Android: android sensors, HAL范例
2024-06-30 22:29:25
从源码找到的一个例子，写的很优雅，不知道HAL怎么写的同学可以好好学习一下：
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/* * Copyright (C) 2008 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_TAG "Sensors" #define LOG_NDEBUG 1 #include <hardware/sensors.h>
#include <fcntl.h>
#include <errno.h>
#include <dirent.h>
#include <math.h>
#include <poll.h>
#include <pthread.h>
#include <sys/select.h> #include <linux/input.h>
#include <linux/akm8973.h>
#include <linux/capella_cm3602.h>
#include <linux/lightsensor.h> #include <cutils/atomic.h>
#include <cutils/log.h>
#include <cutils/native_handle.h> #define __MAX(a,b) ((a)>=(b)?(a):(b)) /*****************************************************************************/ #define MAX_NUM_SENSORS 6 #define SUPPORTED_SENSORS ((1<<MAX_NUM_SENSORS)-1) #define ARRAY_SIZE(a) (sizeof(a) / sizeof(a[0])) #define ID_A (0)
#define ID_M (1)
#define ID_O (2)
#define ID_T (3)
#define ID_P (4)
#define ID_L (5) static int id_to_sensor[MAX_NUM_SENSORS] = { [ID_A] = SENSOR_TYPE_ACCELEROMETER, [ID_M] = SENSOR_TYPE_MAGNETIC_FIELD, [ID_O] = SENSOR_TYPE_ORIENTATION, [ID_T] = SENSOR_TYPE_TEMPERATURE, [ID_P] = SENSOR_TYPE_PROXIMITY, [ID_L] = SENSOR_TYPE_LIGHT,
}; #define SENSORS_AKM_ACCELERATION (1<<ID_A)
#define SENSORS_AKM_MAGNETIC_FIELD (1<<ID_M)
#define SENSORS_AKM_ORIENTATION (1<<ID_O)
#define SENSORS_AKM_TEMPERATURE (1<<ID_T)
#define SENSORS_AKM_GROUP ((1<<ID_A)|(1<<ID_M)|(1<<ID_O)|(1<<ID_T)) #define SENSORS_CM_PROXIMITY (1<<ID_P)
#define SENSORS_CM_GROUP (1<<ID_P) #define SENSORS_LIGHT (1<<ID_L)
#define SENSORS_LIGHT_GROUP (1<<ID_L) /*****************************************************************************/ struct sensors_control_context_t { struct sensors_control_device_t device; // must be first int akmd_fd; int cmd_fd; int lsd_fd; uint32_t active_sensors;
}; struct sensors_data_context_t { struct sensors_data_device_t device; // must be first int events_fd[3]; sensors_data_t sensors[MAX_NUM_SENSORS]; uint32_t pendingSensors;
}; /* * The SENSORS Module */ /* the CM3602 is a binary proximity sensor that triggers around 9 cm on * this hardware */
#define PROXIMITY_THRESHOLD_CM 9.0f /* * the AK8973 has a 8-bit ADC but the firmware seems to average 16 samples, * or at least makes its calibration on 12-bits values. This increases the * resolution by 4 bits. */ static const struct sensor_t sSensorList[] = { { "BMA150 3-axis Accelerometer", "Bosh", 1, SENSORS_HANDLE_BASE+ID_A, SENSOR_TYPE_ACCELEROMETER, 4.0f*9.81f, (4.0f*9.81f)/256.0f, 0.2f, { } }, { "AK8973 3-axis Magnetic field sensor", "Asahi Kasei", 1, SENSORS_HANDLE_BASE+ID_M, SENSOR_TYPE_MAGNETIC_FIELD, 2000.0f, 1.0f/16.0f, 6.8f, { } }, { "AK8973 Orientation sensor", "Asahi Kasei", 1, SENSORS_HANDLE_BASE+ID_O, SENSOR_TYPE_ORIENTATION, 360.0f, 1.0f, 7.0f, { } }, { "CM3602 Proximity sensor", "Capella Microsystems", 1, SENSORS_HANDLE_BASE+ID_P, SENSOR_TYPE_PROXIMITY, PROXIMITY_THRESHOLD_CM, PROXIMITY_THRESHOLD_CM, 0.5f, { } }, { "CM3602 Light sensor", "Capella Microsystems", 1, SENSORS_HANDLE_BASE+ID_L, SENSOR_TYPE_LIGHT, 10240.0f, 1.0f, 0.5f, { } },
}; static const float sLuxValues[8] = { 10.0, 160.0, 225.0, 320.0, 640.0, 1280.0, 2600.0, 10240.0
}; static int open_sensors(const struct hw_module_t* module, const char* name, struct hw_device_t** device); static int sensors__get_sensors_list(struct sensors_module_t* module, struct sensor_t const** list)
{ *list = sSensorList; return ARRAY_SIZE(sSensorList);
} static struct hw_module_methods_t sensors_module_methods = { .open = open_sensors
}; const 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 = "AK8973A & CM3602 Sensors Module", .author = "The Android Open Source Project", .methods = &sensors_module_methods, }, .get_sensors_list = sensors__get_sensors_list
}; /*****************************************************************************/ #define AKM_DEVICE_NAME "/dev/akm8973_aot"
#define CM_DEVICE_NAME "/dev/cm3602"
#define LS_DEVICE_NAME "/dev/lightsensor" // sensor IDs must be a power of two and
// must match values in SensorManager.java
#define EVENT_TYPE_ACCEL_X ABS_X
#define EVENT_TYPE_ACCEL_Y ABS_Z
#define EVENT_TYPE_ACCEL_Z ABS_Y
#define EVENT_TYPE_ACCEL_STATUS ABS_WHEEL #define EVENT_TYPE_YAW ABS_RX
#define EVENT_TYPE_PITCH ABS_RY
#define EVENT_TYPE_ROLL ABS_RZ
#define EVENT_TYPE_ORIENT_STATUS ABS_RUDDER #define EVENT_TYPE_MAGV_X ABS_HAT0X
#define EVENT_TYPE_MAGV_Y ABS_HAT0Y
#define EVENT_TYPE_MAGV_Z ABS_BRAKE #define EVENT_TYPE_TEMPERATURE ABS_THROTTLE
#define EVENT_TYPE_STEP_COUNT ABS_GAS
#define EVENT_TYPE_PROXIMITY ABS_DISTANCE
#define EVENT_TYPE_LIGHT ABS_MISC // 720 LSG = 1G
#define LSG (720.0f) // conversion of acceleration data to SI units (m/s^2)
#define CONVERT_A (GRAVITY_EARTH / LSG)
#define CONVERT_A_X (-CONVERT_A)
#define CONVERT_A_Y (CONVERT_A)
#define CONVERT_A_Z (-CONVERT_A) // conversion of magnetic data to uT units
#define CONVERT_M (1.0f/16.0f)
#define CONVERT_M_X (-CONVERT_M)
#define CONVERT_M_Y (-CONVERT_M)
#define CONVERT_M_Z (CONVERT_M) #define SENSOR_STATE_MASK (0x7FFF) /*****************************************************************************/ static int open_inputs(int mode, int *akm_fd, int *p_fd, int *l_fd)
{ /* scan all input drivers and look for "compass" */ int fd = -1; const char *dirname = "/dev/input"; char devname[PATH_MAX]; char *filename; DIR *dir; struct dirent *de; dir = opendir(dirname); if(dir == NULL) return -1; strcpy(devname, dirname); filename = devname + strlen(devname); *filename++ = '/'; *akm_fd = *p_fd = -1; while((de = readdir(dir))) { if(de->d_name[0] == '.' && (de->d_name[1] == '\0' || (de->d_name[1] == '.' && de->d_name[2] == '\0'))) continue; strcpy(filename, de->d_name); fd = open(devname, mode); if (fd>=0) { char name[80]; if (ioctl(fd, EVIOCGNAME(sizeof(name) - 1), &name) < 1) { name[0] = '\0'; } if (!strcmp(name, "compass")) { LOGV("using %s (name=%s)", devname, name); *akm_fd = fd; } else if (!strcmp(name, "proximity")) { LOGV("using %s (name=%s)", devname, name); *p_fd = fd; } else if (!strcmp(name, "lightsensor-level")) { LOGV("using %s (name=%s)", devname, name); *l_fd = fd; } else close(fd); } } closedir(dir); fd = 0; if (*akm_fd < 0) { LOGE("Couldn't find or open 'compass' driver (%s)", strerror(errno)); fd = -1; } if (*p_fd < 0) { LOGE("Couldn't find or open 'proximity' driver (%s)", strerror(errno)); fd = -1; } if (*l_fd < 0) { LOGE("Couldn't find or open 'light' driver (%s)", strerror(errno)); fd = -1; } return fd;
