diff options
Diffstat (limited to 'libsensors/CompassSensor.IIO.9150.cpp')
| -rw-r--r-- | libsensors/CompassSensor.IIO.9150.cpp | 421 |
1 files changed, 0 insertions, 421 deletions
diff --git a/libsensors/CompassSensor.IIO.9150.cpp b/libsensors/CompassSensor.IIO.9150.cpp deleted file mode 100644 index ce0df34..0000000 --- a/libsensors/CompassSensor.IIO.9150.cpp +++ /dev/null @@ -1,421 +0,0 @@ -/* - * Copyright (C) 2012 The Android Open Source Project - * - * 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 - -#include <fcntl.h> -#include <errno.h> -#include <math.h> -#include <unistd.h> -#include <dirent.h> -#include <sys/select.h> -#include <cutils/log.h> -#include <linux/input.h> -#include <string.h> - -#include "CompassSensor.IIO.9150.h" -#include "sensors.h" -#include "MPLSupport.h" -#include "sensor_params.h" -#include "ml_sysfs_helper.h" -#include "local_log_def.h" - -#define COMPASS_MAX_SYSFS_ATTRB sizeof(compassSysFs) / sizeof(char*) - -#if defined COMPASS_YAS530 -# warning "Invensense compass cal with YAS530 on primary bus" -# define USE_MPL_COMPASS_HAL (1) -# define COMPASS_NAME "INV_YAS530" -#elif defined COMPASS_AK8975 -# warning "Invensense compass cal with AK8975 on primary bus" -# define USE_MPL_COMPASS_HAL (1) -# define COMPASS_NAME "INV_AK8975" -#elif defined INVENSENSE_COMPASS_CAL -# warning "Invensense compass cal with compass on secondary bus" -# define USE_MPL_COMPASS_HAL (1) -# define COMPASS_NAME "INV_COMPASS" -#else -# warning "third party compass cal HAL" -# define USE_MPL_COMPASS_HAL (0) -// TODO: change to vendor's name -# define COMPASS_NAME "AKM8975" -#endif - - -/*****************************************************************************/ - -CompassSensor::CompassSensor() - : SensorBase(NULL, NULL), - mCompassTimestamp(0), - mCompassInputReader(8), - compass_fd(-1) -{ - VFUNC_LOG; - - if(inv_init_sysfs_attributes()) { - LOGE("Error Instantiating Compass\n"); - return; - } - - if (!strcmp(COMPASS_NAME, "INV_COMPASS")) { - mI2CBus = COMPASS_BUS_SECONDARY; - } else { - mI2CBus = COMPASS_BUS_PRIMARY; - } - - memset(mCachedCompassData, 0, sizeof(mCachedCompassData)); - - LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:cat %s (%lld)", - compassSysFs.compass_orient, getTimestamp()); - FILE *fptr; - fptr = fopen(compassSysFs.compass_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:compass 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]); - - mCompassOrientation[0] = om[0]; - mCompassOrientation[1] = om[1]; - mCompassOrientation[2] = om[2]; - mCompassOrientation[3] = om[3]; - mCompassOrientation[4] = om[4]; - mCompassOrientation[5] = om[5]; - mCompassOrientation[6] = om[6]; - mCompassOrientation[7] = om[7]; - mCompassOrientation[8] = om[8]; - } else { - LOGE("HAL:Couldn't read compass mounting matrix"); - } - - enable(ID_M, 0); -} - -CompassSensor::~CompassSensor() -{ - VFUNC_LOG; - - free(pathP); - if( compass_fd > 0) - close(compass_fd); -} - -int CompassSensor::getFd() const -{ - VHANDLER_LOG; - return compass_fd; -} - -/** - * @brief This function will enable/disable sensor. - * @param[in] handle - * which sensor to enable/disable. - * @param[in] en - * en=1, enable; - * en=0, disable - * @return if the operation is successful. - */ -int CompassSensor::enable(int32_t handle, int en) -{ - VFUNC_LOG; - - mEnable = en; - int tempFd; - int res; - - LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)", - en, compassSysFs.compass_enable, getTimestamp()); - tempFd = open(compassSysFs.compass_enable, O_RDWR); - res = errno; - if(tempFd < 0) { - LOGE("HAL:open of %s failed with '%s' (%d)", - compassSysFs.compass_enable, strerror(res), res); - return res; - } - res = enable_sysfs_sensor(tempFd, en); - LOGE_IF(res < 0, "HAL:enable compass