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hardware-libsensors: コミット

hardware/libsensors


コミットメタ情報

リビジョン42669afe03aabd45a9a3b5e68015dbbe37e6d5b9 (tree)
日時2015-06-06 08:36:27
作者Chih-Wei Huang <cwhuang@linu...>
コミッターChih-Wei Huang

ログメッセージ

iio-sensors: initial porting for iio based sensors

変更サマリ

差分

--- a/Android.mk
+++ b/Android.mk
@@ -14,6 +14,15 @@ LOCAL_SRC_FILES := hdaps.c
1414 include $(BUILD_SHARED_LIBRARY)
1515
1616 include $(CLEAR_VARS)
17+LOCAL_MODULE_PATH := $(TARGET_OUT_SHARED_LIBRARIES)/hw
18+LOCAL_SHARED_LIBRARIES := liblog libcutils
19+LOCAL_MODULE := sensors.iio
20+LOCAL_MODULE_TAGS := optional
21+LOCAL_SRC_FILES := iio-sensors.cpp
22+include external/stlport/libstlport.mk
23+include $(BUILD_SHARED_LIBRARY)
24+
25+include $(CLEAR_VARS)
1726 LOCAL_PRELINK_MODULE := false
1827 LOCAL_MODULE_PATH := $(TARGET_OUT_SHARED_LIBRARIES)/hw
1928 LOCAL_SHARED_LIBRARIES := liblog libcutils
--- /dev/null
+++ b/iio-sensors.cpp
@@ -0,0 +1,504 @@
1+/**
2+ *
3+ * IIO style sensor
4+ *
5+ * Copyright (C) 2015 The Android-x86 Open Source Project
6+ *
7+ * by Chih-Wei Huang <cwhuang@linux.org.tw>
8+ *
9+ * Licensed under GPLv2 or later
10+ *
11+ **/
12+
13+#define LOG_TAG "iio-sensors"
14+
15+//#include <cmath>
16+#include <new>
17+#include <cerrno>
18+#include <cstdlib>
19+#include <cstring>
20+#include <fcntl.h>
21+#include <dirent.h>
22+#include <cutils/log.h>
23+#include <hardware/sensors.h>
24+#include <cutils/properties.h>
25+
26+static const char *IIO_DIR = "/sys/bus/iio/devices/";
27+
28+enum {
29+ ID_ACCELERATION = SENSORS_HANDLE_BASE,
30+ ID_MAGNETIC_FIELD,
31+ ID_ORIENTATION,
32+ ID_LIGHT,
33+ ID_PROXIMITY,
34+ ID_GYROSCOPE,
35+ ID_PRESSURE,
36+ ID_TEMPERATURE,
37+ ID_ROT_VECTOR,
38+ ID_SYNCOMPASS,
39+ MAX_SENSORS
40+};
41+
42+
43+// 720 LSG = 1G
44+#define LSG (1024.0f)
45+#define NUMOFACCDATA (8.0f)
46+
47+// conversion of acceleration data to SI units (m/s^2)
48+#define RANGE_A (2*GRAVITY_EARTH)
49+#define RESOLUTION_A (RANGE_A/(256*NUMOFACCDATA))
50+
51+// conversion of magnetic data to uT units
52+#define RANGE_M (2048.0f)
53+#define RESOLUTION_M (0.01)
54+
55+/* conversion of orientation data to degree units */
56+#define CONVERT_O (1.0f/64.0f)
57+#define CONVERT_O_A (CONVERT_O)
58+#define CONVERT_O_P (CONVERT_O)
59+#define CONVERT_O_R (-CONVERT_O)
60+
61+// conversion of gyro data to SI units (radian/sec)
62+#define RANGE_G (2000.0f*(float)M_PI/180.0f)
63+#define RESOLUTION_G (RANGE_G/(2000*NUMOFACCDATA))
64+
65+// conversion of pressure and temperature data
66+#define CONVERT_PRESSURE (1.0f/100.0f)
67+#define CONVERT_TEMPERATURE (1.0f/100.0f)
68+
69+#define SENSOR_STATE_MASK (0x7FFF)
70+
71+// proximity threshold
72+#define PROXIMITY_THRESHOLD_GP2A (5.0f)
73+
74+// used in timespec_to_ns calculations
75+const long NSEC_PER_SEC = 1000000000L;
76+
77+#define BIT(x) (1 << (x))
78+
79+struct SensorEvent : public sensors_event_t {
80+ SensorEvent(int32_t id, int32_t t);
81+};
82+
83+SensorEvent::SensorEvent(int32_t id, int32_t t)
84+{
85+ version = sizeof(sensors_event_t);
86+ sensor = id;
87+ type = t;