} static int open_akm(struct sensors_control_context_t* dev)
{ if (dev->akmd_fd < 0) { dev->akmd_fd = open(AKM_DEVICE_NAME, O_RDONLY); LOGV("%s, fd=%d", __PRETTY_FUNCTION__, dev->akmd_fd); LOGE_IF(dev->akmd_fd<0, "Couldn't open %s (%s)", AKM_DEVICE_NAME, strerror(errno)); if (dev->akmd_fd >= 0) { dev->active_sensors &= ~SENSORS_AKM_GROUP; } } return dev->akmd_fd;
} static void close_akm(struct sensors_control_context_t* dev)
{ if (dev->akmd_fd >= 0) { LOGV("%s, fd=%d", __PRETTY_FUNCTION__, dev->akmd_fd); close(dev->akmd_fd); dev->akmd_fd = -1; }
} static uint32_t read_akm_sensors_state(int fd)
{ short flags; uint32_t sensors = 0; // read the actual value of all sensors if (!ioctl(fd, ECS_IOCTL_APP_GET_MFLAG, &flags)) { if (flags) sensors |= SENSORS_AKM_ORIENTATION; else sensors &= ~SENSORS_AKM_ORIENTATION; } if (!ioctl(fd, ECS_IOCTL_APP_GET_AFLAG, &flags)) { if (flags) sensors |= SENSORS_AKM_ACCELERATION; else sensors &= ~SENSORS_AKM_ACCELERATION; } if (!ioctl(fd, ECS_IOCTL_APP_GET_TFLAG, &flags)) { if (flags) sensors |= SENSORS_AKM_TEMPERATURE; else sensors &= ~SENSORS_AKM_TEMPERATURE; } if (!ioctl(fd, ECS_IOCTL_APP_GET_MVFLAG, &flags)) { if (flags) sensors |= SENSORS_AKM_MAGNETIC_FIELD; else sensors &= ~SENSORS_AKM_MAGNETIC_FIELD; } return sensors;
} static uint32_t enable_disable_akm(struct sensors_control_context_t *dev, uint32_t active, uint32_t sensors, uint32_t mask)
{ uint32_t now_active_akm_sensors; int fd = open_akm(dev); if (fd < 0) return 0; LOGV("(before) akm sensors = %08x, real = %08x", sensors, read_akm_sensors_state(fd)); short flags; if (mask & SENSORS_AKM_ORIENTATION) { flags = (sensors & SENSORS_AKM_ORIENTATION) ? 1 : 0; if (ioctl(fd, ECS_IOCTL_APP_SET_MFLAG, &flags) < 0) { LOGE("ECS_IOCTL_APP_SET_MFLAG error (%s)", strerror(errno)); } } if (mask & SENSORS_AKM_ACCELERATION) { flags = (sensors & SENSORS_AKM_ACCELERATION) ? 1 : 0; if (ioctl(fd, ECS_IOCTL_APP_SET_AFLAG, &flags) < 0) { LOGE("ECS_IOCTL_APP_SET_AFLAG error (%s)", strerror(errno)); } } if (mask & SENSORS_AKM_TEMPERATURE) { flags = (sensors & SENSORS_AKM_TEMPERATURE) ? 1 : 0; if (ioctl(fd, ECS_IOCTL_APP_SET_TFLAG, &flags) < 0) { LOGE("ECS_IOCTL_APP_SET_TFLAG error (%s)", strerror(errno)); } } if (mask & SENSORS_AKM_MAGNETIC_FIELD) { flags = (sensors & SENSORS_AKM_MAGNETIC_FIELD) ? 1 : 0; if (ioctl(fd, ECS_IOCTL_APP_SET_MVFLAG, &flags) < 0) { LOGE("ECS_IOCTL_APP_SET_MVFLAG error (%s)", strerror(errno)); } } now_active_akm_sensors = read_akm_sensors_state(fd); LOGV("(after) akm sensors = %08x, real = %08x", sensors, now_active_akm_sensors); if (!sensors) close_akm(dev); return now_active_akm_sensors;
} static uint32_t read_cm_sensors_state(int fd)
{ int flags; uint32_t sensors = 0; // read the actual value of all sensors if (!ioctl(fd, CAPELLA_CM3602_IOCTL_GET_ENABLED, &flags)) { if (flags) sensors |= SENSORS_CM_PROXIMITY; else sensors &= ~SENSORS_CM_PROXIMITY; } return sensors;
} static int open_cm(struct sensors_control_context_t* dev)
{ if (dev->cmd_fd < 0) { dev->cmd_fd = open(CM_DEVICE_NAME, O_RDONLY); LOGV("%s, fd=%d", __PRETTY_FUNCTION__, dev->cmd_fd); LOGE_IF(dev->cmd_fd<0, "Couldn't open %s (%s)", CM_DEVICE_NAME, strerror(errno)); if (dev->cmd_fd >= 0) { dev->active_sensors &= ~SENSORS_CM_GROUP; } } return dev->cmd_fd;
} static void close_cm(struct sensors_control_context_t* dev)
{ if (dev->cmd_fd >= 0) { LOGV("%s, fd=%d", __PRETTY_FUNCTION__, dev->cmd_fd); close(dev->cmd_fd); dev->cmd_fd = -1; }
} static int enable_disable_cm(struct sensors_control_context_t *dev, uint32_t active, uint32_t sensors, uint32_t mask)
{ int rc = 0; uint32_t now_active_cm_sensors; int fd = open_cm(dev); if (fd < 0) { LOGE("Couldn't open %s (%s)", CM_DEVICE_NAME, strerror(errno)); return 0; } LOGV("(before) cm sensors = %08x, real = %08x", sensors, read_cm_sensors_state(fd)); if (mask & SENSORS_CM_PROXIMITY) { int flags = (sensors & SENSORS_CM_PROXIMITY) ? 1 : 0; rc = ioctl(fd, CAPELLA_CM3602_IOCTL_ENABLE, &flags); if (rc < 0) LOGE("CAPELLA_CM3602_IOCTL_ENABLE error (%s)", strerror(errno)); } now_active_cm_sensors = read_cm_sensors_state(fd); LOGV("(after) cm sensors = %08x, real = %08x", sensors, now_active_cm_sensors); return now_active_cm_sensors;
} static uint32_t read_ls_sensors_state(int fd)
{ int flags; uint32_t sensors = 0; // read the actual value of all sensors if (!ioctl(fd, LIGHTSENSOR_IOCTL_GET_ENABLED, &flags)) { if (flags) sensors |= SENSORS_LIGHT; else sensors &= ~SENSORS_LIGHT; } return sensors;
} static int open_ls(struct sensors_control_context_t* dev)
{ if (dev->lsd_fd < 0) { dev->lsd_fd = open(LS_DEVICE_NAME, O_RDONLY); LOGV("%s, fd=%d", __PRETTY_FUNCTION__, dev->lsd_fd); LOGE_IF(dev->lsd_fd<0, "Couldn't open %s (%s)", LS_DEVICE_NAME, strerror(errno)); if (dev->lsd_fd >= 0) { dev->active_sensors &= ~SENSORS_LIGHT_GROUP; } } return dev->lsd_fd;
} static void close_ls(struct sensors_control_context_t* dev)
{ if (dev->lsd_fd >= 0) { LOGV("%s, fd=%d", __PRETTY_FUNCTION__, dev->lsd_fd); close(dev->lsd_fd); dev->lsd_fd = -1; }
} static int enable_disable_ls(struct sensors_control_context_t *dev, uint32_t active, uint32_t sensors, uint32_t mask)
{ int rc = 0; uint32_t now_active_ls_sensors; int fd = open_ls(dev); if (fd < 0) { LOGE("Couldn't open %s (%s)", LS_DEVICE_NAME, strerror(errno)); return 0; } LOGV("(before) ls sensors = %08x, real = %08x", sensors, read_ls_sensors_state(fd)); if (mask & SENSORS_LIGHT) { int flags = (sensors & SENSORS_LIGHT) ? 1 : 0; rc = ioctl(fd, LIGHTSENSOR_IOCTL_ENABLE, &flags); if (rc < 0) LOGE("LIGHTSENSOR_IOCTL_ENABLE error (%s)", strerror(errno)); } now_active_ls_sensors = read_ls_sensors_state(fd); LOGV("(after) ls sensors = %08x, real = %08x", sensors, now_active_ls_sensors); return now_active_ls_sensors;
} /*****************************************************************************/ static native_handle_t* control__open_data_source(struct sensors_control_context_t *dev)
{ native_handle_t* handle; int akm_fd, p_fd, l_fd; if (open_inputs(O_RDONLY, &akm_fd, &p_fd, &l_fd) < 0 || akm_fd < 0 || p_fd < 0 || l_fd < 0) { return NULL; } handle = native_handle_create(3, 0); handle->data[0] = akm_fd; handle->data[1] = p_fd; handle->data[2] = l_fd; return handle;
