    int readDmpSignificantMotionEvents(sensors_event_t* data, int count);
221    int enableDmpSignificantMotion(int);
222    int significantMotionHandler(sensors_event_t* data);
223    bool checkSmdSupport(){return (mDmpSignificantMotionEnabled);};
224
225    int enableDmpPedometer(int, int);
226    int readDmpPedometerEvents(sensors_event_t* data, int count, int32_t id, int outputType);
227    int getDmpPedometerFd();
228    bool checkPedometerSupport() {return (mDmpPedometerEnabled || mDmpStepCountEnabled);};
229    bool checkOrientationSupport() {return ((isDmpDisplayOrientationOn()
230                                       && (mDmpOrientationEnabled
231                                       || !isDmpScreenAutoRotationEnabled())));};
232
233protected:
234    CompassSensor *mCompassSensor;
235    PressureSensor *mPressureSensor;
236
237    int gyroHandler(sensors_event_t *data);
238    int rawGyroHandler(sensors_event_t *data);
239    int accelHandler(sensors_event_t *data);
240    int compassHandler(sensors_event_t *data);
241    int rawCompassHandler(sensors_event_t *data);
242    int rvHandler(sensors_event_t *data);
243    int grvHandler(sensors_event_t *data);
244    int laHandler(sensors_event_t *data);
245    int gravHandler(sensors_event_t *data);
246    int orienHandler(sensors_event_t *data);
247    int smHandler(sensors_event_t *data);
248    int pHandler(sensors_event_t *data);
249    int gmHandler(sensors_event_t *data);
250    int psHandler(sensors_event_t *data);
251    int sdHandler(sensors_event_t *data);
252    int scHandler(sensors_event_t *data);
253    int metaHandler(sensors_event_t *data, int flags);
254    void calcOrientationSensor(float *Rx, float *Val);
255    virtual int update_delay();
256
257    void inv_set_device_properties();
258    int inv_constructor_init();
259    int inv_constructor_default_enable();
260    int setAccelInitialState();
261    int masterEnable(int en);
262    int enablePedStandalone(int en);
263    int enablePedStandaloneData(int en);
264    int enablePedQuaternion(int);
265    int enablePedQuaternionData(int);
266    int enable6AxisQuaternion(int);
267    int enable6AxisQuaternionData(int);
268    int enableLPQuaternion(int);
269    int enableQuaternionData(int);
270    int enableAccelPedometer(int);
271    int enableAccelPedData(int);
272    int onDmp(int);
273    int enableGyro(int en);
274    int enableLowPowerAccel(int en);
275    int enableAccel(int en);
276    int enableCompass(int en, int rawSensorOn);
277    int enablePressure(int en);
278    int enableBatch(int64_t timeout);
279    void computeLocalSensorMask(int enabled_sensors);
280    int computeBatchSensorMask(int enableSensor, int checkNewBatchSensor);
281    int computeBatchDataOutput();
282    int enableSensors(unsigned long sensors, int en, uint32_t changed);
283    int inv_read_temperature(long long *data);
284    int inv_read_dmp_state(int fd);
285    int inv_read_sensor_bias(int fd, long *data);
286    void inv_get_sensors_orientation(void);
287    int inv_init_sysfs_attributes(void);
288    int resetCompass(void);
289    void setCompassDelay(int64_t ns);
290    void enable_iio_sysfs(void);
291    int setDmpFeature(int en);
292    int computeAndSetDmpState(void);
293    int enablePedometer(int);
294    int enablePedIndicator(int en);
295    int checkPedStandaloneEnabled(void);
296    int checkPedQuatEnabled();
297    int check6AxisQuatEnabled();
298    int checkLPQRateSupported();
299    int checkLPQuaternion();
300    int checkAccelPed();
301    void setInitial6QuatValue();
302    int writeSignificantMotionParams(bool toggleEnable,
303                                     uint32_t delayThreshold1, uint32_t delayThreshold2,
304                                     uint32_t motionThreshold);
305    long mMasterSensorMask;
306    long mLocalSensorMask;
307    int mPollTime;
308    int64_t mStepCountPollTime;
309    bool mHaveGoodMpuCal;   // flag indicating that the cal file can be written
310    int mGyroAccuracy;      // value indicating the quality of the gyro calibr.
