1/*
2 * Copyright (C) 2012 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_NDEBUG 0
18
19#include <fcntl.h>
20#include <errno.h>
21#include <math.h>
22#include <unistd.h>
23#include <dirent.h>
24#include <sys/select.h>
25#include <cutils/log.h>
26#include <linux/input.h>
27#include <string.h>
28
29#include "CompassSensor.IIO.9150.h"
30#include "sensors.h"
31#include "MPLSupport.h"
32#include "sensor_params.h"
33#include "ml_sysfs_helper.h"
34
35#define COMPASS_MAX_SYSFS_ATTRB sizeof(compassSysFs) / sizeof(char*)
36#define COMPASS_NAME "USE_SYSFS"
37
38#if defined COMPASS_YAS53x
39#pragma message("HAL:build Invensense compass cal with YAS53x IIO on secondary bus")
40#define USE_MPL_COMPASS_HAL (1)
41#define COMPASS_NAME        "INV_YAS530"
42
43#elif defined COMPASS_AK8975
44#pragma message("HAL:build Invensense compass cal with AK8975 on primary bus")
45#define USE_MPL_COMPASS_HAL (1)
46#define COMPASS_NAME        "INV_AK8975"
47
48#elif defined INVENSENSE_COMPASS_CAL
49#   define COMPASS_NAME                 "USE_SYSFS"
50#pragma message("HAL:build Invensense compass cal with compass IIO on secondary bus")
51#define USE_MPL_COMPASS_HAL (1)
52#else
53#pragma message("HAL:build third party compass cal HAL")
54#define USE_MPL_COMPASS_HAL (0)
55// TODO: change to vendor's name
56#define COMPASS_NAME        "AKM8975"
57
58#endif
59
60/*****************************************************************************/
61
62CompassSensor::CompassSensor()
63                  : SensorBase(NULL, NULL),
64                    compass_fd(-1),
65                    mCompassTimestamp(0),
66                    mCompassInputReader(8)
67{
68    VFUNC_LOG;
69
70    if(!strcmp(COMPASS_NAME, "USE_SYSFS")) {
71        int result = find_name_by_sensor_type("in_magn_scale", "iio:device",
72                                              sensor_name);
73        if(result) {
74            LOGE("HAL:Cannot read secondary device name - (%d)", result);
75        }
76        dev_name = sensor_name;
77    }
78    LOGI_IF(PROCESS_VERBOSE, "HAL:Secondary Chip Id: %s", dev_name);
79
80    if(inv_init_sysfs_attributes()) {
81        LOGE("Error Instantiating Compass\n");
82        return;
83    }
84
85    memset(mCachedCompassData, 0, sizeof(mCachedCompassData));
86
87    LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:cat %s (%lld)",
88            compassSysFs.compass_orient, getTimestamp());
89    FILE *fptr;
90    fptr = fopen(compassSysFs.compass_orient, "r");
91    if (fptr != NULL) {
92        int om[9];
93        if (fscanf(fptr, "%d,%d,%d,%d,%d,%d,%d,%d,%d",
94               &om[0], &om[1], &om[2], &om[3], &om[4], &om[5],
95               &om[6], &om[7], &om[8]) < 0 || fclose(fptr) < 0) {
96            LOGE("HAL:Could not read compass mounting matrix");
97        } else {
98            LOGV_IF(EXTRA_VERBOSE, "HAL:compass mounting matrix: "
99                    "%+d %+d %+d %+d %+d %+d %+d %+d %+d", om[0], om[1], om[2],
100                    om[3], om[4], om[5], om[6], om[7], om[8]);
101            mCompassOrientation[0] = om[0];
102            mCompassOrientation[1] = om[1];
103            mCompassOrientation[2] = om[2];
104            mCompassOrientation[3] = om[3];
105            mCompassOrientation[4] = om[4];
106            mCompassOrientation[5] = om[5];
107            mCompassOrientation[6] = om[6];
108            mCompassOrientation[7] = om[7];
109            mCompassOrientation[8] = om[8];
110        }
111    }
112
113    if (!isIntegrated()) {
114        enable(ID_M, 0);
115    }
116}
117
118CompassSensor::~CompassSensor()
119{
120    VFUNC_LOG;
121    free(pathP);
122    if( compass_fd > 0)
123        close(compass_fd);
124}
125
126int CompassSensor::getFd() const
127{
128    VFUNC_LOG;
129    return compass_fd;
130}
131
132/**
133 *  @brief        This function will enable/disable sensor.
134 *  @param[in]    handle
135 *                  which sensor to enable/disable.
136 *  @param[in]    en
137 *                  en=1, enable;
138 *                  en=0, disable
139 *  @return       if the operation is successful.