} static int control__activate(struct sensors_control_context_t *dev, int handle, int enabled)
{ if ((handle < SENSORS_HANDLE_BASE) || (handle >= SENSORS_HANDLE_BASE+MAX_NUM_SENSORS)) return -1; uint32_t mask = (1 << handle); uint32_t sensors = enabled ? mask : 0; uint32_t active = dev->active_sensors; uint32_t new_sensors = (active & ~mask) | (sensors & mask); uint32_t changed = active ^ new_sensors; if (changed) { if (!active && new_sensors) // force all sensors to be updated changed = SUPPORTED_SENSORS; dev->active_sensors = enable_disable_akm(dev, active & SENSORS_AKM_GROUP, new_sensors & SENSORS_AKM_GROUP, changed & SENSORS_AKM_GROUP) | enable_disable_cm(dev, active & SENSORS_CM_GROUP, new_sensors & SENSORS_CM_GROUP, changed & SENSORS_CM_GROUP) | enable_disable_ls(dev, active & SENSORS_LIGHT_GROUP, new_sensors & SENSORS_LIGHT_GROUP, changed & SENSORS_LIGHT_GROUP); } return 0;
} static int control__set_delay(struct sensors_control_context_t *dev, int32_t ms)
{
#ifdef ECS_IOCTL_APP_SET_DELAY if (dev->akmd_fd <= 0) { return -1; } short delay = ms; if (!ioctl(dev->akmd_fd, ECS_IOCTL_APP_SET_DELAY, &delay)) { return -errno; } return 0;
#else return -1;
#endif
} static int control__wake(struct sensors_control_context_t *dev)
{ int err = 0; int akm_fd, p_fd, l_fd; if (open_inputs(O_RDWR, &akm_fd, &p_fd, &l_fd) < 0 || akm_fd < 0 || p_fd < 0 || l_fd < 0) { return -1; } struct input_event event[1]; event[0].type = EV_SYN; event[0].code = SYN_CONFIG; event[0].value = 0; err = write(akm_fd, event, sizeof(event)); LOGV_IF(err<0, "control__wake(compass), fd=%d (%s)", akm_fd, strerror(errno)); close(akm_fd); err = write(p_fd, event, sizeof(event)); LOGV_IF(err<0, "control__wake(proximity), fd=%d (%s)", p_fd, strerror(errno)); close(p_fd); err = write(l_fd, event, sizeof(event)); LOGV_IF(err<0, "control__wake(light), fd=%d (%s)", l_fd, strerror(errno)); close(l_fd); return err;
} /*****************************************************************************/ static int data__data_open(struct sensors_data_context_t *dev, native_handle_t* handle)
{ int i; struct input_absinfo absinfo; memset(&dev->sensors, 0, sizeof(dev->sensors)); for (i = 0; i < MAX_NUM_SENSORS; i++) { // by default all sensors have high accuracy // (we do this because we don't get an update if the value doesn't // change). dev->sensors[i].vector.status = SENSOR_STATUS_ACCURACY_HIGH; } dev->sensors[ID_A].sensor = SENSOR_TYPE_ACCELEROMETER; dev->sensors[ID_M].sensor = SENSOR_TYPE_MAGNETIC_FIELD; dev->sensors[ID_O].sensor = SENSOR_TYPE_ORIENTATION; dev->sensors[ID_T].sensor = SENSOR_TYPE_TEMPERATURE; dev->sensors[ID_P].sensor = SENSOR_TYPE_PROXIMITY; dev->sensors[ID_L].sensor = SENSOR_TYPE_LIGHT; dev->events_fd[0] = dup(handle->data[0]); dev->events_fd[1] = dup(handle->data[1]); dev->events_fd[2] = dup(handle->data[2]); LOGV("data__data_open: compass fd = %d", handle->data[0]); LOGV("data__data_open: proximity fd = %d", handle->data[1]); LOGV("data__data_open: light fd = %d", handle->data[2]); // Framework will close the handle
native_handle_delete(handle); dev->pendingSensors = 0; if (!ioctl(dev->events_fd[1], EVIOCGABS(ABS_DISTANCE), &absinfo)) { LOGV("proximity sensor initial value %d\n", absinfo.value); dev->pendingSensors |= SENSORS_CM_PROXIMITY; // FIXME: we should save here absinfo.{minimum, maximum, etc} // and use them to scale the return value according to // the sensor description. dev->sensors[ID_P].distance = (float)absinfo.value; } else LOGE("Cannot get proximity sensor initial value: %s\n", strerror(errno)); return 0;
} static int data__data_close(struct sensors_data_context_t *dev)
{ if (dev->events_fd[0] >= 0) { //LOGV("(data close) about to close compass fd=%d", dev->events_fd[0]); close(dev->events_fd[0]); dev->events_fd[0] = -1; } if (dev->events_fd[1] >= 0) { //LOGV("(data close) about to close proximity fd=%d", dev->events_fd[1]); close(dev->events_fd[1]); dev->events_fd[1] = -1; } if (dev->events_fd[2] >= 0) { //LOGV("(data close) about to close light fd=%d", dev->events_fd[1]); close(dev->events_fd[2]); dev->events_fd[2] = -1; } return 0;
} static int pick_sensor(struct sensors_data_context_t *dev, sensors_data_t* values)
{ uint32_t mask = SUPPORTED_SENSORS; while (mask) { uint32_t i = 31 - __builtin_clz(mask); mask &= ~(1<<i); if (dev->pendingSensors & (1<<i)) { dev->pendingSensors &= ~(1<<i); *values = dev->sensors[i]; values->sensor = id_to_sensor[i]; LOGV_IF(0, "%d [%f, %f, %f]", values->sensor, values->vector.x, values->vector.y, values->vector.z); return i; } } LOGE("no sensor to return: pendingSensors = %08x", dev->pendingSensors); return -1;
} static uint32_t data__poll_process_akm_abs(struct sensors_data_context_t *dev, int fd __attribute__((unused)), struct input_event *event)
{ uint32_t new_sensors = 0; if (event->type == EV_ABS) { LOGV("compass type: %d code: %d value: %-5d time: %ds", event->type, event->code, event->value, (int)event->time.tv_sec); switch (event->code) { case EVENT_TYPE_ACCEL_X: new_sensors |= SENSORS_AKM_ACCELERATION; dev->sensors[ID_A].acceleration.x = event->value * CONVERT_A_X; break; case EVENT_TYPE_ACCEL_Y: new_sensors |= SENSORS_AKM_ACCELERATION; dev->sensors[ID_A].acceleration.y = event->value * CONVERT_A_Y; break; case EVENT_TYPE_ACCEL_Z: new_sensors |= SENSORS_AKM_ACCELERATION; dev->sensors[ID_A].acceleration.z = event->value * CONVERT_A_Z; break; case EVENT_TYPE_MAGV_X: new_sensors |= SENSORS_AKM_MAGNETIC_FIELD; dev->sensors[ID_M].magnetic.x = event->value * CONVERT_M_X; break; case EVENT_TYPE_MAGV_Y: new_sensors |= SENSORS_AKM_MAGNETIC_FIELD; dev->sensors[ID_M].magnetic.y = event->value * CONVERT_M_Y; break; case EVENT_TYPE_MAGV_Z: new_sensors |= SENSORS_AKM_MAGNETIC_FIELD; dev->sensors[ID_M].magnetic.z = event->value * CONVERT_M_Z; break; case EVENT_TYPE_YAW: new_sensors |= SENSORS_AKM_ORIENTATION; dev->sensors[ID_O].orientation.azimuth = event->value; break; case EVENT_TYPE_PITCH: new_sensors |= SENSORS_AKM_ORIENTATION; dev->sensors[ID_O].orientation.pitch = event->value; break; case EVENT_TYPE_ROLL: new_sensors |= SENSORS_AKM_ORIENTATION; dev->sensors[ID_O].orientation.roll = -event->value; break; case EVENT_TYPE_TEMPERATURE: new_sensors |= SENSORS_AKM_TEMPERATURE; dev->sensors[ID_T].temperature = event->value; break; case EVENT_TYPE_STEP_COUNT: // step count (only reported in MODE_FFD) // we do nothing with it for now. break; case EVENT_TYPE_ACCEL_STATUS: // accuracy of the calibration (never returned!) //LOGV("G-Sensor status %d", event->value); break; case EVENT_TYPE_ORIENT_STATUS: { // accuracy of the calibration uint32_t v = (uint32_t)(event->value & SENSOR_STATE_MASK); LOGV_IF(dev->sensors[ID_O].orientation.status != (uint8_t)v, "M-Sensor status %d", v); dev->sensors[ID_O].orientation.status = (uint8_t)v; } break; } } return new_sensors;