88+
89+ struct timespec ts;
90+ clock_gettime(CLOCK_MONOTONIC, &ts);
91+ timestamp = int64_t(ts.tv_sec) * NSEC_PER_SEC + ts.tv_nsec;
92+}
93+
94+class SensorBase : public sensor_t {
95+ public:
96+ SensorBase();
97+ virtual ~SensorBase();
98+
99+ operator bool() const { return enabled; }
100+ int setDelay(int64_t ns);
101+ bool scan(const char *d);
102+ virtual int activate(bool);
103+ virtual int readEvents(sensors_event_t *data, int);
104+
105+ protected:
106+ int read_sysfs_str(const char *file, char *buf);
107+ int read_sysfs_int(const char *file);
108+ float read_sysfs_float(const char *file);
109+
110+ bool enabled;
111+ char *path;
112+ const char ***nodes;
113+ struct timespec delay;
114+};
115+
116+SensorBase::SensorBase()
117+{
118+ memset(this, 0, sizeof(SensorBase));
119+
120+ vendor = "Android-x86 Open Source Project";
121+ version = 1;
122+
123+ delay.tv_nsec = 200000000L;
124+}
125+
126+SensorBase::~SensorBase()
127+{
128+ free(path);
129+}
130+
131+int SensorBase::setDelay(int64_t ns)
132+{
133+ delay.tv_sec = ns / NSEC_PER_SEC;
134+ delay.tv_nsec = ns % NSEC_PER_SEC;
135+ return 0;
136+}
137+
138+bool SensorBase::scan(const char *p)
139+{
140+ int i;
141+ char node[PATH_MAX];
142+ while (const char **ns = *nodes) {
143+ for (i = 0; ns[i]; ++i) {
144+ snprintf(node, PATH_MAX, "%s/%s", p, ns[i]);
145+ if (access(node, F_OK))
146+ break;
147+ }
148+ if (!ns[i])
149+ break;
150+ nodes++;
151+ }
152+ if (*nodes) {
153+ path = strdup(p);
154+ node[0] = '\0';
155+ for (i = 0; (*nodes)[i]; ++i)
156+ strncat(strncat(node, (*nodes)[i], 1024), " ", 1024);
157+ ALOGD("found node %s: %s", path, node);
158+ }
159+ return (path != 0);
160+}
161+
162+int SensorBase::activate(bool e)
163+{
164+ enabled = e;
165+ return 0;
166+}
167+
168+int SensorBase::readEvents(sensors_event_t *data, int)
169+{
170+ nanosleep(&delay, 0);
171+ SensorEvent *e = new (data) SensorEvent(handle, type);
172+ return 1;
173+}
174+
175+int SensorBase::read_sysfs_str(const char *file, char *buf)
176+{
177+ int res = 0;
178+ char filename[PATH_MAX];
179+ snprintf(filename, PATH_MAX, "%s/%s", path, file);
180+ int fd = open(filename, O_RDONLY);
181+ if (fd >= 0) {
182+ ssize_t sz = read(fd, buf, 4096);
183+ if (sz < 0) {
184+ ALOGE("failed to read from %s: %s", filename, strerror(errno));
185+ res = -errno;
186+ }
187+ close(fd);
188+ }
189+ return res;
190+}
191+
192+int SensorBase::read_sysfs_int(const char *file)
193+{
194+ char buf[4096];
195+ return read_sysfs_str(file, buf) ? 0 : atoi(buf);
196+}
197+
198+float SensorBase::read_sysfs_float(const char *file)
199+{
200+ char buf[4096];
201+ return read_sysfs_str(file, buf) ? 0 : atof(buf);
202+}
203+
204+template <int H> class Sensor : SensorBase {
205+ public:
206+ Sensor();
207+ virtual int readEvents(sensors_event_t *data, int);
208+
209+ static SensorBase *probe(const char *d);
210+};
211+
212+template<int H>
213+SensorBase *Sensor<H>::probe(const char *p)
214+{
215+ Sensor<H> *s = new Sensor<H>;
216+ s->handle = H;
217+ if (!s->scan(p)) {
218+ delete s;
219+ s = 0;
220+ }
221+ return s;
222+}