140 */
141int CompassSensor::enable(int32_t handle, int en)
142{
143    VFUNC_LOG;
144    int res = 0;
145    res = write_sysfs_int(compassSysFs.compass_enable, en);
146    return res;
147}
148
149int CompassSensor::setDelay(int32_t handle, int64_t ns)
150{
151    VFUNC_LOG;
152    int tempFd;
153    int res;
154
155    LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %.0f > %s (%lld)",
156            1000000000.f / ns, compassSysFs.compass_rate, getTimestamp());
157    mDelay = ns;
158    if (ns == 0)
159        return -1;
160    tempFd = open(compassSysFs.compass_rate, O_RDWR);
161    res = write_attribute_sensor(tempFd, 1000000000.f / ns);
162    if(res < 0) {
163        LOGE("HAL:Compass update delay error");
164    }
165    return res;
166}
167
168int CompassSensor::turnOffCompassFifo(void)
169{
170    int res = 0;
171    LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
172                        0, compassSysFs.compass_fifo_enable, getTimestamp());
173    res += write_sysfs_int(compassSysFs.compass_fifo_enable, 0);
174    return res;
175}
176
177int CompassSensor::turnOnCompassFifo(void)
178{
179    int res = 0;
180    LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
181                        1, compassSysFs.compass_fifo_enable, getTimestamp());
182    res += write_sysfs_int(compassSysFs.compass_fifo_enable, 1);
183    return res;
184}
185
186/**
187    @brief      This function will return the state of the sensor.
188    @return     1=enabled; 0=disabled
189**/
190int CompassSensor::getEnable(int32_t handle)
191{
192    VFUNC_LOG;
193    return mEnable;
194}
195
196/* use for Invensense compass calibration */
197#define COMPASS_EVENT_DEBUG (0)
198void CompassSensor::processCompassEvent(const input_event *event)
199{
200    VHANDLER_LOG;
201
202    switch (event->code) {
203    case EVENT_TYPE_ICOMPASS_X:
204        LOGV_IF(COMPASS_EVENT_DEBUG, "EVENT_TYPE_ICOMPASS_X\n");
205        mCachedCompassData[0] = event->value;
206        break;
207    case EVENT_TYPE_ICOMPASS_Y:
208        LOGV_IF(COMPASS_EVENT_DEBUG, "EVENT_TYPE_ICOMPASS_Y\n");
209        mCachedCompassData[1] = event->value;
210        break;
211    case EVENT_TYPE_ICOMPASS_Z:
212        LOGV_IF(COMPASS_EVENT_DEBUG, "EVENT_TYPE_ICOMPASS_Z\n");
213        mCachedCompassData[2] = event->value;
214        break;
215    }
216
217    mCompassTimestamp =
218        (int64_t)event->time.tv_sec * 1000000000L + event->time.tv_usec * 1000L;
219}
220
221void CompassSensor::getOrientationMatrix(signed char *orient)
222{
223    VFUNC_LOG;
224    memcpy(orient, mCompassOrientation, sizeof(mCompassOrientation));
225}
226
227long CompassSensor::getSensitivity()
228{
229    VFUNC_LOG;
230
231    long sensitivity;
232    LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:cat %s (%lld)",
233            compassSysFs.compass_scale, getTimestamp());
234    inv_read_data(compassSysFs.compass_scale, &sensitivity);
235    return sensitivity;
236}
237
238/**
239    @brief         This function is called by sensors_mpl.cpp
240                   to read sensor data from the driver.
241    @param[out]    data      sensor data is stored in this variable. Scaled such that
242                             1 uT = 2^16
243    @para[in]      timestamp data's timestamp
244    @return        1, if 1   sample read, 0, if not, negative if error
245 */
246int CompassSensor::readSample(long *data, int64_t *timestamp)
247{
248    VHANDLER_LOG;
249
250    int done = 0;
251
252    ssize_t n = mCompassInputReader.fill(compass_fd);
253    if (n < 0) {
254        LOGE("HAL:no compass events read");
255        return n;
256    }
257
258    input_event const* event;
259
260    while (done == 0 && mCompassInputReader.readEvent(&event)) {
261        int type = event->type;
262        if (type == EV_REL) {
263            processCompassEvent(event);
264        } else if (type == EV_SYN) {
265            *timestamp = mCompassTimestamp;
266            memcpy(data, mCachedCompassData, sizeof(mCachedCompassData));
267            done = 1;
268        } else {
269            LOGE("HAL:Compass Sensor: unknown event (type=%d, code=%d)",
270                 type, event->code);
271        }
272        mCompassInputReader.next();
273    }
274
275    return done;
276}
277
278/**
279 *  @brief  This function will return the current delay for this sensor.
280 *  @return delay in nanoseconds.
