SMDK4x12 Sensorsreplicant-4.2-0002replicant-4.2-0001

Signed-off-by: Paul Kocialkowski <contact@paulk.fr>

1 files changed, 596 insertions, 0 deletions

diff --git a/sensors/akm8975.c b/sensors/akm8975.c
new file mode 100644
index 0000000..420c790
--- /dev/null
+++ b/sensors/akm8975.c
@@ -0,0 +1,596 @@
+/*
+ * Copyright (C) 2013 Paul Kocialkowski <contact@paulk.fr>
+ * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdlib.h>
+#include <unistd.h>
+#include <stdint.h>
+#include <fcntl.h>
+#include <errno.h>
+
+#include <hardware/sensors.h>
+#include <hardware/hardware.h>
+
+#define LOG_TAG "smdk4x12_sensors"
+#include <utils/Log.h>
+
+#include "smdk4x12_sensors.h"
+#include "ak8975.h"
+#include "ak8975-reg.h"
+
+#include <AKFS_Compass.h>
+#include <AKFS_FileIO.h>
+
+#define AKFS_CONFIG_PATH	"/data/misc/akfs.txt"
+#define AKFS_PAT		PAT3
+
+struct akm8975_data {
+	struct smdk4x12_sensors_handlers *orientation_sensor;
+
+	AK8975PRMS akfs_params;
+	sensors_vec_t magnetic;
+
+	long int delay;
+	int device_fd;
+	int uinput_fd;
+
+	pthread_t thread;
+	pthread_mutex_t mutex;
+	int thread_continue;
+};
+
+int akfs_get_magnetic_field(struct akm8975_data *akm8975_data, short *magnetic_data)
+{
+	AK8975PRMS *params;
+	int rc;
+
+	if (akm8975_data == NULL || magnetic_data == NULL)
+		return -EINVAL;
+
+	params = &akm8975_data->akfs_params;
+
+	// Decomposition
+	// Sensitivity adjustment, i.e. multiply ASA, is done in this function.
+	rc = AKFS_DecompAK8975(magnetic_data, 1, &params->mi_asa, AKFS_HDATA_SIZE, params->mfv_hdata);
+	if (rc == AKFS_ERROR) {
+		ALOGE("Failed to decomp!");
+		return -1;
+	}
+
+	// Adjust coordination
+	rc = AKFS_Rotate(params->m_hpat, &params->mfv_hdata[0]);
+	if (rc == AKFS_ERROR) {
+		ALOGE("Failed to rotate!");
+		return -1;
+	}
+
+	// AOC for magnetometer
+	// Offset estimation is done in this function
+	AKFS_AOC(&params->m_aocv, params->mfv_hdata, &params->mfv_ho);
+
+	// Subtract offset
+	// Then, a magnetic vector, the unit is uT, is stored in mfv_hvbuf.
+	rc = AKFS_VbNorm(AKFS_HDATA_SIZE, params->mfv_hdata, 1,
+		&params->mfv_ho, &params->mfv_hs, AK8975_HSENSE_TARGET,
+		AKFS_HDATA_SIZE, params->mfv_hvbuf);
+	if (rc == AKFS_ERROR) {
+		ALOGE("Failed to normalize!");
+		return -1;
+	}
+
+	// Averaging
+	rc = AKFS_VbAve(AKFS_HDATA_SIZE, params->mfv_hvbuf, CSPEC_HNAVE_V, &params->mfv_hvec);
+	if (rc == AKFS_ERROR) {
+		ALOGE("Failed to average!");
+		return -1;
+	}
+
+	akm8975_data->magnetic.x = params->mfv_hvec.u.x;
+	akm8975_data->magnetic.y = params->mfv_hvec.u.y;
+	akm8975_data->magnetic.z = params->mfv_hvec.u.z;
+
+	return 0;
+}
+
+int akfs_init(struct akm8975_data *akm8975_data, char *asa, AKFS_PATNO pat)
+{
+	AK8975PRMS *params;
+
+	if (akm8975_data == NULL || asa == NULL)
+		return -EINVAL;
+
+	params = &akm8975_data->akfs_params;
+
+	memset(params, 0, sizeof(AK8975PRMS));
+
+	// Sensitivity
+	params->mfv_hs.u.x = AK8975_HSENSE_DEFAULT;
+	params->mfv_hs.u.y = AK8975_HSENSE_DEFAULT;
+	params->mfv_hs.u.z = AK8975_HSENSE_DEFAULT;
+	params->mfv_as.u.x = AK8975_ASENSE_DEFAULT;
+	params->mfv_as.u.y = AK8975_ASENSE_DEFAULT;
+	params->mfv_as.u.z = AK8975_ASENSE_DEFAULT;
+
+	// Initialize variables that initial value is not 0.