223+
224+template<> Sensor<ID_ACCELERATION>::Sensor()
225+{
226+ static const char *ns0[] = { "in_accel_scale", 0 };
227+ static const char **ns[] = { ns0, 0 };
228+ nodes = ns;
229+
230+ name = "IIO Accelerometer Sensor";
231+ type = SENSOR_TYPE_ACCELEROMETER;
232+ maxRange = RANGE_A;
233+ resolution = RESOLUTION_A;
234+ power = 0.23f;
235+ minDelay = 10000;
236+}
237+
238+template<> int Sensor<ID_ACCELERATION>::readEvents(sensors_event_t *data, int cnt)
239+{
240+ static float scale = read_sysfs_float((*nodes)[0]);
241+ int ret = SensorBase::readEvents(data, cnt);
242+ // TODO: read orientation from the properties
243+ for (int i = 0; i < ret; ++i) {
244+ data[i].acceleration.x = -scale * read_sysfs_int("in_accel_x_raw");
245+ data[i].acceleration.y = scale * read_sysfs_int("in_accel_y_raw");
246+ data[i].acceleration.z = -scale * read_sysfs_int("in_accel_z_raw");
247+ data[i].acceleration.status = SENSOR_STATUS_ACCURACY_HIGH;
248+ }
249+ return ret;
250+}
251+
252+template<> Sensor<ID_MAGNETIC_FIELD>::Sensor()
253+{
254+ static const char *ns0[] = { "in_magn_scale", 0, 0 };
255+ static const char *ns1[] = { "in_magn_x_scale", "in_magn_y_scale", "in_magn_z_scale", 0 };
256+ static const char **ns[] = { ns0, ns1, 0 };
257+ nodes = ns;
258+
259+ name = "IIO Magnetic Sensor";
260+ type = SENSOR_TYPE_MAGNETIC_FIELD;
261+ maxRange = RANGE_M;
262+ resolution = RESOLUTION_M;
263+ power = 0.1f;
264+ minDelay = 0;
265+}
266+
267+template<> int Sensor<ID_MAGNETIC_FIELD>::readEvents(sensors_event_t *data, int cnt)
268+{
269+ static float scale_x = read_sysfs_float((*nodes)[0]);
270+ static float scale_y = (*nodes)[1] ? read_sysfs_float((*nodes)[1]) : scale_x;
271+ static float scale_z = (*nodes)[2] ? read_sysfs_float((*nodes)[2]) : scale_x;
272+ int ret = SensorBase::readEvents(data, cnt);
273+ for (int i = 0; i < ret; ++i) {
274+ data[i].magnetic.x = scale_x * read_sysfs_int("in_magn_x_raw");
275+ data[i].magnetic.y = scale_y * read_sysfs_int("in_magn_y_raw");
276+ data[i].magnetic.z = scale_z * read_sysfs_int("in_magn_z_raw");
277+ data[i].magnetic.status = SENSOR_STATUS_ACCURACY_HIGH;
278+ }
279+ return ret;
280+}
281+
282+template<> Sensor<ID_LIGHT>::Sensor()
283+{
284+ static const char *ns0[] = { "in_illuminance_scale", 0 };
285+ static const char *ns1[] = { "in_illuminance_calibscale", 0 };
286+ static const char **ns[] = { ns0, ns1, 0 };
287+ nodes = ns;
288+
289+ name = "IIO Ambient Light Sensor";
290+ type = SENSOR_TYPE_LIGHT;
291+ maxRange = 50000.0f;
292+ resolution = 1.0f;
293+ power = 0.75f;
294+ minDelay = 0;
295+}
296+
297+template<> int Sensor<ID_LIGHT>::readEvents(sensors_event_t *data, int cnt)
298+{
299+ static float scale = read_sysfs_float((*nodes)[0]);
300+ int ret = SensorBase::readEvents(data, cnt);
301+ for (int i = 0; i < ret; ++i) {
302+ data[i].light = scale * read_sysfs_int("in_illuminance_input");
303+ }
304+ return ret;
305+}
306+
307+template<> Sensor<ID_GYROSCOPE>::Sensor()
308+{
309+ static const char *ns0[] = { "in_anglvel_scale", 0 };
310+ static const char **ns[] = { ns0, 0 };
311+ nodes = ns;
