sensors_mpl.cpp revision 4a28f9c897c46c42a255823f7e307169a828a025 
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#define FUNC_LOG LOGV("%s", __PRETTY_FUNCTION__)
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
28#include <linux/input.h>
29
30#include <utils/Atomic.h>
31#include <utils/Log.h>
32
33#include "sensors.h"
34#include "MPLSensor.h"
35
36/*
37 * Vendor-defined Accel Load Calibration File Method
38 * @param[out] Accel bias, length 3.  In HW units scaled by 2^16 in body frame
39 * @return '0' for a successful load, '1' otherwise
40 * example: int AccelLoadConfig(long* offset);
41 * End of Vendor-defined Accel Load Cal Method
42 */
43
44/*****************************************************************************/
45/* The SENSORS Module */
46
47#ifdef ENABLE_DMP_SCREEN_AUTO_ROTATION
48#define LOCAL_SENSORS (MPLSensor::NumSensors + 1)
49#else
50#define LOCAL_SENSORS MPLSensor::NumSensors
51#endif
52
53static struct sensor_t sSensorList[LOCAL_SENSORS];
54static int sensors = (sizeof(sSensorList) / sizeof(sensor_t));
55
56static int open_sensors(const struct hw_module_t* module, const char* id,
57                        struct hw_device_t** device);
58
59static int sensors__get_sensors_list(struct sensors_module_t* module,
60                                     struct sensor_t const** list)
61{
62    *list = sSensorList;
63    return sensors;
64}
65
66static struct hw_module_methods_t sensors_module_methods = {
67        open: open_sensors
68};
69
70struct sensors_module_t HAL_MODULE_INFO_SYM = {
71        common: {
72                tag: HARDWARE_MODULE_TAG,
73                version_major: 1,
74                version_minor: 0,
75                id: SENSORS_HARDWARE_MODULE_ID,
76                name: "Invensense module",
77                author: "Invensense Inc.",
78                methods: &sensors_module_methods,
79                dso: NULL,
80                reserved: {0}
81        },
82        get_sensors_list: sensors__get_sensors_list,
83};
84
85struct sensors_poll_context_t {
86    sensors_poll_device_1_t device; // must be first
87
88    sensors_poll_context_t();
89    ~sensors_poll_context_t();
90    int activate(int handle, int enabled);
91    int setDelay(int handle, int64_t ns);
92    int pollEvents(sensors_event_t* data, int count);
93    int query(int what, int *value);
94    int batch(int handle, int flags, int64_t period_ns, int64_t timeout);
95
96private:
97    enum {
98        mpl = 0,
99        compass,
100        dmpOrient,
101        dmpSign,
102        dmpPed,
103        numSensorDrivers,   // wake pipe goes here
104        numFds,
105    };
106
107    struct pollfd mPollFds[numFds];
108    SensorBase *mSensor;
109    CompassSensor *mCompassSensor;
110
111    static const size_t wake = numSensorDrivers;
112    static const char WAKE_MESSAGE = 'W';
113    int mWritePipeFd;
114};
115
116/******************************************************************************/
117
118sensors_poll_context_t::sensors_poll_context_t() {
119    VFUNC_LOG;
120
121    /* TODO: Handle external pressure sensor */
122    mCompassSensor = new CompassSensor();
123    MPLSensor *mplSensor = new MPLSensor(mCompassSensor);
124
125   /* For Vendor-defined Accel Calibration File Load
126    * Use the Following Constructor and Pass Your Load Cal File Function
127    *
128    * MPLSensor *mplSensor = new MPLSensor(mCompassSensor, AccelLoadConfig);
129    */
130
131    // setup the callback object for handing mpl callbacks
132    setCallbackObject(mplSensor);
133
134    // populate the sensor list
135    sensors =
136            mplSensor->populateSensorList(sSensorList, sizeof(sSensorList));
137
138    mSensor = mplSensor;
139    mPollFds[mpl].fd = mSensor->getFd();
140    mPollFds[mpl].events = POLLIN;
141    mPollFds[mpl].revents = 0;
142
143    mPollFds[compass].fd = mCompassSensor->getFd();
144    mPollFds[compass].events = POLLIN;
145    mPollFds[compass].revents = 0;
146
147    mPollFds[dmpOrient].fd = ((MPLSensor*) mSensor)->getDmpOrientFd();
148    mPollFds[dmpOrient].events = POLLPRI;
149    mPollFds[dmpOrient].revents = 0;
150
151    mPollFds[dmpSign].fd = ((MPLSensor*) mSensor)->getDmpSignificantMotionFd();
152    mPollFds[dmpSign].events = POLLPRI;
153    mPollFds[dmpSign].revents = 0;
154
155    mPollFds[dmpPed].fd = ((MPLSensor*) mSensor)->getDmpPedometerFd();
156    mPollFds[dmpPed].events = POLLPRI;
157    mPollFds[dmpPed].revents = 0;
158