+	params->mi_hnaveV = CSPEC_HNAVE_V;
+	params->mi_hnaveD = CSPEC_HNAVE_D;
+	params->mi_anaveV = CSPEC_ANAVE_V;
+	params->mi_anaveD = CSPEC_ANAVE_D;
+
+	// Copy ASA values
+	params->mi_asa.u.x = asa[0];
+	params->mi_asa.u.y = asa[1];
+	params->mi_asa.u.z = asa[2];
+
+	// Copy layout pattern
+	params->m_hpat = pat;
+
+	return 0;
+}
+
+void *akm8975_thread(void *thread_data)
+{
+	struct smdk4x12_sensors_handlers *handlers = NULL;
+	struct akm8975_data *data = NULL;
+	struct input_event event;
+	struct timeval time;
+	char i2c_data[SENSOR_DATA_SIZE] = { 0 };
+	short magnetic_data[3];
+	short mode;
+	long int before, after;
+	int diff;
+	int device_fd;
+	int uinput_fd;
+	int rc;
+
+	if (thread_data == NULL)
+		return NULL;
+
+	handlers = (struct smdk4x12_sensors_handlers *) thread_data;
+	if (handlers->data == NULL)
+		return NULL;
+
+	data = (struct akm8975_data *) handlers->data;
+
+	device_fd = data->device_fd;
+	if (device_fd < 0)
+		return NULL;
+
+	uinput_fd = data->uinput_fd;
+	if (uinput_fd < 0)
+		return NULL;
+
+	while (data->thread_continue) {
+		pthread_mutex_lock(&data->mutex);
+		if (!data->thread_continue)
+			break;
+
+		while (handlers->activated) {
+			gettimeofday(&time, NULL);
+			before = timestamp(&time);
+
+			mode = AK8975_MODE_SNG_MEASURE;
+			rc = ioctl(device_fd, ECS_IOCTL_SET_MODE, &mode);
+			if (rc < 0) {
+				ALOGE("%s: Unable to set akm8975 mode", __func__);
+				return NULL;
+			}
+
+			memset(&i2c_data, 0, sizeof(i2c_data));
+			rc = ioctl(device_fd, ECS_IOCTL_GETDATA, &i2c_data);
+			if (rc < 0) {
+				ALOGE("%s: Unable to get akm8975 data", __func__);
+				return NULL;
+			}
+
+			if (!(i2c_data[0] & 0x01)) {
+				ALOGE("%s: akm8975 data is not ready", __func__);
+				continue;
+			}
+
+			if (i2c_data[7] & (1 << 2) || i2c_data[7] & (1 << 3)) {
+				ALOGE("%s: akm8975 data read error or overflow", __func__);
+				continue;
+			}
+
+			magnetic_data[0] = (short) (i2c_data[2] << 8) | (i2c_data[1]);
+			magnetic_data[1] = (short) (i2c_data[4] << 8) | (i2c_data[3]);
+			magnetic_data[2] = (short) (i2c_data[6] << 8) | (i2c_data[5]);
+
+			rc = akfs_get_magnetic_field(data, (short *) &magnetic_data);
+			if (rc < 0) {
+				ALOGE("%s: Unable to get AKFS magnetic field", __func__);
+				continue;
+			}
+
+			input_event_set(&event, EV_REL, REL_X, (int) (data->magnetic.x * 1000));
+			write(uinput_fd, &event, sizeof(event));
+			input_event_set(&event, EV_REL, REL_Y, (int) (data->magnetic.y * 1000));
+			write(uinput_fd, &event, sizeof(event));
+			input_event_set(&event, EV_REL, REL_Z, (int) (data->magnetic.z * 1000));
+			write(uinput_fd, &event, sizeof(event));
+			input_event_set(&event, EV_SYN, 0, 0);
+			write(uinput_fd, &event, sizeof(event));
+
+			gettimeofday(&time, NULL);
+			after = timestamp(&time);