312+
313+ name = "IIO Gyro 3D Sensor";
314+ type = SENSOR_TYPE_GYROSCOPE;
315+ maxRange = RANGE_G;
316+ resolution = RESOLUTION_G;
317+ power = 6.10f;
318+ minDelay = 0;
319+}
320+
321+template<> int Sensor<ID_GYROSCOPE>::readEvents(sensors_event_t *data, int cnt)
322+{
323+ static float scale = read_sysfs_float((*nodes)[0]);
324+ int ret = SensorBase::readEvents(data, cnt);
325+ // TODO: read orientation from the properties
326+ for (int i = 0; i < ret; ++i) {
327+ data[i].gyro.x = scale * read_sysfs_int("in_anglvel_x_raw");
328+ data[i].gyro.y = scale * read_sysfs_int("in_anglvel_y_raw");
329+ data[i].gyro.z = scale * read_sysfs_int("in_anglvel_z_raw");
330+ data[i].gyro.status = SENSOR_STATUS_ACCURACY_HIGH;
331+ }
332+ return ret;
333+}
334+
335+static SensorBase *(*probeSensors[])(const char *) = {
336+ Sensor<ID_ACCELERATION>::probe,
337+ Sensor<ID_MAGNETIC_FIELD>::probe,
338+ Sensor<ID_LIGHT>::probe,
339+ Sensor<ID_GYROSCOPE>::probe,
340+};
341+
342+class SensorPollContext : sensors_poll_device_t {
343+ public:
344+ SensorPollContext(const struct hw_module_t *module, struct hw_device_t **device);
345+ ~SensorPollContext();
346+
347+ bool isValid() const;
348+ int getSensor(struct sensor_t const **list) const;
349+
350+ private:
351+ static int poll_close(struct hw_device_t *dev);
352+ static int poll_activate(struct sensors_poll_device_t *dev, int handle, int enabled);
353+ static int poll_setDelay(struct sensors_poll_device_t *dev, int handle, int64_t ns);
354+ static int poll_poll(struct sensors_poll_device_t *dev, sensors_event_t *data, int count);
355+
356+ int doPoll(sensors_event_t *data, int count);
357+
358+ sensor_t sensors_list[MAX_SENSORS];
359+ SensorBase *sensors[MAX_SENSORS];
360+ int count;
361+};
362+
363+static SensorPollContext *sctx = 0;
364+
365+SensorPollContext::SensorPollContext(const struct hw_module_t *module, struct hw_device_t **device)
366+{
367+ memset(this, 0, sizeof(*this));
368+
369+ common.tag = HARDWARE_DEVICE_TAG;
370+ common.module = const_cast<struct hw_module_t *>(module);
371+ common.close = poll_close;
372+ activate = poll_activate;
373+ setDelay = poll_setDelay;
374+ poll = poll_poll;
375+ *device = &common;
376+
377+ char path[PATH_MAX];
378+ strcpy(path, IIO_DIR);
379+ int len = strlen(path);
380+ if (DIR *dir = opendir(path)) {
381+ while (struct dirent *de = readdir(dir)) {
382+ if (!strncmp(de->d_name, "iio:device", 10)) {
383+ strcpy(path + len, de->d_name);
384+ for (int i = 0; probeSensors[i] && i < MAX_SENSORS; ++i) {
385+ if (SensorBase *s = probeSensors[i](path)) {
386+ sensors[i] = s;
387+ sensors_list[count++] =*s;
388+ }
389+ }
390+ }
391+ }
392+ }
393+ ALOGD("%s: module=%p sensors: %d", __FUNCTION__, module, count);
394+}
395+
396+SensorPollContext::~SensorPollContext()
397+{
398+ for (int i = 0; i < MAX_SENSORS; ++i) {
399+ delete sensors[i];
400+ }
401+}
402+
403+bool SensorPollContext::isValid() const
404+{
405+ return count > 0;
406+}
407+
408+int SensorPollContext::getSensor(struct sensor_t const **list) const
409+{
410+ *list = sensors_list;
411+ return count;
