/* | |
* Copyright (C) 2012 Invensense, Inc. | |
* | |
* 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 FUNC_LOG LOGV("%s", __PRETTY_FUNCTION__) | |
#include <hardware/sensors.h> | |
#include <fcntl.h> | |
#include <errno.h> | |
#include <dirent.h> | |
#include <math.h> | |
#include <poll.h> | |
#include <pthread.h> | |
#include <stdlib.h> | |
#include <linux/input.h> | |
#include <utils/Atomic.h> | |
#include <utils/Log.h> | |
#include "sensors.h" | |
#include "MPLSensor.h" | |
/*****************************************************************************/ | |
/* The SENSORS Module */ | |
#ifdef ENABLE_DMP_SCREEN_AUTO_ROTATION | |
#define LOCAL_SENSORS (MPLSensor::numSensors + 1) | |
#else | |
#define LOCAL_SENSORS MPLSensor::numSensors | |
#endif | |
/* Vendor-defined Accel Load Calibration File Method | |
* @param[out] Accel bias, length 3. In HW units scaled by 2^16 in body frame | |
* @return '0' for a successful load, '1' otherwise | |
* example: int AccelLoadConfig(long* offset); | |
* End of Vendor-defined Accel Load Cal Method | |
*/ | |
static struct sensor_t sSensorList[LOCAL_SENSORS]; | |
static int sensors = (sizeof(sSensorList) / sizeof(sensor_t)); | |
static int open_sensors(const struct hw_module_t* module, const char* id, | |
struct hw_device_t** device); | |
static int sensors__get_sensors_list(struct sensors_module_t* module, | |
struct sensor_t const** list) | |
{ | |
*list = sSensorList; | |
return sensors; | |
} | |
static struct hw_module_methods_t sensors_module_methods = { | |
open: open_sensors | |
}; | |
struct sensors_module_t HAL_MODULE_INFO_SYM = { | |
common: { | |
tag: HARDWARE_MODULE_TAG, | |
version_major: 1, | |
version_minor: 0, | |
id: SENSORS_HARDWARE_MODULE_ID, | |
name: "Invensense module", | |
author: "Invensense Inc.", | |
methods: &sensors_module_methods, | |
}, | |
get_sensors_list: sensors__get_sensors_list, | |
}; | |
struct sensors_poll_context_t { | |
struct sensors_poll_device_t device; // must be first | |
sensors_poll_context_t(); | |
~sensors_poll_context_t(); | |
int activate(int handle, int enabled); | |
int setDelay(int handle, int64_t ns); | |
int pollEvents(sensors_event_t* data, int count); | |
private: | |
enum { | |
mpl = 0, | |
compass, | |
dmpOrient, | |
numSensorDrivers, // wake pipe goes here | |
numFds, | |
}; | |
struct pollfd mPollFds[numSensorDrivers]; | |
SensorBase *mSensor; | |
}; | |
/******************************************************************************/ | |
sensors_poll_context_t::sensors_poll_context_t() { | |
VFUNC_LOG; | |
mCompassSensor = new CompassSensor(); | |
MPLSensor *mplSensor = new MPLSensor(mCompassSensor); | |
/* For Vendor-defined Accel Calibration File Load | |
* Use the Following Constructor and Pass Your Load Cal File Function | |
* | |
* MPLSensor *mplSensor = new MPLSensor(mCompassSensor, AccelLoadConfig); | |
*/ | |
// setup the callback object for handing mpl callbacks | |
setCallbackObject(mplSensor); | |
// populate the sensor list | |
sensors = | |
mplSensor->populateSensorList(sSensorList, sizeof(sSensorList)); | |
mSensor = mplSensor; | |
mPollFds[mpl].fd = mSensor->getFd(); | |
mPollFds[mpl].events = POLLIN; | |
mPollFds[mpl].revents = 0; | |
mPollFds[compass].fd = mCompassSensor->getFd(); | |
mPollFds[compass].events = POLLIN; | |
mPollFds[compass].revents = 0; | |