failed"); - close(tempFd); - - if (en) { - LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)", - en, compassSysFs.compass_x_fifo_enable, getTimestamp()); - tempFd = open(compassSysFs.compass_x_fifo_enable, O_RDWR); - res = errno; - if (tempFd > 0) { - res = enable_sysfs_sensor(tempFd, en); - close(tempFd); - } else { - LOGE("HAL:open of %s failed with '%s' (%d)", - compassSysFs.compass_x_fifo_enable, strerror(res), res); - } - - LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)", - en, compassSysFs.compass_y_fifo_enable, getTimestamp()); - tempFd = open(compassSysFs.compass_y_fifo_enable, O_RDWR); - res = errno; - if (tempFd > 0) { - res = enable_sysfs_sensor(tempFd, en); - close(tempFd); - } else { - LOGE("HAL:open of %s failed with '%s' (%d)", - compassSysFs.compass_y_fifo_enable, strerror(res), res); - } - - LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)", - en, compassSysFs.compass_z_fifo_enable, getTimestamp()); - tempFd = open(compassSysFs.compass_z_fifo_enable, O_RDWR); - res = errno; - if (tempFd > 0) { - res = enable_sysfs_sensor(tempFd, en); - close(tempFd); - } else { - LOGE("HAL:open of %s failed with '%s' (%d)", - compassSysFs.compass_z_fifo_enable, strerror(res), res); - } - } - - return res; -} - -int CompassSensor::setDelay(int32_t handle, int64_t ns) -{ - VFUNC_LOG; - int tempFd; - int res; - - LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %.0f > %s (%lld)", - 1000000000.f / ns, compassSysFs.compass_rate, getTimestamp()); - mDelay = ns; - if (ns == 0) - return -1; - tempFd = open(compassSysFs.compass_rate, O_RDWR); - res = write_attribute_sensor(tempFd, 1000000000.f / ns); - if(res < 0) { - LOGE("HAL:Compass update delay error"); - } - return res; -} - - -/** - @brief This function will return the state of the sensor. - @return 1=enabled; 0=disabled -**/ -int CompassSensor::getEnable(int32_t handle) -{ - VFUNC_LOG; - return mEnable; -} - -/* use for Invensense compass calibration */ -#define COMPASS_EVENT_DEBUG (0) -void CompassSensor::processCompassEvent(const input_event *event) -{ - VHANDLER_LOG; - - switch (event->code) { - case EVENT_TYPE_ICOMPASS_X: - LOGV_IF(COMPASS_EVENT_DEBUG, "EVENT_TYPE_ICOMPASS_X\n"); - mCachedCompassData[0] = event->value; - break; - case EVENT_TYPE_ICOMPASS_Y: - LOGV_IF(COMPASS_EVENT_DEBUG, "EVENT_TYPE_ICOMPASS_Y\n"); - mCachedCompassData[1] = event->value; - break; - case EVENT_TYPE_ICOMPASS_Z: - LOGV_IF(COMPASS_EVENT_DEBUG, "EVENT_TYPE_ICOMPASS_Z\n"); - mCachedCompassData[2] = event->value; - break; - } - - mCompassTimestamp = - (int64_t)event->time.tv_sec * 1000000000L + event->time.tv_usec * 1000L; -} - -void CompassSensor::getOrientationMatrix(signed char *orient) -{ - VFUNC_LOG; - memcpy(orient, mCompassOrientation, sizeof(mCompassOrientation)); -} - -long CompassSensor::getSensitivity() -{ - VFUNC_LOG; - - long sensitivity; - LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:cat %s (%lld)", - compassSysFs.compass_scale, getTimestamp()); - inv_read_data(compassSysFs.compass_scale, &sensitivity); - return sensitivity; -} - -/** - @brief This function is called by sensors_mpl.cpp - to read sensor data from the driver. - @param[out] data sensor data is stored in this variable. Scaled such that - 1 uT = 2^16 - @para[in] timestamp data's timestamp - @return 1, if 1 sample read, 0, if not, negative if error - */ -int CompassSensor::readSample(long *data, int64_t *timestamp) -{ - VHANDLER_LOG; - - int numEventReceived = 0, done = 0; - - ssize_t n = mCompassInputReader.fill(compass_fd); - if (n < 0) { - LOGE("HAL:no compass events read"); - return n; - } - - input_event const* event; - - while (done == 0 && mCompassInputReader.readEvent(&event)) { - int type = event->type; - if (type == EV_REL) { - processCompassEvent(event); - } else