diff options
Diffstat (limited to 'libsensors_iio/CompassSensor.IIO.primary.cpp')
| -rw-r--r-- | libsensors_iio/CompassSensor.IIO.primary.cpp | 630 |
1 files changed, 0 insertions, 630 deletions
diff --git a/libsensors_iio/CompassSensor.IIO.primary.cpp b/libsensors_iio/CompassSensor.IIO.primary.cpp deleted file mode 100644 index 8b78338..0000000 --- a/libsensors_iio/CompassSensor.IIO.primary.cpp +++ /dev/null @@ -1,630 +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.primary.h" -#include "sensors.h" -#include "MPLSupport.h" -#include "sensor_params.h" -#include "ml_sysfs_helper.h" -//#include "log.h" - -#define COMPASS_MAX_SYSFS_ATTRB sizeof(compassSysFs) / sizeof(char*) - -#if 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 - -#if defined COMPASS_YAS53x -# warning "Invensense compass cal with YAS53x IIO on primary bus" -# define USE_MPL_COMPASS_HAL (1) -# define COMPASS_NAME "yas53" // prefix for YAS53[023] -#elif defined COMPASS_AMI306 -# warning "Invensense compass cal with AMI306 IIO on primary bus" -# define USE_MPL_COMPASS_HAL (1) -# define COMPASS_NAME "ami306" -#else -# warning "Invensense compass cal with compass on secondary bus" -# define USE_MPL_COMPASS_HAL (1) -# define COMPASS_NAME "INV_COMPASS" -#endif - -#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(COMPASS_NAME, NULL), - mCompassTimestamp(0), - mCompassInputReader(8) -#ifdef COMPASS_YAS53x - , mCoilsResetFd(0) -#endif -{ - FILE *fptr; - - VFUNC_LOG; - - /* - char temp_sysfs_path[30]; - inv_get_sysfs_path(temp_sysfs_path); - LOGI("sysfs: %s", temp_sysfs_path); - */ - -#ifdef COMPASS_YAS53x - /* for YAS53x compasses, dev_name is just a prefix, - we need to find the actual name */ - if (fill_dev_full_name_by_prefix(dev_name, - dev_full_name, sizeof(dev_full_name) / sizeof(dev_full_name[0]))) { - LOGE("Cannot find Yamaha device with prefix name '%s' - " - "magnetometer will likely not work.", dev_name); - } -#else - strncpy(dev_full_name, dev_name, - sizeof(dev_full_name) / sizeof(dev_full_name[0])); -#endif - - if (inv_init_sysfs_attributes()) { - LOGE("Error Instantiating Compass\n"); - return; - } - - if (!strcmp(dev_full_name, "INV_COMPASS")) { - mI2CBus = COMPASS_BUS_SECONDARY; - } else { - mI2CBus = COMPASS_BUS_PRIMARY; - } - - memset(mCachedCompassData, 0, sizeof(mCachedCompassData)); - - if (!isIntegrated()) { - enable(ID_M, 0); - } - - LOGV_IF(SYSFS_VERBOSE, "HAL:compass name: %s", dev_full_name); - enable_iio_sysfs(); - - LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:cat %s (%lld)", - compassSysFs.compass_orient, getTimestamp()); - 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"); - } - -#ifdef COMPASS_YAS53x - mCoilsResetFd = fopen(compassSysFs.compass_attr_1, "r+"); - if (fptr == NULL) { - LOGE("HAL:Couldn't read compass overunderflow"); - } -#endif -} - -void CompassSensor::enable_iio_sysfs() -{ - VFUNC_LOG; - - int tempFd = 0; - char iio_trigger_name[MAX_CHIP_ID_LEN], iio_device_node[MAX_CHIP_ID_LEN]; - FILE *tempFp = NULL; - const char* compass = dev_full_name; - - LOGV_IF(SYSFS_VERBOSE, - "HAL:sysfs:echo 1 > %s (%lld)", - compassSysFs.in_timestamp_en, getTimestamp()); - tempFd = open(compassSysFs.in_timestamp_en, O_RDWR); - if(tempFd < 0) { - LOGE("HAL:could not open %s timestamp enable", compass); - } else if(enable_sysfs_sensor(tempFd, 1) < 0) { - LOGE("HAL:could not enable timestamp"); - } - - LOGV_IF(SYSFS_VERBOSE, - "HAL:sysfs:cat %s (%lld)", - compassSysFs.trigger_name, getTimestamp()); - tempFp = fopen(compassSysFs.trigger_name, "r"); - if (tempFp == NULL) { - LOGE("HAL:could not open %s trigger name", compass); - } else { - if (fscanf(tempFp, "%s", iio_trigger_name) < 0) { - LOGE("HAL:could not read trigger name"); - } - fclose(tempFp); - } - - LOGV_IF(SYSFS_VERBOSE, - "HAL:sysfs:echo %s > %s (%lld)", - iio_trigger_name, compassSysFs.current_trigger, getTimestamp()); - tempFp = fopen(compassSysFs.current_trigger, "w"); - if (tempFp == NULL) { - LOGE("HAL:could not open current trigger"); - } else { - if (fprintf(tempFp, "%s", iio_trigger_name) < 0) { - LOGE("HAL:could not write current trigger"); - } - fclose(tempFp); - } - - LOGV_IF(SYSFS_VERBOSE, - "HAL:sysfs:echo %d > %s (%lld)", - IIO_BUFFER_LENGTH, compassSysFs.buffer_length, getTimestamp()); - tempFp = fopen(compassSysFs.buffer_length, "w"); - if (tempFp == NULL) { - LOGE("HAL:could not open buffer length"); - } else { - if (fprintf(tempFp, "%d", IIO_BUFFER_LENGTH) < 0) { - LOGE("HAL:could not write buffer length"); - } - fclose(tempFp); - } - - sprintf(iio_device_node, "%s%d", "/dev/iio:device", - find_type_by_name(compass, "iio:device")); - compass_fd = open(iio_device_node, O_RDONLY); - int res = errno; - if (compass_fd < 0) { - LOGE("HAL:could not open '%s' iio device node in path '%s' - " - "error '%s' (%d)", - compass, iio_device_node, strerror(res), res); - } else { - LOGV_IF(EXTRA_VERBOSE, - "HAL:iio %s, compass_fd opened : %d", compass, compass_fd); - } - - /* TODO: need further tests for optimization to reduce context-switch - LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo 1 > %s (%lld)", - 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, 1); - } 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 1 > %s (%lld)", - 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, 1); - } 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 1 > %s (%lld)", - 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, 1); - } else { - LOGE("HAL:open of %s failed with '%s' (%d)", - compassSysFs.compass_z_fifo_enable, strerror(res), res); - } - */ -} - -CompassSensor::~CompassSensor() -{ - VFUNC_LOG; - - free(pathP); - if( compass_fd > 0) - close(compass_fd); -#ifdef COMPASS_YAS53x - if( mCoilsResetFd != NULL ) - fclose(mCoilsResetFd); -#endif -} - -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; - - /* reset master enable */ - res = masterEnable(0); - if (res < 0) { - return res; - } - - 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); - } 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); - } 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); - } else { - LOGE("HAL:open of %s failed with '%s' (%d)", - compassSysFs.compass_z_fifo_enable, strerror(res), res); - } - - res = masterEnable(en); - if (res < en) { - return res; - } - } - - return res; -} - -int CompassSensor::masterEnable(int en) { - VFUNC_LOG; - - int res = 0; - - LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)", - en, compassSysFs.chip_enable, getTimestamp()); - int tempFd = open(compassSysFs.chip_enable, O_RDWR); - res = errno; - if(tempFd < 0){ - LOGE("HAL:open of %s failed with '%s' (%d)", - compassSysFs.chip_enable, strerror(res), res); - return res; - } - res = enable_sysfs_sensor(tempFd, en); - 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) { - VFUNC_LOG; - - int i; - char *rdata = mIIOBuffer; - - size_t rsize = read(compass_fd, rdata, (8 * mEnable + 8) * 1); - - if (!mEnable) { - rsize = read(compass_fd, rdata, (8 + 