+
+			diff = (int) (data->delay - (after - before)) / 1000;
+			if (diff <= 0)
+				continue;
+
+			usleep(diff);
+		}
+	}
+	return NULL;
+}
+
+int akm8975_init(struct smdk4x12_sensors_handlers *handlers,
+	struct smdk4x12_sensors_device *device)
+{
+	struct akm8975_data *data = NULL;
+	pthread_attr_t thread_attr;
+	char i2c_data[RWBUF_SIZE] = { 0 };
+	short mode;
+	int device_fd = -1;
+	int uinput_fd = -1;
+	int input_fd = -1;
+	int rc;
+	int i;
+
+	ALOGD("%s(%p, %p)", __func__, handlers, device);
+
+	if (handlers == NULL || device == NULL)
+		return -EINVAL;
+
+	data = (struct akm8975_data *) calloc(1, sizeof(struct akm8975_data));
+
+	for (i = 0; i < device->handlers_count; i++) {
+		if (device->handlers[i] == NULL)
+			continue;
+
+		if (device->handlers[i]->handle == SENSOR_TYPE_ORIENTATION)
+			data->orientation_sensor = device->handlers[i];
+	}
+
+	device_fd = open("/dev/akm8975", O_RDONLY);
+	if (device_fd < 0) {
+		ALOGE("%s: Unable to open device", __func__);
+		goto error;
+	}
+
+	mode = AK8975_MODE_POWER_DOWN;
+	rc = ioctl(device_fd, ECS_IOCTL_SET_MODE, &mode);
+	if (rc < 0) {
+		ALOGE("%s: Unable to set akm8975 mode", __func__);
+		goto error;
+	}
+
+	mode = AK8975_MODE_FUSE_ACCESS;
+	rc = ioctl(device_fd, ECS_IOCTL_SET_MODE, &mode);
+	if (rc < 0) {
+		ALOGE("%s: Unable to set akm8975 mode", __func__);
+		goto error;
+	}
+
+	i2c_data[0] = 3;
+	i2c_data[1] = AK8975_FUSE_ASAX;
+	rc = ioctl(device_fd, ECS_IOCTL_READ, &i2c_data);
+	if (rc < 0) {
+		ALOGE("%s: Unable to read akm8975 FUSE data", __func__);
+		goto error;
+	}
+
+	ALOGD("AKM8975 ASA (Sensitivity Adjustment) values are: (%d, %d, %d)",
+		i2c_data[1], i2c_data[2], i2c_data[3]);
+
+	rc = akfs_init(data, &i2c_data[1], AKFS_PAT);
+	if (rc < 0) {
+		ALOGE("%s: Unable to init AKFS", __func__);
+		goto error;
+	}
+
+	i2c_data[0] = 1;
+	i2c_data[1] = AK8975_REG_WIA;
+	rc = ioctl(device_fd, ECS_IOCTL_READ, &i2c_data);
+	if (rc < 0) {
+		ALOGE("%s: Unable to read akm8975 FUSE data", __func__);
+		goto error;
+	}
+
+	ALOGD("AKM8975 WIA (Device ID) value is: 0x%x", i2c_data[1]);
+
+	mode = AK8975_MODE_POWER_DOWN;
+	rc = ioctl(device_fd, ECS_IOCTL_SET_MODE, &mode);
+	if (rc < 0) {
+		ALOGE("%s: Unable to set akm8975 mode", __func__);
+		goto error;
+	}
+
+	uinput_fd = uinput_rel_create("magnetic");
+	if (uinput_fd < 0) {
+		ALOGD("%s: Unable to create uinput", __func__);
+		goto error;
+	}
+
+	input_fd = input_open("magnetic");
+	if (input_fd < 0) {
+		ALOGE("%s: Unable to open magnetic input", __func__);
+		goto error;
+	}
+
+	data->thread_continue = 1;
+
+	pthread_mutex_init(&data->mutex, NULL);
+	pthread_mutex_lock(&data->mutex);
+
+	pthread_attr_init(&thread_attr);
+	pthread_attr_setdetachstate(&thread_attr, PTHREAD_CREATE_DETACHED);
+