} static uint32_t data__poll_process_cm_abs(struct sensors_data_context_t *dev, int fd __attribute__((unused)), struct input_event *event)
{ uint32_t new_sensors = 0; if (event->type == EV_ABS) { LOGV("proximity type: %d code: %d value: %-5d time: %ds", event->type, event->code, event->value, (int)event->time.tv_sec); if (event->code == EVENT_TYPE_PROXIMITY) { new_sensors |= SENSORS_CM_PROXIMITY; /* event->value seems to be 0 or 1, scale it to the threshold */ dev->sensors[ID_P].distance = event->value * PROXIMITY_THRESHOLD_CM; } } return new_sensors;
} static uint32_t data__poll_process_ls_abs(struct sensors_data_context_t *dev, int fd __attribute__((unused)), struct input_event *event)
{ uint32_t new_sensors = 0; if (event->type == EV_ABS) { LOGV("light-level type: %d code: %d value: %-5d time: %ds", event->type, event->code, event->value, (int)event->time.tv_sec); if (event->code == EVENT_TYPE_LIGHT) { struct input_absinfo absinfo; int index; if (!ioctl(fd, EVIOCGABS(ABS_DISTANCE), &absinfo)) { index = event->value; if (index >= 0) { new_sensors |= SENSORS_LIGHT; if (index >= ARRAY_SIZE(sLuxValues)) { index = ARRAY_SIZE(sLuxValues) - 1; } dev->sensors[ID_L].light = sLuxValues[index]; } } } } return new_sensors;
} static void data__poll_process_syn(struct sensors_data_context_t *dev, struct input_event *event, uint32_t new_sensors)
{ if (new_sensors) { dev->pendingSensors |= new_sensors; int64_t t = event->time.tv_sec*1000000000LL + event->time.tv_usec*1000; while (new_sensors) { uint32_t i = 31 - __builtin_clz(new_sensors); new_sensors &= ~(1<<i); dev->sensors[i].time = t; } }
} static int data__poll(struct sensors_data_context_t *dev, sensors_data_t* values)
{ int akm_fd = dev->events_fd[0]; int cm_fd = dev->events_fd[1]; int ls_fd = dev->events_fd[2]; if (akm_fd < 0) { LOGE("invalid compass file descriptor, fd=%d", akm_fd); return -1; } if (cm_fd < 0) { LOGE("invalid proximity-sensor file descriptor, fd=%d", cm_fd); return -1; } if (ls_fd < 0) { LOGE("invalid light-sensor file descriptor, fd=%d", ls_fd); return -1; } // there are pending sensors, returns them now... if (dev->pendingSensors) { LOGV("pending sensors 0x%08x", dev->pendingSensors); return pick_sensor(dev, values); } // wait until we get a complete event for an enabled sensor uint32_t new_sensors = 0; while (1) { /* read the next event; first, read the compass event, then the proximity event */ struct input_event event; int got_syn = 0; int exit = 0; int nread; fd_set rfds; int n; FD_ZERO(&rfds); FD_SET(akm_fd, &rfds); FD_SET(cm_fd, &rfds); FD_SET(ls_fd, &rfds); n = select(__MAX(akm_fd, __MAX(cm_fd, ls_fd)) + 1, &rfds, NULL, NULL, NULL); LOGV("return from select: %d\n", n); if (n < 0) { LOGE("%s: error from select(%d, %d): %s", __FUNCTION__, akm_fd, cm_fd, strerror(errno)); return -1; } if (FD_ISSET(akm_fd, &rfds)) { nread = read(akm_fd, &event, sizeof(event)); if (nread == sizeof(event)) { new_sensors |= data__poll_process_akm_abs(dev, akm_fd, &event); LOGV("akm abs %08x", new_sensors); got_syn = event.type == EV_SYN; exit = got_syn && event.code == SYN_CONFIG; if (got_syn) { LOGV("akm syn %08x", new_sensors); data__poll_process_syn(dev, &event, new_sensors); new_sensors = 0; } } else LOGE("akm read too small %d", nread); } else LOGV("akm fd is not set"); if (FD_ISSET(cm_fd, &rfds)) { nread = read(cm_fd, &event, sizeof(event)); if (nread == sizeof(event)) { new_sensors |= data__poll_process_cm_abs(dev, cm_fd, &event); LOGV("cm abs %08x", new_sensors); got_syn |= event.type == EV_SYN; exit |= got_syn && event.code == SYN_CONFIG; if (got_syn) { LOGV("cm syn %08x", new_sensors); data__poll_process_syn(dev, &event, new_sensors); new_sensors = 0; } } else LOGE("cm read too small %d", nread); } else LOGV("cm fd is not set"); if (FD_ISSET(ls_fd, &rfds)) { nread = read(ls_fd, &event, sizeof(event)); if (nread == sizeof(event)) { new_sensors |= data__poll_process_ls_abs(dev, ls_fd, &event); LOGV("ls abs %08x", new_sensors); got_syn |= event.type == EV_SYN; exit |= got_syn && event.code == SYN_CONFIG; if (got_syn) { LOGV("ls syn %08x", new_sensors); data__poll_process_syn(dev, &event, new_sensors); new_sensors = 0; } } else LOGE("ls read too small %d", nread); } else LOGV("ls fd is not set"); if (exit) { // we use SYN_CONFIG to signal that we need to exit the // main loop. //LOGV("got empty message: value=%d", event->value); LOGV("exit"); return 0x7FFFFFFF; } if (got_syn && dev->pendingSensors) { LOGV("got syn, picking sensor"); return pick_sensor(dev, values); } }
} /*****************************************************************************/ static int control__close(struct hw_device_t *dev)
{ struct sensors_control_context_t* ctx = (struct sensors_control_context_t*)dev; if (ctx) { close_akm(ctx); close_cm(ctx); close_ls(ctx); free(ctx); } return 0;
} static int data__close(struct hw_device_t *dev)
{ struct sensors_data_context_t* ctx = (struct sensors_data_context_t*)dev; if (ctx) { data__data_close(ctx); free(ctx); } return 0;
} /** Open a new instance of a sensor device using name */
static int open_sensors(const struct hw_module_t* module, const char* name, struct hw_device_t** device)
{ int status = -EINVAL; if (!strcmp(name, SENSORS_HARDWARE_CONTROL)) { struct sensors_control_context_t *dev; dev = malloc(sizeof(*dev)); memset(dev, 0, sizeof(*dev)); dev->akmd_fd = -1; dev->cmd_fd = -1; dev->lsd_fd = -1; dev->device.common.tag = HARDWARE_DEVICE_TAG; dev->device.common.version = 0; dev->device.common.module = module; dev->device.common.close = control__close; dev->device.open_data_source = control__open_data_source; dev->device.activate = control__activate; dev->device.set_delay= control__set_delay; dev->device.wake = control__wake; *device = &dev->device.common; } else if (!strcmp(name, SENSORS_HARDWARE_DATA)) { struct sensors_data_context_t *dev; dev = malloc(sizeof(*dev)); memset(dev, 0, sizeof(*dev)); dev->events_fd[0] = -1; dev->events_fd[1] = -1; dev->events_fd[2] = -1; dev->device.common.tag = HARDWARE_DEVICE_TAG; dev->device.common.version = 0; dev->device.common.module = module; dev->device.common.close = data__close; dev->device.data_open = data__data_open; dev->device.data_close = data__data_close; dev->device.poll = data__poll; *device = &dev->device.common; } return status;