159    /* Timer based sensor initialization */
160    int wakeFds[2];
161    int result = pipe(wakeFds);
162    LOGE_IF(result<0, "error creating wake pipe (%s)", strerror(errno));
163    fcntl(wakeFds[0], F_SETFL, O_NONBLOCK);
164    fcntl(wakeFds[1], F_SETFL, O_NONBLOCK);
165    mWritePipeFd = wakeFds[1];
166
167    mPollFds[numSensorDrivers].fd = wakeFds[0];
168    mPollFds[numSensorDrivers].events = POLLIN;
169    mPollFds[numSensorDrivers].revents = 0;
170}
171
172sensors_poll_context_t::~sensors_poll_context_t() {
173    FUNC_LOG;
174    delete mSensor;
175    delete mCompassSensor;
176    for (int i = 0; i < numSensorDrivers; i++) {
177        close(mPollFds[i].fd);
178    }
179    close(mWritePipeFd);
180}
181
182int sensors_poll_context_t::activate(int handle, int enabled) {
183    FUNC_LOG;
184
185    int err;
186    err = mSensor->enable(handle, enabled);
187    if (!err) {
188        const char wakeMessage(WAKE_MESSAGE);
189        int result = write(mWritePipeFd, &wakeMessage, 1);
190        LOGE_IF(result < 0,
191                "error sending wake message (%s)", strerror(errno));
192    }
193    return err;
194}
195
196int sensors_poll_context_t::setDelay(int handle, int64_t ns)
197{
198    FUNC_LOG;
199    return mSensor->setDelay(handle, ns);
200}
201
202int sensors_poll_context_t::pollEvents(sensors_event_t *data, int count)
203{
204    VHANDLER_LOG;
205
206    int nbEvents = 0;
207    int nb, polltime = -1;
208
209    polltime = ((MPLSensor*) mSensor)->getStepCountPollTime();
210
211    // look for new events
212    nb = poll(mPollFds, numFds, polltime);
213    LOGI_IF(0, "poll nb=%d, count=%d, pt=%d", nb, count, polltime);
214    if (nb > 0) {
215        for (int i = 0; count && i < numSensorDrivers; i++) {
216            if (mPollFds[i].revents & (POLLIN | POLLPRI)) {
217                LOGI_IF(0, "poll found=%d", i);
218                nb = 0;
219                if (i == mpl) {
220                    ((MPLSensor*) mSensor)->buildMpuEvent();
221                    mPollFds[i].revents = 0;
222                } else if (i == compass) {
223                    ((MPLSensor*) mSensor)->buildCompassEvent();
224                    mPollFds[i].revents = 0;
225                } else if (i == dmpOrient) {
226                    nb = ((MPLSensor*) mSensor)->readDmpOrientEvents(data, count);
227                    mPollFds[dmpOrient].revents= 0;
228                    if (isDmpScreenAutoRotationEnabled() && nb > 0) {
229                        count -= nb;
230                        nbEvents += nb;
231                        data += nb;
232                    }
233                } else if (i == dmpSign) {
234                    LOGI("HAL: dmpSign interrupt");
235                    nb = ((MPLSensor*) mSensor)->readDmpSignificantMotionEvents(data, count);
236                    mPollFds[i].revents = 0;
237                    count -= nb;
238                    nbEvents += nb;
239                    data += nb;
240                } else if (i == dmpPed) {
241                    LOGI("HAL: dmpPed interrupt");
242                    nb = ((MPLSensor*) mSensor)->readDmpPedometerEvents(data, count, ID_P, SENSOR_TYPE_STEP_DETECTOR, 0);
243                    mPollFds[i].revents = 0;
244                    count -= nb;
245                    nbEvents += nb;
246                    data += nb;
247                }
248                nb = ((MPLSensor*) mSensor)->readEvents(data, count);
249                LOGI_IF(0, "sensors_mpl:readEvents() - i=%d, nb=%d, count=%d, nbEvents=%d, data->timestamp=%lld, data->data[0]=%f,",
250                             i, nb, count, nbEvents, data->timestamp, data->data[0]);
251                if (nb > 0) {
252                    count -= nb;
253                    nbEvents += nb;
254                    data += nb;
255                }
256            }
257        }
258//        nb = ((MPLSensor*) mSensor)->readEvents(data, count);
259//        LOGI_IF(0, "sensors_mpl:readEvents() - nb=%d, count=%d, nbEvents=%d, data->timestamp=%lld, data->data[0]=%f,",
260//                          nb, count, nbEvents, data->timestamp, data->data[0]);
261//        if (nb > 0) {
262//            count -= nb;
263//            nbEvents += nb;
264//            data += nb;
265//        }
266
267        /* to see if any step counter events */
268        if(((MPLSensor*) mSensor)->hasStepCountPendingEvents() == true) {
269            nb = 0;