mPollFds[dmpOrient].fd = ((MPLSensor*) mSensor)->getDmpOrientFd(); | |
mPollFds[dmpOrient].events = POLLPRI; | |
mPollFds[dmpOrient].revents = 0; | |
} | |
sensors_poll_context_t::~sensors_poll_context_t() { | |
FUNC_LOG; | |
delete mSensor; | |
} | |
int sensors_poll_context_t::activate(int handle, int enabled) { | |
FUNC_LOG; | |
return mSensor->enable(handle, enabled); | |
} | |
int sensors_poll_context_t::setDelay(int handle, int64_t ns) | |
{ | |
FUNC_LOG; | |
return mSensor->setDelay(handle, ns); | |
} | |
int sensors_poll_context_t::pollEvents(sensors_event_t *data, int count) | |
{ | |
VHANDLER_LOG; | |
int nbEvents = 0; | |
int nb, polltime = -1; | |
// look for new events | |
nb = poll(mPollFds, numSensorDrivers, polltime); | |
if (nb > 0) { | |
for (int i = 0; count && i < numSensorDrivers; i++) { | |
if (mPollFds[i].revents & (POLLIN | POLLPRI)) { | |
nb = 0; | |
if (i == mpl) { | |
/* Ignore res */ | |
mSensor->readEvents(NULL, 0); | |
mPollFds[i].revents = 0; | |
} | |
else if (i == compass) { | |
/* Ignore res */ | |
((MPLSensor*) mSensor)->readCompassEvents(NULL, count); | |
mPollFds[i].revents = 0; | |
} | |
} | |
} | |
nb = ((MPLSensor*) mSensor)->executeOnData(data, count); | |
if (nb > 0) { | |
count -= nb; | |
nbEvents += nb; | |
data += nb; | |
} | |
if (mPollFds[dmpOrient].revents & (POLLIN | POLLPRI)) { | |
nb = ((MPLSensor*) mSensor)->readDmpOrientEvents(data, count); | |
mPollFds[dmpOrient].revents= 0; | |
if (isDmpScreenAutoRotationEnabled() && nb > 0) { | |
count -= nb; | |
nbEvents += nb; | |
data += nb; | |
} | |
} | |
} | |
return nbEvents; | |
} | |
/******************************************************************************/ | |
static int poll__close(struct hw_device_t *dev) | |
{ | |
FUNC_LOG; | |
sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev; | |
if (ctx) { | |
delete ctx; | |
} | |
return 0; | |
} | |
static int poll__activate(struct sensors_poll_device_t *dev, | |
int handle, int enabled) | |
{ | |
sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev; | |
return ctx->activate(handle, enabled); | |
} | |
static int poll__setDelay(struct sensors_poll_device_t *dev, | |
int handle, int64_t ns) | |
{ | |
sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev; | |
int s= ctx->setDelay(handle, ns); | |
return s; | |
} | |
static int poll__poll(struct sensors_poll_device_t *dev, | |
sensors_event_t* data, int count) | |
{ | |
sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev; | |
return ctx->pollEvents(data, count); | |
} | |
/******************************************************************************/ | |
/** Open a new instance of a sensor device using name */ | |
static int open_sensors(const struct hw_module_t* module, const char* id, | |
struct hw_device_t** device) | |
{ | |
FUNC_LOG; | |
int status = -EINVAL; | |
sensors_poll_context_t *dev = new sensors_poll_context_t(); | |
memset(&dev->device, 0, sizeof(sensors_poll_device_t)); | |
dev->device.common.tag = HARDWARE_DEVICE_TAG; | |
dev->device.common.version = 0; | |
dev->device.common.module = const_cast<hw_module_t*>(module); | |
dev->device.common.close = poll__close; | |
dev->device.activate = poll__activate; | |
dev->device.setDelay = poll__setDelay; | |
dev->device.poll = poll__poll; | |
*device = &dev->device.common; | |
status = 0; | |
return status; | |
} |