}
/** Copyright (C) 2008 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_TAG "Sensors"
#define LOG_NDEBUG 1
#include <hardware/sensors.h>
#include <fcntl.h>
#include <errno.h>
#include <dirent.h>
#include <math.h>
#include <poll.h>
#include <pthread.h>
#include <sys/select.h>
#include <linux/input.h>
#include <linux/akm8973.h>
#include <linux/capella_cm3602.h>
#include <linux/lightsensor.h>
#include <cutils/atomic.h>
#include <cutils/log.h>
#include <cutils/native_handle.h>
#define __MAX(a,b) ((a)>=(b)?(a):(b))
/*****************************************************************************/
#define MAX_NUM_SENSORS 6
#define SUPPORTED_SENSORS ((1<<MAX_NUM_SENSORS)-1)
#define ARRAY_SIZE(a) (sizeof(a) / sizeof(a[0]))
#define ID_A (0)
#define ID_M (1)
#define ID_O (2)
#define ID_T (3)
#define ID_P (4)
#define ID_L (5)
static int id_to_sensor[MAX_NUM_SENSORS] = {[ID_A] = SENSOR_TYPE_ACCELEROMETER,[ID_M] = SENSOR_TYPE_MAGNETIC_FIELD,[ID_O] = SENSOR_TYPE_ORIENTATION,[ID_T] = SENSOR_TYPE_TEMPERATURE,[ID_P] = SENSOR_TYPE_PROXIMITY,[ID_L] = SENSOR_TYPE_LIGHT,
};
#define SENSORS_AKM_ACCELERATION (1<<ID_A)
#define SENSORS_AKM_MAGNETIC_FIELD (1<<ID_M)
#define SENSORS_AKM_ORIENTATION (1<<ID_O)
#define SENSORS_AKM_TEMPERATURE (1<<ID_T)
#define SENSORS_AKM_GROUP ((1<<ID_A)|(1<<ID_M)|(1<<ID_O)|(1<<ID_T))
#define SENSORS_CM_PROXIMITY (1<<ID_P)
#define SENSORS_CM_GROUP (1<<ID_P)
#define SENSORS_LIGHT (1<<ID_L)
#define SENSORS_LIGHT_GROUP (1<<ID_L)
/*****************************************************************************/
struct sensors_control_context_t {struct sensors_control_device_t device; // must be firstint akmd_fd;int cmd_fd;int lsd_fd;uint32_t active_sensors;
};
struct sensors_data_context_t {struct sensors_data_device_t device; // must be firstint events_fd[3];sensors_data_t sensors[MAX_NUM_SENSORS];uint32_t pendingSensors;
};
/** The SENSORS Module*/
/* the CM3602 is a binary proximity sensor that triggers around 9 cm on* this hardware */
#define PROXIMITY_THRESHOLD_CM 9.0f
/** the AK8973 has a 8-bit ADC but the firmware seems to average 16 samples,* or at least makes its calibration on 12-bits values. This increases the* resolution by 4 bits.*/
static const struct sensor_t sSensorList[] = {{ "BMA150 3-axis Accelerometer","Bosh",1, SENSORS_HANDLE_BASE+ID_A,SENSOR_TYPE_ACCELEROMETER, 4.0f*9.81f, (4.0f*9.81f)/256.0f, 0.2f, { } },{ "AK8973 3-axis Magnetic field sensor","Asahi Kasei",1, SENSORS_HANDLE_BASE+ID_M,SENSOR_TYPE_MAGNETIC_FIELD, 2000.0f, 1.0f/16.0f, 6.8f, { } },{ "AK8973 Orientation sensor","Asahi Kasei",1, SENSORS_HANDLE_BASE+ID_O,SENSOR_TYPE_ORIENTATION, 360.0f, 1.0f, 7.0f, { } },{ "CM3602 Proximity sensor","Capella Microsystems",1, SENSORS_HANDLE_BASE+ID_P,SENSOR_TYPE_PROXIMITY,PROXIMITY_THRESHOLD_CM, PROXIMITY_THRESHOLD_CM,0.5f, { } },{ "CM3602 Light sensor","Capella Microsystems",1, SENSORS_HANDLE_BASE+ID_L,SENSOR_TYPE_LIGHT, 10240.0f, 1.0f, 0.5f, { } },
};
static const float sLuxValues[8] = {10.0,160.0,225.0,320.0,640.0,1280.0,2600.0,10240.0
};
static int open_sensors(const struct hw_module_t* module, const char* name,struct hw_device_t** device);
static int sensors__get_sensors_list(struct sensors_module_t* module,struct sensor_t const** list)
{*list = sSensorList;return ARRAY_SIZE(sSensorList);
}
static struct hw_module_methods_t sensors_module_methods = {.open = open_sensors
};
const 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 = "AK8973A & CM3602 Sensors Module",.author = "The Android Open Source Project",.methods = &sensors_module_methods,},.get_sensors_list = sensors__get_sensors_list
};
/*****************************************************************************/
#define AKM_DEVICE_NAME "/dev/akm8973_aot"
#define CM_DEVICE_NAME "/dev/cm3602"
#define LS_DEVICE_NAME "/dev/lightsensor"// sensor IDs must be a power of two and
// must match values in SensorManager.java
#define EVENT_TYPE_ACCEL_X ABS_X
#define EVENT_TYPE_ACCEL_Y ABS_Z
#define EVENT_TYPE_ACCEL_Z ABS_Y
#define EVENT_TYPE_ACCEL_STATUS ABS_WHEEL
#define EVENT_TYPE_YAW ABS_RX
#define EVENT_TYPE_PITCH ABS_RY
#define EVENT_TYPE_ROLL ABS_RZ
#define EVENT_TYPE_ORIENT_STATUS ABS_RUDDER
#define EVENT_TYPE_MAGV_X ABS_HAT0X
#define EVENT_TYPE_MAGV_Y ABS_HAT0Y
#define EVENT_TYPE_MAGV_Z ABS_BRAKE
#define EVENT_TYPE_TEMPERATURE ABS_THROTTLE
#define EVENT_TYPE_STEP_COUNT ABS_GAS
#define EVENT_TYPE_PROXIMITY ABS_DISTANCE
#define EVENT_TYPE_LIGHT ABS_MISC
// 720 LSG = 1G
#define LSG (720.0f)// conversion of acceleration data to SI units (m/s^2)
#define CONVERT_A (GRAVITY_EARTH / LSG)
#define CONVERT_A_X (-CONVERT_A)
#define CONVERT_A_Y (CONVERT_A)
#define CONVERT_A_Z (-CONVERT_A)
// conversion of magnetic data to uT units
#define CONVERT_M (1.0f/16.0f)
#define CONVERT_M_X (-CONVERT_M)
#define CONVERT_M_Y (-CONVERT_M)
#define CONVERT_M_Z (CONVERT_M)
#define SENSOR_STATE_MASK (0x7FFF)
/*****************************************************************************/
static int open_inputs(int mode, int *akm_fd, int *p_fd, int *l_fd)
{/* scan all input drivers and look for "compass" */int fd = -1;const char *dirname = "/dev/input";char devname[PATH_MAX];char *filename;DIR *dir;struct dirent *de;dir = opendir(dirname);if(dir == NULL)return -1;strcpy(devname, dirname);filename = devname + strlen(devname);*filename++ = '/';*akm_fd = *p_fd = -1;while((de = readdir(dir))) {if(de->d_name[0] == '.' &&(de->d_name[1] == '\0' ||(de->d_name[1] == '.' && de->d_name[2] == '\0')))continue;strcpy(filename, de->d_name);fd = open(devname, mode);if (fd>=0) {char name[80];if (ioctl(fd, EVIOCGNAME(sizeof(name) - 1), &name) < 1) {name[0] = '\0';}if (!strcmp(name, "compass")) {LOGV("using %s (name=%s)", devname, name);*akm_fd = fd;}else if (!strcmp(name, "proximity")) {LOGV("using %s (name=%s)", devname, name);*p_fd = fd;}else if (!strcmp(name, "lightsensor-level")) {LOGV("using %s (name=%s)", devname, name);*l_fd = fd;}elseclose(fd);}}closedir(dir);fd = 0;if (*akm_fd < 0) {LOGE("Couldn't find or open 'compass' driver (%s)", strerror(errno));fd = -1;}if (*p_fd < 0) {LOGE("Couldn't find or open 'proximity' driver (%s)", strerror(errno));fd = -1;}if (*l_fd < 0) {LOGE("Couldn't find or open 'light' driver (%s)", strerror(errno));fd = -1;}return fd;