311    int mAccelAccuracy;     // value indicating the quality of the accel calibr.
312    int mCompassAccuracy;   // value indicating the quality of the compass calibr.
313    struct pollfd mPollFds[5];
314    pthread_mutex_t mMplMutex;
315    pthread_mutex_t mHALMutex;
316
317    char mIIOBuffer[(16 + 8 * 3 + 8) * IIO_BUFFER_LENGTH];
318
319    int iio_fd;
320    int accel_fd;
321    int mpufifo_fd;
322    int gyro_temperature_fd;
323    int accel_x_offset_fd;
324    int accel_y_offset_fd;
325    int accel_z_offset_fd;
326
327    int accel_x_dmp_bias_fd;
328    int accel_y_dmp_bias_fd;
329    int accel_z_dmp_bias_fd;
330
331    int gyro_x_offset_fd;
332    int gyro_y_offset_fd;
333    int gyro_z_offset_fd;
334
335    int gyro_x_dmp_bias_fd;
336    int gyro_y_dmp_bias_fd;
337    int gyro_z_dmp_bias_fd;
338
339    int dmp_orient_fd;
340    int mDmpOrientationEnabled;
341
342    int dmp_sign_motion_fd;
343    int mDmpSignificantMotionEnabled;
344
345    int dmp_pedometer_fd;
346    int mDmpPedometerEnabled;
347    int mDmpStepCountEnabled;
348
349    uint32_t mEnabled;
350    uint32_t mBatchEnabled;
351    int32_t mFlushSensorEnabled;
352    uint32_t mOldBatchEnabledMask;
353    int64_t mBatchTimeoutInMs;
354    sensors_event_t mPendingEvents[NumSensors];
355    sensors_event_t mSmEvents;
356    sensors_event_t mSdEvents;
357    sensors_event_t mScEvents;
358    int64_t mDelays[NumSensors];
359    int64_t mBatchDelays[NumSensors];
360    int64_t mBatchTimeouts[NumSensors];
361    hfunc_t mHandlers[NumSensors];
362    short mCachedGyroData[3];
363    long mCachedAccelData[3];
364    long mCachedCompassData[3];
365    long mCachedQuaternionData[3];
366    long mCached6AxisQuaternionData[3];
367    long mCachedPedQuaternionData[3];
368    long mCachedPressureData;
369    android::KeyedVector<int, int> mIrqFds;
370
371    InputEventCircularReader mAccelInputReader;
372    InputEventCircularReader mGyroInputReader;
373
374    bool mFirstRead;
375    short mTempScale;
376    short mTempOffset;
377    int64_t mTempCurrentTime;
378    int mAccelScale;
379    long mAccelSelfTestScale;
380    long mGyroScale;
381    long mGyroSelfTestScale;
382    long mCompassScale;
383    float mCompassBias[3];
384    bool mFactoryGyroBiasAvailable;
385    long mFactoryGyroBias[3];
386    bool mGyroBiasAvailable;
387    bool mGyroBiasApplied;
388    float mGyroBias[3];    //in body frame
389    long mGyroChipBias[3]; //in chip frame
390    bool mFactoryAccelBiasAvailable;
391    long mFactoryAccelBias[3];
392    bool mAccelBiasAvailable;
393    bool mAccelBiasApplied;
394    long mAccelBias[3];    //in chip frame
395
396    uint32_t mPendingMask;
397    unsigned long mSensorMask;
398
399    char chip_ID[MAX_CHIP_ID_LEN];
400    char mSysfsPath[MAX_SYSFS_NAME_LEN];
401
402    signed char mGyroOrientation[9];
403    signed char mAccelOrientation[9];
404
405    int64_t mSensorTimestamp;
406    int64_t mCompassTimestamp;
407    int64_t mPressureTimestamp;
408
409    struct sysfs_attrbs {
410       char *chip_enable;
411       char *power_state;
412       char *master_enable;
413       char *dmp_firmware;
414       char *firmware_loaded;
415       char *dmp_on;
416       char *dmp_int_on;
417       char *dmp_event_int_on;
418       char *tap_on;
419       char *key;
420       char *self_test;
421       char *temperature;
422
423       char *gyro_enable;
424       char *gyro_fifo_rate;
425       char *gyro_fsr;
426       char *gyro_orient;
427       char *gyro_fifo_enable;
428       char *gyro_rate;
429
430       char *accel_enable;
431       char *accel_fifo_rate;
432       char *accel_fsr;
433       char *accel_bias;