270            nb = ((MPLSensor*) mSensor)->readDmpPedometerEvents(data, count, ID_SC, SENSOR_TYPE_STEP_COUNTER, 0);
271            LOGI_IF(HANDLER_DATA, "sensors_mpl:readStepCount() - nb=%d, count=%d, nbEvents=%d, data->timestamp=%lld, data->data[0]=%f,",
272                          nb, count, nbEvents, data->timestamp, data->data[0]);
273            if (nb > 0) {
274                count -= nb;
275                nbEvents += nb;
276                data += nb;
277            }
278        }
279    } else if(nb == 0){
280
281        /* to see if any step counter events */
282        if(((MPLSensor*) mSensor)->hasStepCountPendingEvents() == true) {
283            nb = 0;
284            nb = ((MPLSensor*) mSensor)->readDmpPedometerEvents(data, count, ID_SC, SENSOR_TYPE_STEP_COUNTER, 0);
285            LOGI_IF(HANDLER_DATA, "sensors_mpl:readStepCount() - nb=%d, count=%d, nbEvents=%d, data->timestamp=%lld, data->data[0]=%f,",
286                          nb, count, nbEvents, data->timestamp, data->data[0]);
287            if (nb > 0) {
288                count -= nb;
289                nbEvents += nb;
290                data += nb;
291            }
292        }
293
294        if (mPollFds[numSensorDrivers].revents & POLLIN) {
295            char msg;
296            int result = read(mPollFds[numSensorDrivers].fd, &msg, 1);
297            LOGE_IF(result < 0, "error reading from wake pipe (%s)", strerror(errno));
298            mPollFds[numSensorDrivers].revents = 0;
299        }
300    }
301    return nbEvents;
302}
303
304int sensors_poll_context_t::query(int what, int* value)
305{
306    FUNC_LOG;
307    return mSensor->query(what, value);
308}
309
310int sensors_poll_context_t::batch(int handle, int flags, int64_t period_ns, int64_t timeout)
311{
312    FUNC_LOG;
313    return mSensor->batch(handle, flags, period_ns, timeout);
314}
315
316/******************************************************************************/
317
318static int poll__close(struct hw_device_t *dev)
319{
320    FUNC_LOG;
321    sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev;
322    if (ctx) {
323        delete ctx;
324    }
325    return 0;
326}
327
328static int poll__activate(struct sensors_poll_device_t *dev,
329                          int handle, int enabled)
330{
331    sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev;
332    return ctx->activate(handle, enabled);
333}
334
335static int poll__setDelay(struct sensors_poll_device_t *dev,
336                          int handle, int64_t ns)
337{
338    sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev;
339    int s= ctx->setDelay(handle, ns);
340    return s;
341}
342
343static int poll__poll(struct sensors_poll_device_t *dev,
344                      sensors_event_t* data, int count)
345{
346    sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev;
347    return ctx->pollEvents(data, count);
348}
349
350static int poll__query(struct sensors_poll_device_1 *dev,
351                      int what, int *value)
352{
353    sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev;
354    return ctx->query(what, value);
355}
356
357static int poll__batch(struct sensors_poll_device_1 *dev,
358                      int handle, int flags, int64_t period_ns, int64_t timeout)
359{
360    sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev;
361    return ctx->batch(handle, flags, period_ns, timeout);
362}
363
364/******************************************************************************/
365
366/** Open a new instance of a sensor device using name */
367static int open_sensors(const struct hw_module_t* module, const char* id,
368                        struct hw_device_t** device)
369{
370    FUNC_LOG;
371    int status = -EINVAL;
372    sensors_poll_context_t *dev = new sensors_poll_context_t();
373
374    memset(&dev->device, 0, sizeof(sensors_poll_device_1));
375
376    dev->device.common.tag = HARDWARE_DEVICE_TAG;
377    dev->device.common.version  = SENSORS_DEVICE_API_VERSION_1_0;
378    dev->device.common.module   = const_cast<hw_module_t*>(module);
379    dev->device.common.close    = poll__close;
380    dev->device.activate        = poll__activate;
381    dev->device.setDelay        = poll__setDelay;
382    dev->device.poll            = poll__poll;
383
384    /* Batch processing */
385    dev->device.batch           = poll__batch;
386
387    *device = &dev->device.common;
388    status = 0;
389
390    return status;
391}
392