}
static int open_akm(struct sensors_control_context_t* dev)
{if (dev->akmd_fd < 0) {dev->akmd_fd = open(AKM_DEVICE_NAME, O_RDONLY);LOGV("%s, fd=%d", __PRETTY_FUNCTION__, dev->akmd_fd);LOGE_IF(dev->akmd_fd<0, "Couldn't open %s (%s)",AKM_DEVICE_NAME, strerror(errno));if (dev->akmd_fd >= 0) {dev->active_sensors &= ~SENSORS_AKM_GROUP;}}return dev->akmd_fd;
}
static void close_akm(struct sensors_control_context_t* dev)
{if (dev->akmd_fd >= 0) {LOGV("%s, fd=%d", __PRETTY_FUNCTION__, dev->akmd_fd);close(dev->akmd_fd);dev->akmd_fd = -1;}
}
static uint32_t read_akm_sensors_state(int fd)
{short flags;uint32_t sensors = 0;// read the actual value of all sensorsif (!ioctl(fd, ECS_IOCTL_APP_GET_MFLAG, &flags)) {if (flags) sensors |= SENSORS_AKM_ORIENTATION;else sensors &= ~SENSORS_AKM_ORIENTATION;}if (!ioctl(fd, ECS_IOCTL_APP_GET_AFLAG, &flags)) {if (flags) sensors |= SENSORS_AKM_ACCELERATION;else sensors &= ~SENSORS_AKM_ACCELERATION;}if (!ioctl(fd, ECS_IOCTL_APP_GET_TFLAG, &flags)) {if (flags) sensors |= SENSORS_AKM_TEMPERATURE;else sensors &= ~SENSORS_AKM_TEMPERATURE;}if (!ioctl(fd, ECS_IOCTL_APP_GET_MVFLAG, &flags)) {if (flags) sensors |= SENSORS_AKM_MAGNETIC_FIELD;else sensors &= ~SENSORS_AKM_MAGNETIC_FIELD;}return sensors;
}
static uint32_t enable_disable_akm(struct sensors_control_context_t *dev,uint32_t active, uint32_t sensors,uint32_t mask)
{uint32_t now_active_akm_sensors;int fd = open_akm(dev);if (fd < 0)return 0;LOGV("(before) akm sensors = %08x, real = %08x",sensors, read_akm_sensors_state(fd));short flags;if (mask & SENSORS_AKM_ORIENTATION) {flags = (sensors & SENSORS_AKM_ORIENTATION) ? 1 : 0;if (ioctl(fd, ECS_IOCTL_APP_SET_MFLAG, &flags) < 0) {LOGE("ECS_IOCTL_APP_SET_MFLAG error (%s)", strerror(errno));}}if (mask & SENSORS_AKM_ACCELERATION) {flags = (sensors & SENSORS_AKM_ACCELERATION) ? 1 : 0;if (ioctl(fd, ECS_IOCTL_APP_SET_AFLAG, &flags) < 0) {LOGE("ECS_IOCTL_APP_SET_AFLAG error (%s)", strerror(errno));}}if (mask & SENSORS_AKM_TEMPERATURE) {flags = (sensors & SENSORS_AKM_TEMPERATURE) ? 1 : 0;if (ioctl(fd, ECS_IOCTL_APP_SET_TFLAG, &flags) < 0) {LOGE("ECS_IOCTL_APP_SET_TFLAG error (%s)", strerror(errno));}}if (mask & SENSORS_AKM_MAGNETIC_FIELD) {flags = (sensors & SENSORS_AKM_MAGNETIC_FIELD) ? 1 : 0;if (ioctl(fd, ECS_IOCTL_APP_SET_MVFLAG, &flags) < 0) {LOGE("ECS_IOCTL_APP_SET_MVFLAG error (%s)", strerror(errno));}}now_active_akm_sensors = read_akm_sensors_state(fd);LOGV("(after) akm sensors = %08x, real = %08x",sensors, now_active_akm_sensors);if (!sensors)close_akm(dev);return now_active_akm_sensors;
}
static uint32_t read_cm_sensors_state(int fd)
{int flags;uint32_t sensors = 0;// read the actual value of all sensorsif (!ioctl(fd, CAPELLA_CM3602_IOCTL_GET_ENABLED, &flags)) {if (flags) sensors |= SENSORS_CM_PROXIMITY;else sensors &= ~SENSORS_CM_PROXIMITY;}return sensors;
}
static int open_cm(struct sensors_control_context_t* dev)
{if (dev->cmd_fd < 0) {dev->cmd_fd = open(CM_DEVICE_NAME, O_RDONLY);LOGV("%s, fd=%d", __PRETTY_FUNCTION__, dev->cmd_fd);LOGE_IF(dev->cmd_fd<0, "Couldn't open %s (%s)",CM_DEVICE_NAME, strerror(errno));if (dev->cmd_fd >= 0) {dev->active_sensors &= ~SENSORS_CM_GROUP;}}return dev->cmd_fd;
}
static void close_cm(struct sensors_control_context_t* dev)
{if (dev->cmd_fd >= 0) {LOGV("%s, fd=%d", __PRETTY_FUNCTION__, dev->cmd_fd);close(dev->cmd_fd);dev->cmd_fd = -1;}
}
static int enable_disable_cm(struct sensors_control_context_t *dev,uint32_t active, uint32_t sensors, uint32_t mask)
{int rc = 0;uint32_t now_active_cm_sensors;int fd = open_cm(dev);if (fd < 0) {LOGE("Couldn't open %s (%s)", CM_DEVICE_NAME, strerror(errno));return 0;}LOGV("(before) cm sensors = %08x, real = %08x",sensors, read_cm_sensors_state(fd));if (mask & SENSORS_CM_PROXIMITY) {int flags = (sensors & SENSORS_CM_PROXIMITY) ? 1 : 0;rc = ioctl(fd, CAPELLA_CM3602_IOCTL_ENABLE, &flags);if (rc < 0)LOGE("CAPELLA_CM3602_IOCTL_ENABLE error (%s)", strerror(errno));}now_active_cm_sensors = read_cm_sensors_state(fd);LOGV("(after) cm sensors = %08x, real = %08x",sensors, now_active_cm_sensors);return now_active_cm_sensors;
}
static uint32_t read_ls_sensors_state(int fd)
{int flags;uint32_t sensors = 0;// read the actual value of all sensorsif (!ioctl(fd, LIGHTSENSOR_IOCTL_GET_ENABLED, &flags)) {if (flags) sensors |= SENSORS_LIGHT;else sensors &= ~SENSORS_LIGHT;}return sensors;
}
static int open_ls(struct sensors_control_context_t* dev)
{if (dev->lsd_fd < 0) {dev->lsd_fd = open(LS_DEVICE_NAME, O_RDONLY);LOGV("%s, fd=%d", __PRETTY_FUNCTION__, dev->lsd_fd);LOGE_IF(dev->lsd_fd<0, "Couldn't open %s (%s)",LS_DEVICE_NAME, strerror(errno));if (dev->lsd_fd >= 0) {dev->active_sensors &= ~SENSORS_LIGHT_GROUP;}}return dev->lsd_fd;
}
static void close_ls(struct sensors_control_context_t* dev)
{if (dev->lsd_fd >= 0) {LOGV("%s, fd=%d", __PRETTY_FUNCTION__, dev->lsd_fd);close(dev->lsd_fd);dev->lsd_fd = -1;}
}
static int enable_disable_ls(struct sensors_control_context_t *dev,uint32_t active, uint32_t sensors, uint32_t mask)
{int rc = 0;uint32_t now_active_ls_sensors;int fd = open_ls(dev);if (fd < 0) {LOGE("Couldn't open %s (%s)", LS_DEVICE_NAME, strerror(errno));return 0;}LOGV("(before) ls sensors = %08x, real = %08x",sensors, read_ls_sensors_state(fd));if (mask & SENSORS_LIGHT) {int flags = (sensors & SENSORS_LIGHT) ? 1 : 0;rc = ioctl(fd, LIGHTSENSOR_IOCTL_ENABLE, &flags);if (rc < 0)LOGE("LIGHTSENSOR_IOCTL_ENABLE error (%s)", strerror(errno));}now_active_ls_sensors = read_ls_sensors_state(fd);LOGV("(after) ls sensors = %08x, real = %08x",sensors, now_active_ls_sensors);return now_active_ls_sensors;
}
/*****************************************************************************/
static native_handle_t* control__open_data_source(struct sensors_control_context_t *dev)
{native_handle_t* handle;int akm_fd, p_fd, l_fd;if (open_inputs(O_RDONLY, &akm_fd, &p_fd, &l_fd) < 0 ||akm_fd < 0 || p_fd < 0 || l_fd < 0) {return NULL;}handle = native_handle_create(3, 0);handle->data[0] = akm_fd;handle->data[1] = p_fd;handle->data[2] = l_fd;return handle;
}
static int control__activate(struct sensors_control_context_t *dev,int handle, int enabled)