434       char *accel_orient;
435       char *accel_fifo_enable;
436       char *accel_rate;
437
438       char *three_axis_q_on; //formerly quaternion_on
439       char *three_axis_q_rate;
440
441       char *six_axis_q_on;
442       char *six_axis_q_rate;
443
444       char *six_axis_q_value;
445
446       char *ped_q_on;
447       char *ped_q_rate;
448
449       char *step_detector_on;
450       char *step_indicator_on;
451
452       char *in_timestamp_en;
453       char *in_timestamp_index;
454       char *in_timestamp_type;
455
456       char *buffer_length;
457
458       char *display_orientation_on;
459       char *event_display_orientation;
460
461       char *in_accel_x_offset;
462       char *in_accel_y_offset;
463       char *in_accel_z_offset;
464       char *in_accel_self_test_scale;
465
466       char *in_accel_x_dmp_bias;
467       char *in_accel_y_dmp_bias;
468       char *in_accel_z_dmp_bias;
469
470       char *in_gyro_x_offset;
471       char *in_gyro_y_offset;
472       char *in_gyro_z_offset;
473       char *in_gyro_self_test_scale;
474
475       char *in_gyro_x_dmp_bias;
476       char *in_gyro_y_dmp_bias;
477       char *in_gyro_z_dmp_bias;
478
479       char *event_smd;
480       char *smd_enable;
481       char *smd_delay_threshold;
482       char *smd_delay_threshold2;
483       char *smd_threshold;
484       char *batchmode_timeout;
485       char *batchmode_wake_fifo_full_on;
486       char *flush_batch;
487
488       char *pedometer_on;
489       char *pedometer_int_on;
490       char *event_pedometer;
491       char *pedometer_steps;
492       char *pedometer_counter;
493
494       char *motion_lpa_on;
495    } mpu;
496
497    char *sysfs_names_ptr;
498    int mMplFeatureActiveMask;
499    uint64_t mFeatureActiveMask;
500    bool mDmpOn;
501    int mPedUpdate;
502    int mPressureUpdate;
503    int64_t mQuatSensorTimestamp;
504    int64_t mStepSensorTimestamp;
505    uint64_t mLastStepCount;
506    int mLeftOverBufferSize;
507    char mLeftOverBuffer[1024];
508    bool mInitial6QuatValueAvailable;
509    long mInitial6QuatValue[4];
510    bool mFlushBatchSet;
511    uint32_t mSkipReadEvents;
512    bool mDataMarkerDetected;
513    bool mEmptyDataMarkerDetected;
514
515private:
516    /* added for dynamic get sensor list */
517    void fillAccel(const char* accel, struct sensor_t *list);
518    void fillGyro(const char* gyro, struct sensor_t *list);
519    void fillRV(struct sensor_t *list);
520    void fillGMRV(struct sensor_t *list);
521    void fillGRV(struct sensor_t *list);
522    void fillOrientation(struct sensor_t *list);
523    void fillGravity(struct sensor_t *list);
524    void fillLinearAccel(struct sensor_t *list);
525    void fillSignificantMotion(struct sensor_t *list);
526#ifdef ENABLE_DMP_SCREEN_AUTO_ROTATION
527    void fillScreenOrientation(struct sensor_t *list);
528#endif
529    void storeCalibration();
530    void loadDMP();
531    bool isMpuNonDmp();
532    int isLowPowerQuatEnabled();
533    int isDmpDisplayOrientationOn();
534    void getCompassBias();
535    void getFactoryGyroBias();
536    void setFactoryGyroBias();
537    void getGyroBias();
538    void setGyroZeroBias();
539    void setGyroBias();
540    void getFactoryAccelBias();
541    void setFactoryAccelBias();
542    void getAccelBias();
543    void setAccelBias();
544    int isCompassDisabled();
545    int setBatchDataRates();
546    int resetDataRates();
547    void initBias();
548    void resetMplStates();
549    void sys_dump(bool fileMode);
550};
551
552extern "C" {
553    void setCallbackObject(MPLSensor*);
554    MPLSensor *getCallbackObject();
555}
556
557#endif  // ANDROID_MPL_SENSOR_H
558