8) * IIO_BUFFER_LENGTH); - // LOGI("clear buffer with size: %d", rsize); - } -/* - LOGI("get one sample of AMI IIO data with size: %d", rsize); - LOGI_IF(mEnable, "compass x/y/z: %d/%d/%d", *((short *) (rdata + 0)), - *((short *) (rdata + 2)), *((short *) (rdata + 4))); -*/ - if (mEnable) { - for (i = 0; i < 3; i++) { - data[i] = *((short *) (rdata + i * 2)); - } - *timestamp = *((long long *) (rdata + 8 * mEnable)); - } - - return mEnable; -} - -/** - * @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 = dev_full_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")) { - list->maxRange = COMPASS_AKM8975_RANGE; - list->resolution = COMPASS_AKM8975_RESOLUTION; - list->power = COMPASS_AKM8975_POWER; - list->minDelay = COMPASS_AKM8975_MINDELAY; - return; - } - if(!strcmp(compass, "ami306")) { - list->maxRange = COMPASS_AMI306_RANGE; - list->resolution = COMPASS_AMI306_RESOLUTION; - list->power = COMPASS_AMI306_POWER; - list->minDelay = COMPASS_AMI306_MINDELAY; - return; - } - if(!strcmp(compass, "yas530") - || !strcmp(compass, "yas532") - || !strcmp(compass, "yas533")) { - list->maxRange = COMPASS_YAS53x_RANGE; - list->resolution = COMPASS_YAS53x_RESOLUTION; - list->power = COMPASS_YAS53x_POWER; - list->minDelay = COMPASS_YAS53x_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; -} - -#ifdef COMPASS_YAS53x -/* Read sysfs entry to determine whether overflow had happend - then write to sysfs to reset to zero */ -int CompassSensor::checkCoilsReset() -{ - int result=-1; - VFUNC_LOG; - - if(mCoilsResetFd != NULL) { - int attr; - rewind(mCoilsResetFd); - fscanf(mCoilsResetFd, "%d", &attr); - if(attr == 0) - return 0; - else { - LOGV_IF(SYSFS_VERBOSE, "HAL:overflow detected"); - rewind(mCoilsResetFd); - if( fprintf(mCoilsResetFd, "%d", 0) < 0) { - LOGE("HAL:could not write overunderflow"); - } - else - return 1; - } - } - else { - LOGE("HAL:could not read overunderflow"); - } - return result; -} -#endif - -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; - const char* compass = dev_full_name; - - 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 sysfs paths - sprintf(sysfs_path, "%s%d", "/sys/bus/iio/devices/iio:device", - find_type_by_name(compass, "iio:device")); - sprintf(iio_trigger_path, "%s%d", "/sys/bus/iio/devices/trigger", - find_type_by_name(compass, "iio:device")); - -#if defined COMPASS_AK8975 - inv_get_input_number(compass, &num); - tbuf[0] = num + 0x30; - tbuf[1] = 0; - sprintf(sysfs_path, "%s%s", "sys/class/input/input", tbuf); - strcat(sysfs_path, "/ak8975"); - - 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 /* IIO */ - sprintf(compassSysFs.chip_enable, "%s%s", sysfs_path, "/buffer/enable"); - sprintf(compassSysFs.in_timestamp_en, "%s%s", sysfs_path, "/scan_elements/in_timestamp_en"); - sprintf(compassSysFs.trigger_name, "%s%s", iio_trigger_path, "/name"); - sprintf(compassSysFs.current_trigger, "%s%s", sysfs_path, "/trigger/current_trigger"); - sprintf(compassSysFs.buffer_length, "%s%s", sysfs_path, "/buffer/length"); - - 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"); - -#if defined COMPASS_YAS53x - sprintf(compassSysFs.compass_attr_1, "%s%s", sysfs_path, "/overunderflow"); -#endif -#endif - -#if 0 - // test print sysfs paths - dptr = (char**)&compassSysFs; - LOGI("sysfs path base: %s", sysfs_path); - LOGI("trigger sysfs path base: %s", iio_trigger_path); - for (i = 0; i < COMPASS_MAX_SYSFS_ATTRB; i++) { - LOGE("HAL:sysfs path: %s", *dptr++); - } -#endif - return 0; -} |