+	rc = pthread_create(&data->thread, &thread_attr, akm8975_thread, (void *) handlers);
+	if (rc < 0) {
+		ALOGE("%s: Unable to create akm8975 thread", __func__);
+		pthread_mutex_destroy(&data->mutex);
+		goto error;
+	}
+
+	data->device_fd = device_fd;
+	data->uinput_fd = uinput_fd;
+	handlers->poll_fd = input_fd;
+	handlers->data = (void *) data;
+
+	return 0;
+
+error:
+	if (data != NULL)
+		free(data);
+
+	if (uinput_fd >= 0)
+		close(uinput_fd);
+
+	if (input_fd >= 0)
+		close(input_fd);
+
+	if (device_fd >= 0)
+		close(device_fd);
+
+	handlers->poll_fd = -1;
+	handlers->data = NULL;
+
+	return -1;
+}
+
+int akm8975_deinit(struct smdk4x12_sensors_handlers *handlers)
+{
+	struct akm8975_data *data = NULL;
+	short mode;
+	int rc;
+
+	ALOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct akm8975_data *) handlers->data;
+
+	handlers->activated = 0;
+	data->thread_continue = 0;
+	pthread_mutex_unlock(&data->mutex);
+
+	pthread_mutex_destroy(&data->mutex);
+
+	if (data->uinput_fd >= 0) {
+		uinput_destroy(data->uinput_fd);
+		close(data->uinput_fd);
+	}
+	data->uinput_fd = -1;
+
+	if (handlers->poll_fd >= 0)
+		close(handlers->poll_fd);
+	handlers->poll_fd = -1;
+
+	mode = AK8975_MODE_POWER_DOWN;
+	rc = ioctl(data->device_fd, ECS_IOCTL_SET_MODE, &mode);
+	if (rc < 0)
+		ALOGE("%s: Unable to set akm8975 mode", __func__);
+
+	if (data->device_fd >= 0)
+		close(data->device_fd);
+	data->device_fd = -1;
+
+	free(handlers->data);
+	handlers->data = NULL;
+
+	return 0;
+}
+
+int akm8975_activate(struct smdk4x12_sensors_handlers *handlers)
+{
+	struct akm8975_data *data;
+	AK8975PRMS *akfs_params;
+	int rc;
+
+	ALOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct akm8975_data *) handlers->data;
+	akfs_params = &data->akfs_params;
+
+	// Read settings from a file
+	rc = AKFS_LoadParameters(akfs_params, AKFS_CONFIG_PATH);
+	if (rc != AKM_SUCCESS)
+		ALOGE("%s: Unable to read AKFS parameters", __func__);
+
+	// Initialize buffer
+	AKFS_InitBuffer(AKFS_HDATA_SIZE, akfs_params->mfv_hdata);
+	AKFS_InitBuffer(AKFS_HDATA_SIZE, akfs_params->mfv_hvbuf);
+	AKFS_InitBuffer(AKFS_ADATA_SIZE, akfs_params->mfv_adata);
+	AKFS_InitBuffer(AKFS_ADATA_SIZE, akfs_params->mfv_avbuf);
+
+	// Initialize for AOC
+	AKFS_InitAOC(&akfs_params->m_aocv);
+	// Initialize magnetic status
+	akfs_params->mi_hstatus = 0;
+
+	handlers->activated = 1;
+	pthread_mutex_unlock(&data->mutex);
+
+	return 0;
+}
+
+int akm8975_deactivate(struct smdk4x12_sensors_handlers *handlers)
+{
+	struct akm8975_data *data;
+	AK8975PRMS *akfs_params;
+	int device_fd;
+	short mode;
+	int empty;
+	int rc;
+	int i;
+
+	ALOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct akm8975_data *) handlers->data;
+	akfs_params = &data->akfs_params;
+
+	device_fd = data->device_fd;
+	if (device_fd < 0)