281 */
282int64_t CompassSensor::getDelay(int32_t handle)
283{
284    VFUNC_LOG;
285    return mDelay;
286}
287
288void CompassSensor::fillList(struct sensor_t *list)
289{
290    VFUNC_LOG;
291
292    const char *compass = sensor_name;
293
294    if (compass) {
295        if(!strcmp(compass, "INV_COMPASS")) {
296            list->maxRange = COMPASS_MPU9150_RANGE;
297            list->resolution = COMPASS_MPU9150_RESOLUTION;
298            list->power = COMPASS_MPU9150_POWER;
299            list->minDelay = COMPASS_MPU9150_MINDELAY;
300            return;
301        }
302        if(!strcmp(compass, "compass")
303                || !strcmp(compass, "INV_AK8975")
304                || !strncmp(compass, "AK89xx",2)
305                || !strncmp(compass, "ak89xx",2)) {
306            list->maxRange = COMPASS_AKM8975_RANGE;
307            list->resolution = COMPASS_AKM8975_RESOLUTION;
308            list->power = COMPASS_AKM8975_POWER;
309            list->minDelay = COMPASS_AKM8975_MINDELAY;
310            return;
311        }
312        if(!strcmp(compass, "compass")
313                || !strncmp(compass, "mlx90399",3)
314                || !strncmp(compass, "MLX90399",3)) {
315            list->maxRange = COMPASS_MPU9350_RANGE;
316            list->resolution = COMPASS_MPU9350_RESOLUTION;
317            list->power = COMPASS_MPU9350_POWER;
318            list->minDelay = COMPASS_MPU9350_MINDELAY;
319            return;
320        }
321        if(!strcmp(compass, "INV_YAS530")) {
322            list->maxRange = COMPASS_YAS53x_RANGE;
323            list->resolution = COMPASS_YAS53x_RESOLUTION;
324            list->power = COMPASS_YAS53x_POWER;
325            list->minDelay = COMPASS_YAS53x_MINDELAY;
326            return;
327        }
328        if(!strcmp(compass, "INV_AMI306")) {
329            list->maxRange = COMPASS_AMI306_RANGE;
330            list->resolution = COMPASS_AMI306_RESOLUTION;
331            list->power = COMPASS_AMI306_POWER;
332            list->minDelay = COMPASS_AMI306_MINDELAY;
333            return;
334        }
335    }
336    LOGE("HAL:unknown compass id %s -- "
337         "params default to ak8975 and might be wrong.",
338         compass);
339    list->maxRange = COMPASS_AKM8975_RANGE;
340    list->resolution = COMPASS_AKM8975_RESOLUTION;
341    list->power = COMPASS_AKM8975_POWER;
342    list->minDelay = COMPASS_AKM8975_MINDELAY;
343}
344
345int CompassSensor::inv_init_sysfs_attributes(void)
346{
347    VFUNC_LOG;
348
349    char sysfs_path[MAX_SYSFS_NAME_LEN];
350    char iio_trigger_path[MAX_SYSFS_NAME_LEN];
351
352    pathP = (char*)calloc(COMPASS_MAX_SYSFS_ATTRB,
353                          sizeof(char[MAX_SYSFS_NAME_LEN]));
354    if (pathP == NULL)
355        return -1;
356
357    memset(sysfs_path, 0, sizeof(sysfs_path));
358    memset(iio_trigger_path, 0, sizeof(iio_trigger_path));
359
360    char *sptr = pathP;
361    char **dptr = reinterpret_cast<char **>(&compassSysFs);
362    for (size_t i = 0; i < COMPASS_MAX_SYSFS_ATTRB; i++) {
363      *dptr++ = sptr;
364      sptr += sizeof(char[MAX_SYSFS_NAME_LEN]);
365    }
366
367    // get proper (in absolute/relative) IIO path & build MPU's sysfs paths
368    // inv_get_sysfs_abs_path(sysfs_path);
369    inv_get_sysfs_path(sysfs_path);
370    inv_get_iio_trigger_path(iio_trigger_path);
371
372    if (strcmp(sysfs_path, "") == 0  || strcmp(iio_trigger_path, "") == 0)
373        return 0;
374
375#if defined COMPASS_AK8975
376    char tbuf[2];
377    int num;
378
379    inv_get_input_number(dev_name, &num);
380    tbuf[0] = num + 0x30;
381    tbuf[1] = 0;
382    sprintf(sysfs_path, "%s%s", "sys/class/input/input", tbuf);
383    strcat(sysfs_path, "/ak8975");
384
385    sprintf(compassSysFs.compass_enable, "%s%s", sysfs_path, "/enable");
386    sprintf(compassSysFs.compass_rate, "%s%s", sysfs_path, "/rate");
387    sprintf(compassSysFs.compass_scale, "%s%s", sysfs_path, "/scale");
388    sprintf(compassSysFs.compass_orient, "%s%s", sysfs_path, "/compass_matrix");
389#else
390    sprintf(compassSysFs.compass_enable, "%s%s", sysfs_path, "/compass_enable");
391    sprintf(compassSysFs.compass_fifo_enable, "%s%s", sysfs_path, "/compass_fifo_enable");
392    sprintf(compassSysFs.compass_rate, "%s%s", sysfs_path, "/compass_rate");
393    sprintf(compassSysFs.compass_scale, "%s%s", sysfs_path, "/in_magn_scale");
394    sprintf(compassSysFs.compass_orient, "%s%s", sysfs_path, "/compass_matrix");
395#endif
396
397    return 0;
398}
399