if (type == EV_SYN) { - *timestamp = mCompassTimestamp; - memcpy(data, mCachedCompassData, sizeof(mCachedCompassData)); - done = 1; - } else { - LOGE("HAL:Compass Sensor: unknown event (type=%d, code=%d)", - type, event->code); - } - mCompassInputReader.next(); - } - - return done; -} - -/** - * @brief This function will return the current delay for this sensor. - * @return delay in nanoseconds. - */ -int64_t CompassSensor::getDelay(int32_t handle) -{ - VFUNC_LOG; - return mDelay; -} - -void CompassSensor::fillList(struct sensor_t *list) -{ - VFUNC_LOG; - - const char *compass = COMPASS_NAME; - - if (compass) { - if(!strcmp(compass, "INV_COMPASS")) { - list->maxRange = COMPASS_MPU9150_RANGE; - list->resolution = COMPASS_MPU9150_RESOLUTION; - list->power = COMPASS_MPU9150_POWER; - list->minDelay = COMPASS_MPU9150_MINDELAY; - return; - } - if(!strcmp(compass, "compass") - || !strcmp(compass, "INV_AK8975") - || !strcmp(compass, "INV_YAS530")) { - list->maxRange = COMPASS_AKM8975_RANGE; - list->resolution = COMPASS_AKM8975_RESOLUTION; - list->power = COMPASS_AKM8975_POWER; - list->minDelay = COMPASS_AKM8975_MINDELAY; - return; - } - if(!strcmp(compass, "INV_AMI306")) { - list->maxRange = COMPASS_AMI306_RANGE; - list->resolution = COMPASS_AMI306_RESOLUTION; - list->power = COMPASS_AMI306_POWER; - list->minDelay = COMPASS_AMI306_MINDELAY; - return; - } - } - - LOGE("HAL:unknown compass id %s -- " - "params default to ak8975 and might be wrong.", - compass); - list->maxRange = COMPASS_AKM8975_RANGE; - list->resolution = COMPASS_AKM8975_RESOLUTION; - list->power = COMPASS_AKM8975_POWER; - list->minDelay = COMPASS_AKM8975_MINDELAY; -} - -int CompassSensor::inv_init_sysfs_attributes(void) -{ - VFUNC_LOG; - - unsigned char i = 0; - char sysfs_path[MAX_SYSFS_NAME_LEN], iio_trigger_path[MAX_SYSFS_NAME_LEN], tbuf[2]; - char *sptr; - char **dptr; - int num; - - pathP = (char*)malloc( - sizeof(char[COMPASS_MAX_SYSFS_ATTRB][MAX_SYSFS_NAME_LEN])); - sptr = pathP; - dptr = (char**)&compassSysFs; - if (sptr == NULL) - return -1; - - do { - *dptr++ = sptr; - sptr += sizeof(char[MAX_SYSFS_NAME_LEN]); - } while (++i < COMPASS_MAX_SYSFS_ATTRB); - - // get proper (in absolute/relative) IIO path & build MPU's sysfs paths - // inv_get_sysfs_abs_path(sysfs_path); - inv_get_sysfs_path(sysfs_path); - inv_get_iio_trigger_path(iio_trigger_path); - -#if defined COMPASS_YAS530 || defined COMPASS_AK8975 - inv_get_input_number(COMPASS_NAME, &num); - tbuf[0] = num + 0x30; - tbuf[1] = 0; - sprintf(sysfs_path, "%s%s", "sys/class/input/input", tbuf); -#if defined COMPASS_YAS530 - strcat(sysfs_path, "/yas530"); -#else - strcat(sysfs_path, "/ak8975"); -#endif - sprintf(compassSysFs.compass_enable, "%s%s", sysfs_path, "/enable"); - sprintf(compassSysFs.compass_rate, "%s%s", sysfs_path, "/rate"); - sprintf(compassSysFs.compass_scale, "%s%s", sysfs_path, "/scale"); - sprintf(compassSysFs.compass_orient, "%s%s", sysfs_path, "/compass_matrix"); -#else - sprintf(compassSysFs.compass_enable, "%s%s", sysfs_path, "/compass_enable"); - sprintf(compassSysFs.compass_x_fifo_enable, "%s%s", sysfs_path, "/scan_elements/in_magn_x_en"); - sprintf(compassSysFs.compass_y_fifo_enable, "%s%s", sysfs_path, "/scan_elements/in_magn_y_en"); - sprintf(compassSysFs.compass_z_fifo_enable, "%s%s", sysfs_path, "/scan_elements/in_magn_z_en"); - sprintf(compassSysFs.compass_rate, "%s%s", sysfs_path, "/sampling_frequency"); - sprintf(compassSysFs.compass_scale, "%s%s", sysfs_path, "/in_magn_scale"); - sprintf(compassSysFs.compass_orient, "%s%s", sysfs_path, "/compass_matrix"); -#endif - -#if 0 - // test print sysfs paths - dptr = (char**)&compassSysFs; - for (i = 0; i < COMPASS_MAX_SYSFS_ATTRB; i++) { - LOGE("HAL:sysfs path: %s", *dptr++); - } -#endif - return 0; -} |