+		return -1;
+
+	empty = 1;
+
+	for (i = 0; i < 3; i++) {
+		if (akfs_params->mfv_ho.v[i] != 0) {
+			empty = 0;
+			break;
+		}
+	}
+
+	if (!empty) {
+		// Write settings to a file
+		rc = AKFS_SaveParameters(akfs_params, AKFS_CONFIG_PATH);
+		if (rc != AKM_SUCCESS)
+			ALOGE("%s: Unable to write AKFS parameters", __func__);
+	}
+
+	mode = AK8975_MODE_POWER_DOWN;
+	rc = ioctl(device_fd, ECS_IOCTL_SET_MODE, &mode);
+	if (rc < 0)
+		ALOGE("%s: Unable to set akm8975 mode", __func__);
+
+	handlers->activated = 0;
+
+	return 0;
+}
+
+int akm8975_set_delay(struct smdk4x12_sensors_handlers *handlers, long int delay)
+{
+	struct akm8975_data *data;
+
+	ALOGD("%s(%p, %ld)", __func__, handlers, delay);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct akm8975_data *) handlers->data;
+
+	data->delay = delay;
+
+	return 0;
+}
+
+float akm8975_convert(int value)
+{
+	return (float) value / 1000.0f;
+}
+
+int akm8975_get_data(struct smdk4x12_sensors_handlers *handlers,
+	struct sensors_event_t *event)
+{
+	struct akm8975_data *data;
+	struct input_event input_event;
+	int input_fd;
+	int rc;
+
+//	ALOGD("%s(%p, %p)", __func__, handlers, event);
+
+	if (handlers == NULL || handlers->data == NULL || event == NULL)
+		return -EINVAL;
+
+	data = (struct akm8975_data *) handlers->data;
+
+	input_fd = handlers->poll_fd;
+	if (input_fd < 0)
+		return -1;
+
+	memset(event, 0, sizeof(struct sensors_event_t));
+	event->version = sizeof(struct sensors_event_t);
+	event->sensor = handlers->handle;
+	event->type = handlers->handle;
+
+	event->magnetic.status = SENSOR_STATUS_ACCURACY_MEDIUM;
+
+	do {
+		rc = read(input_fd, &input_event, sizeof(input_event));
+		if (rc < (int) sizeof(input_event))
+			break;
+
+		if (input_event.type == EV_REL) {
+			switch (input_event.code) {
+				case REL_X:
+					event->magnetic.x = akm8975_convert(input_event.value);
+					break;
+				case REL_Y:
+					event->magnetic.y = akm8975_convert(input_event.value);
+					break;
+				case REL_Z:
+					event->magnetic.z = akm8975_convert(input_event.value);
+					break;
+				default:
+					continue;
+			}
+		} else if (input_event.type == EV_SYN) {
+			if (input_event.code == SYN_REPORT)
+				event->timestamp = input_timestamp(&input_event);
+		}
+	} while (input_event.type != EV_SYN);
+
+	if (data->orientation_sensor != NULL)
+		orientation_fill(data->orientation_sensor, NULL, &event->magnetic);
+
+	return 0;
+}
+
+struct smdk4x12_sensors_handlers akm8975 = {
+	.name = "AKM8975",
+	.handle = SENSOR_TYPE_MAGNETIC_FIELD,
+	.init = akm8975_init,
+	.deinit = akm8975_deinit,
+	.activate = akm8975_activate,
+	.deactivate = akm8975_deactivate,
+	.set_delay = akm8975_set_delay,
+	.get_data = akm8975_get_data,
+	.activated = 0,
+	.needed = 0,
+	.poll_fd = -1,
+	.data = NULL,
+};