{if ((handle < SENSORS_HANDLE_BASE) ||(handle >= SENSORS_HANDLE_BASE+MAX_NUM_SENSORS))return -1;uint32_t mask = (1 << handle);uint32_t sensors = enabled ? mask : 0;uint32_t active = dev->active_sensors;uint32_t new_sensors = (active & ~mask) | (sensors & mask);uint32_t changed = active ^ new_sensors;if (changed) {if (!active && new_sensors)// force all sensors to be updatedchanged = SUPPORTED_SENSORS;dev->active_sensors =enable_disable_akm(dev,active & SENSORS_AKM_GROUP,new_sensors & SENSORS_AKM_GROUP,changed & SENSORS_AKM_GROUP) |enable_disable_cm(dev,active & SENSORS_CM_GROUP,new_sensors & SENSORS_CM_GROUP,changed & SENSORS_CM_GROUP) |enable_disable_ls(dev,active & SENSORS_LIGHT_GROUP,new_sensors & SENSORS_LIGHT_GROUP,changed & SENSORS_LIGHT_GROUP);}return 0;
}
static int control__set_delay(struct sensors_control_context_t *dev, int32_t ms)
{
#ifdef ECS_IOCTL_APP_SET_DELAYif (dev->akmd_fd <= 0) {return -1;}short delay = ms;if (!ioctl(dev->akmd_fd, ECS_IOCTL_APP_SET_DELAY, &delay)) {return -errno;}return 0;
#elsereturn -1;
#endif
}
static int control__wake(struct sensors_control_context_t *dev)
{int err = 0;int akm_fd, p_fd, l_fd;if (open_inputs(O_RDWR, &akm_fd, &p_fd, &l_fd) < 0 ||akm_fd < 0 || p_fd < 0 || l_fd < 0) {return -1;}struct input_event event[1];event[0].type = EV_SYN;event[0].code = SYN_CONFIG;event[0].value = 0;err = write(akm_fd, event, sizeof(event));LOGV_IF(err<0, "control__wake(compass), fd=%d (%s)",akm_fd, strerror(errno));close(akm_fd);err = write(p_fd, event, sizeof(event));LOGV_IF(err<0, "control__wake(proximity), fd=%d (%s)",p_fd, strerror(errno));close(p_fd);err = write(l_fd, event, sizeof(event));LOGV_IF(err<0, "control__wake(light), fd=%d (%s)",l_fd, strerror(errno));close(l_fd);return err;
}
/*****************************************************************************/
static int data__data_open(struct sensors_data_context_t *dev, native_handle_t* handle)
{int i;struct input_absinfo absinfo;memset(&dev->sensors, 0, sizeof(dev->sensors));for (i = 0; i < MAX_NUM_SENSORS; i++) {// by default all sensors have high accuracy// (we do this because we don't get an update if the value doesn't// change).dev->sensors[i].vector.status = SENSOR_STATUS_ACCURACY_HIGH;}dev->sensors[ID_A].sensor = SENSOR_TYPE_ACCELEROMETER;dev->sensors[ID_M].sensor = SENSOR_TYPE_MAGNETIC_FIELD;dev->sensors[ID_O].sensor = SENSOR_TYPE_ORIENTATION;dev->sensors[ID_T].sensor = SENSOR_TYPE_TEMPERATURE;dev->sensors[ID_P].sensor = SENSOR_TYPE_PROXIMITY;dev->sensors[ID_L].sensor = SENSOR_TYPE_LIGHT;dev->events_fd[0] = dup(handle->data[0]);dev->events_fd[1] = dup(handle->data[1]);dev->events_fd[2] = dup(handle->data[2]);LOGV("data__data_open: compass fd = %d", handle->data[0]);LOGV("data__data_open: proximity fd = %d", handle->data[1]);LOGV("data__data_open: light fd = %d", handle->data[2]);// Framework will close the handle
native_handle_delete(handle);dev->pendingSensors = 0;if (!ioctl(dev->events_fd[1], EVIOCGABS(ABS_DISTANCE), &absinfo)) {LOGV("proximity sensor initial value %d\n", absinfo.value);dev->pendingSensors |= SENSORS_CM_PROXIMITY;// FIXME: we should save here absinfo.{minimum, maximum, etc}// and use them to scale the return value according to// the sensor description.dev->sensors[ID_P].distance = (float)absinfo.value;}else LOGE("Cannot get proximity sensor initial value: %s\n",strerror(errno));return 0;
}
static int data__data_close(struct sensors_data_context_t *dev)
{if (dev->events_fd[0] >= 0) {//LOGV("(data close) about to close compass fd=%d", dev->events_fd[0]);close(dev->events_fd[0]);dev->events_fd[0] = -1;}if (dev->events_fd[1] >= 0) {//LOGV("(data close) about to close proximity fd=%d", dev->events_fd[1]);close(dev->events_fd[1]);dev->events_fd[1] = -1;}if (dev->events_fd[2] >= 0) {//LOGV("(data close) about to close light fd=%d", dev->events_fd[1]);close(dev->events_fd[2]);dev->events_fd[2] = -1;}return 0;
}
static int pick_sensor(struct sensors_data_context_t *dev,sensors_data_t* values)
{uint32_t mask = SUPPORTED_SENSORS;while (mask) {uint32_t i = 31 - __builtin_clz(mask);mask &= ~(1<<i);if (dev->pendingSensors & (1<<i)) {dev->pendingSensors &= ~(1<<i);*values = dev->sensors[i];values->sensor = id_to_sensor[i];LOGV_IF(0, "%d [%f, %f, %f]",values->sensor,values->vector.x,values->vector.y,values->vector.z);return i;}}LOGE("no sensor to return: pendingSensors = %08x", dev->pendingSensors);return -1;
}
static uint32_t data__poll_process_akm_abs(struct sensors_data_context_t *dev,int fd __attribute__((unused)),struct input_event *event)
{uint32_t new_sensors = 0;if (event->type == EV_ABS) {LOGV("compass type: %d code: %d value: %-5d time: %ds",event->type, event->code, event->value,(int)event->time.tv_sec);switch (event->code) {case EVENT_TYPE_ACCEL_X:new_sensors |= SENSORS_AKM_ACCELERATION;dev->sensors[ID_A].acceleration.x = event->value * CONVERT_A_X;break;case EVENT_TYPE_ACCEL_Y:new_sensors |= SENSORS_AKM_ACCELERATION;dev->sensors[ID_A].acceleration.y = event->value * CONVERT_A_Y;break;case EVENT_TYPE_ACCEL_Z:new_sensors |= SENSORS_AKM_ACCELERATION;dev->sensors[ID_A].acceleration.z = event->value * CONVERT_A_Z;break;case EVENT_TYPE_MAGV_X:new_sensors |= SENSORS_AKM_MAGNETIC_FIELD;dev->sensors[ID_M].magnetic.x = event->value * CONVERT_M_X;break;case EVENT_TYPE_MAGV_Y:new_sensors |= SENSORS_AKM_MAGNETIC_FIELD;dev->sensors[ID_M].magnetic.y = event->value * CONVERT_M_Y;break;case EVENT_TYPE_MAGV_Z:new_sensors |= SENSORS_AKM_MAGNETIC_FIELD;dev->sensors[ID_M].magnetic.z = event->value * CONVERT_M_Z;break;case EVENT_TYPE_YAW:new_sensors |= SENSORS_AKM_ORIENTATION;dev->sensors[ID_O].orientation.azimuth = event->value;break;case EVENT_TYPE_PITCH:new_sensors |= SENSORS_AKM_ORIENTATION;dev->sensors[ID_O].orientation.pitch = event->value;break;case EVENT_TYPE_ROLL:new_sensors |= SENSORS_AKM_ORIENTATION;dev->sensors[ID_O].orientation.roll = -event->value;break;case EVENT_TYPE_TEMPERATURE:new_sensors |= SENSORS_AKM_TEMPERATURE;dev->sensors[ID_T].temperature = event->value;break;case EVENT_TYPE_STEP_COUNT:// step count (only reported in MODE_FFD)// we do nothing with it for now.break;case EVENT_TYPE_ACCEL_STATUS:// accuracy of the calibration (never returned!)//LOGV("G-Sensor status %d", event->value);break;case EVENT_TYPE_ORIENT_STATUS: {// accuracy of the calibrationuint32_t v = (uint32_t)(event->value & SENSOR_STATE_MASK);LOGV_IF(dev->sensors[ID_O].orientation.status != (uint8_t)v,"M-Sensor status %d", v);dev->sensors[ID_O].orientation.status = (uint8_t)v;}break;}}return new_sensors;