412+}
413+
414+int SensorPollContext::poll_close(struct hw_device_t *dev)
415+{
416+ ALOGD("%s: dev=%p", __FUNCTION__, dev);
417+ SensorPollContext *ctx = reinterpret_cast<SensorPollContext *>(dev);
418+ delete ctx;
419+ if (sctx == ctx) {
420+ sctx = 0;
421+ } else {
422+ ALOGW("close a ctx(%p) rather than sctx(%p)", ctx, sctx);
423+ }
424+ return 0;
425+}
426+
427+int SensorPollContext::poll_activate(struct sensors_poll_device_t *dev, int handle, int enabled)
428+{
429+ ALOGD("%s: dev=%p handle=%d enabled=%d", __FUNCTION__, dev, handle, enabled);
430+ SensorPollContext *ctx = reinterpret_cast<SensorPollContext *>(dev);
431+ if (handle >= 0 && handle < MAX_SENSORS && ctx->sensors[handle])
432+ return ctx->sensors[handle]->activate(enabled);
433+ else
434+ return -EINVAL;
435+}
436+
437+int SensorPollContext::poll_setDelay(struct sensors_poll_device_t *dev, int handle, int64_t ns)
438+{
439+ ALOGD("%s: handle=%d delay-ns=%lld", __FUNCTION__, handle, ns);
440+ SensorPollContext *ctx = reinterpret_cast<SensorPollContext *>(dev);
441+ if (handle >= 0 && handle < MAX_SENSORS && ctx->sensors[handle])
442+ return ctx->sensors[handle]->setDelay(ns);
443+ else
444+ return -EINVAL;
445+}
446+
447+int SensorPollContext::poll_poll(struct sensors_poll_device_t *dev, sensors_event_t *data, int count)
448+{
449+ ALOGV("%s: dev=%p data=%p count=%d", __FUNCTION__, dev, data, count);
450+ SensorPollContext *ctx = reinterpret_cast<SensorPollContext *>(dev);
451+ return ctx->doPoll(data, count);
452+}
453+
454+int SensorPollContext::doPoll(sensors_event_t *data, int cnt)
455+{
456+ if (!isValid())
457+ return 0;
458+
459+ int events = 0;
460+ for (int i = 0; cnt > 0 && i < MAX_SENSORS; ++i) {
461+ if (sensors[i] && *sensors[i]) {
462+ int nb = sensors[i]->readEvents(data, cnt);
463+ cnt -= nb;
464+ data += nb;
465+ events += nb;
466+ }
467+ }
468+
469+ return events;
470+}
471+
472+static int open_iio_sensors(const struct hw_module_t *module, const char *id, struct hw_device_t **device)
473+{
474+ ALOGD("%s: id=%s", __FUNCTION__, id);
475+ if (!sctx) {
476+ sctx = new SensorPollContext(module, device);
477+ }
478+ return (sctx && sctx->isValid()) ? 0 : -EINVAL;
479+}
480+
481+static int sensors_get_sensors_list(struct sensors_module_t *, struct sensor_t const **list)
482+{
483+ ALOGD("enter %s", __FUNCTION__);
484+ return sctx ? sctx->getSensor(list) : 0;
485+}
486+
487+static struct hw_module_methods_t sensors_methods = {
488+ open: open_iio_sensors
489+};
490+
491+struct sensors_module_t HAL_MODULE_INFO_SYM = {
492+ common: {
493+ tag: HARDWARE_MODULE_TAG,
494+ version_major: 1,
495+ version_minor: 0,
496+ id: SENSORS_HARDWARE_MODULE_ID,
497+ name: "IIO Sensors",
498+ author: "Chih-Wei Huang",
499+ methods: &sensors_methods,
500+ dso: 0,
501+ reserved: { }
502+ },
503+ get_sensors_list: sensors_get_sensors_list
504+};
--- a/sensors.mk
+++ b/sensors.mk
@@ -2,6 +2,7 @@
22
33 PRODUCT_PACKAGES := \
44 sensors.hdaps \
5+ sensors.iio \
56 sensors.kbd \
67 sensors.s103t \
78 sensors.w500 \
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