}
static uint32_t data__poll_process_cm_abs(struct sensors_data_context_t *dev,int fd __attribute__((unused)),struct input_event *event)
{uint32_t new_sensors = 0;if (event->type == EV_ABS) {LOGV("proximity type: %d code: %d value: %-5d time: %ds",event->type, event->code, event->value,(int)event->time.tv_sec);if (event->code == EVENT_TYPE_PROXIMITY) {new_sensors |= SENSORS_CM_PROXIMITY;/* event->value seems to be 0 or 1, scale it to the threshold */dev->sensors[ID_P].distance = event->value * PROXIMITY_THRESHOLD_CM;}}return new_sensors;
}
static uint32_t data__poll_process_ls_abs(struct sensors_data_context_t *dev,int fd __attribute__((unused)),struct input_event *event)
{uint32_t new_sensors = 0;if (event->type == EV_ABS) {LOGV("light-level type: %d code: %d value: %-5d time: %ds",event->type, event->code, event->value,(int)event->time.tv_sec);if (event->code == EVENT_TYPE_LIGHT) {struct input_absinfo absinfo;int index;if (!ioctl(fd, EVIOCGABS(ABS_DISTANCE), &absinfo)) {index = event->value;if (index >= 0) {new_sensors |= SENSORS_LIGHT;if (index >= ARRAY_SIZE(sLuxValues)) {index = ARRAY_SIZE(sLuxValues) - 1;}dev->sensors[ID_L].light = sLuxValues[index];}}}}return new_sensors;
}
static void data__poll_process_syn(struct sensors_data_context_t *dev,struct input_event *event,uint32_t new_sensors)
{if (new_sensors) {dev->pendingSensors |= new_sensors;int64_t t = event->time.tv_sec*1000000000LL +event->time.tv_usec*1000;while (new_sensors) {uint32_t i = 31 - __builtin_clz(new_sensors);new_sensors &= ~(1<<i);dev->sensors[i].time = t;}}
}
static int data__poll(struct sensors_data_context_t *dev, sensors_data_t* values)
{int akm_fd = dev->events_fd[0];int cm_fd = dev->events_fd[1];int ls_fd = dev->events_fd[2];if (akm_fd < 0) {LOGE("invalid compass file descriptor, fd=%d", akm_fd);return -1;}if (cm_fd < 0) {LOGE("invalid proximity-sensor file descriptor, fd=%d", cm_fd);return -1;}if (ls_fd < 0) {LOGE("invalid light-sensor file descriptor, fd=%d", ls_fd);return -1;}// there are pending sensors, returns them now...if (dev->pendingSensors) {LOGV("pending sensors 0x%08x", dev->pendingSensors);return pick_sensor(dev, values);}// wait until we get a complete event for an enabled sensoruint32_t new_sensors = 0;while (1) {/* read the next event; first, read the compass event, then theproximity event */struct input_event event;int got_syn = 0;int exit = 0;int nread;fd_set rfds;int n;FD_ZERO(&rfds);FD_SET(akm_fd, &rfds);FD_SET(cm_fd, &rfds);FD_SET(ls_fd, &rfds);n = select(__MAX(akm_fd, __MAX(cm_fd, ls_fd)) + 1, &rfds,NULL, NULL, NULL);LOGV("return from select: %d\n", n);if (n < 0) {LOGE("%s: error from select(%d, %d): %s",__FUNCTION__,akm_fd, cm_fd, strerror(errno));return -1;}if (FD_ISSET(akm_fd, &rfds)) {nread = read(akm_fd, &event, sizeof(event));if (nread == sizeof(event)) {new_sensors |= data__poll_process_akm_abs(dev, akm_fd, &event);LOGV("akm abs %08x", new_sensors);got_syn = event.type == EV_SYN;exit = got_syn && event.code == SYN_CONFIG;if (got_syn) {LOGV("akm syn %08x", new_sensors);data__poll_process_syn(dev, &event, new_sensors);new_sensors = 0;}}else LOGE("akm read too small %d", nread);}else LOGV("akm fd is not set");if (FD_ISSET(cm_fd, &rfds)) {nread = read(cm_fd, &event, sizeof(event));if (nread == sizeof(event)) {new_sensors |= data__poll_process_cm_abs(dev, cm_fd, &event);LOGV("cm abs %08x", new_sensors);got_syn |= event.type == EV_SYN;exit |= got_syn && event.code == SYN_CONFIG;if (got_syn) {LOGV("cm syn %08x", new_sensors);data__poll_process_syn(dev, &event, new_sensors);new_sensors = 0;}}else LOGE("cm read too small %d", nread);}else LOGV("cm fd is not set");if (FD_ISSET(ls_fd, &rfds)) {nread = read(ls_fd, &event, sizeof(event));if (nread == sizeof(event)) {new_sensors |= data__poll_process_ls_abs(dev, ls_fd, &event);LOGV("ls abs %08x", new_sensors);got_syn |= event.type == EV_SYN;exit |= got_syn && event.code == SYN_CONFIG;if (got_syn) {LOGV("ls syn %08x", new_sensors);data__poll_process_syn(dev, &event, new_sensors);new_sensors = 0;}}else LOGE("ls read too small %d", nread);}else LOGV("ls fd is not set");if (exit) {// we use SYN_CONFIG to signal that we need to exit the// main loop.//LOGV("got empty message: value=%d", event->value);LOGV("exit");return 0x7FFFFFFF;}if (got_syn && dev->pendingSensors) {LOGV("got syn, picking sensor");return pick_sensor(dev, values);}}
}
/*****************************************************************************/
static int control__close(struct hw_device_t *dev)
{struct sensors_control_context_t* ctx =(struct sensors_control_context_t*)dev;if (ctx) {close_akm(ctx);close_cm(ctx);close_ls(ctx);free(ctx);}return 0;
}
static int data__close(struct hw_device_t *dev)
{struct sensors_data_context_t* ctx = (struct sensors_data_context_t*)dev;if (ctx) {data__data_close(ctx);free(ctx);}return 0;
}/** Open a new instance of a sensor device using name */
static int open_sensors(const struct hw_module_t* module, const char* name,struct hw_device_t** device)
{int status = -EINVAL;if (!strcmp(name, SENSORS_HARDWARE_CONTROL)) {struct sensors_control_context_t *dev;dev = malloc(sizeof(*dev));memset(dev, 0, sizeof(*dev));dev->akmd_fd = -1;dev->cmd_fd = -1;dev->lsd_fd = -1;dev->device.common.tag = HARDWARE_DEVICE_TAG;dev->device.common.version = 0;dev->device.common.module = module;dev->device.common.close = control__close;dev->device.open_data_source = control__open_data_source;dev->device.activate = control__activate;dev->device.set_delay= control__set_delay;dev->device.wake = control__wake;*device = &dev->device.common;} else if (!strcmp(name, SENSORS_HARDWARE_DATA)) {struct sensors_data_context_t *dev;dev = malloc(sizeof(*dev));memset(dev, 0, sizeof(*dev));dev->events_fd[0] = -1;dev->events_fd[1] = -1;dev->events_fd[2] = -1;dev->device.common.tag = HARDWARE_DEVICE_TAG;dev->device.common.version = 0;dev->device.common.module = module;dev->device.common.close = data__close;dev->device.data_open = data__data_open;dev->device.data_close = data__data_close;dev->device.poll = data__poll;*device = &dev->device.common;}return status;
}http://blog.csdn.net/zmyde2010/archive/2011/03/21/6266384.aspx
转载于:https://www.cnblogs.com/MMLoveMeMM/articles/4124782.html
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