summaryrefslogtreecommitdiffstats
path: root/libsensors/GyroSensor.cpp
diff options
context:
space:
mode:
Diffstat (limited to 'libsensors/GyroSensor.cpp')
-rw-r--r--libsensors/GyroSensor.cpp181
1 files changed, 181 insertions, 0 deletions
diff --git a/libsensors/GyroSensor.cpp b/libsensors/GyroSensor.cpp
new file mode 100644
index 0000000..ceb7d9c
--- /dev/null
+++ b/libsensors/GyroSensor.cpp
@@ -0,0 +1,181 @@
+/*
+ * 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.
+ */
+
+#include <fcntl.h>
+#include <errno.h>
+#include <math.h>
+#include <poll.h>
+#include <unistd.h>
+#include <dirent.h>
+#include <sys/select.h>
+#include <cutils/log.h>
+#include <cstring>
+
+#include "GyroSensor.h"
+
+#define LOGTAG "GyroSensor"
+
+#define FETCH_FULL_EVENT_BEFORE_RETURN 1
+#define IGNORE_EVENT_TIME 350000000
+/*****************************************************************************/
+
+GyroSensor::GyroSensor()
+ : SensorBase(NULL, "gyro_sensor"),
+ mEnabled(0),
+ mInputReader(4),
+ mHasPendingEvent(false),
+ mEnabledTime(0)
+{
+ mPendingEvent.version = sizeof(sensors_event_t);
+ mPendingEvent.sensor = ID_GY;
+ mPendingEvent.type = SENSOR_TYPE_GYROSCOPE;
+ memset(mPendingEvent.data, 0, sizeof(mPendingEvent.data));
+
+ if (data_fd) {
+ strcpy(input_sysfs_path, "/sys/class/input/");
+ strcat(input_sysfs_path, input_name);
+ strcat(input_sysfs_path, "/device/");
+ input_sysfs_path_len = strlen(input_sysfs_path);
+ enable(0, 1);
+ }
+}
+
+GyroSensor::~GyroSensor() {
+ if (mEnabled) {
+ enable(0, 0);
+ }
+}
+
+int GyroSensor::setInitialState() {
+ struct input_absinfo absinfo_x;
+ struct input_absinfo absinfo_y;
+ struct input_absinfo absinfo_z;
+ float value;
+ if (!ioctl(data_fd, EVIOCGABS(EVENT_TYPE_GYRO_X), &absinfo_x) &&
+ !ioctl(data_fd, EVIOCGABS(EVENT_TYPE_GYRO_X), &absinfo_y) &&
+ !ioctl(data_fd, EVIOCGABS(EVENT_TYPE_GYRO_X), &absinfo_z)) {
+ value = absinfo_x.value;
+ mPendingEvent.data[0] = value * CONVERT_GYRO_X;
+ value = absinfo_x.value;
+ mPendingEvent.data[1] = value * CONVERT_GYRO_Y;
+ value = absinfo_x.value;
+ mPendingEvent.data[2] = value * CONVERT_GYRO_Z;
+ mHasPendingEvent = true;
+ }
+ return 0;
+}
+
+int GyroSensor::enable(int32_t handle, int en) {
+ int flags = en ? 1 : 0;
+ int fd;
+ if (flags != mEnabled) {
+ strcpy(&input_sysfs_path[input_sysfs_path_len], "enable");
+ fd = open(input_sysfs_path, O_RDWR);
+ if (fd >= 0){
+ write(fd, en == 1 ? "1" : "0", 2);
+ close(fd);
+ mEnabled = flags;
+ setInitialState();
+
+ return 0;
+ }
+ return -1;
+ }
+ return 0;
+}
+
+bool GyroSensor::hasPendingEvents() const {
+ return mHasPendingEvent;
+}
+
+int GyroSensor::setDelay(int32_t handle, int64_t ns)
+{
+ int fd;
+
+ strcpy(&input_sysfs_path[input_sysfs_path_len], "poll_delay");
+ fd = open(input_sysfs_path, O_RDWR);
+ if (fd >= 0) {
+ char buf[80];
+ sprintf(buf, "%lld", ns);
+ write(fd, buf, strlen(buf)+1);
+ close(fd);
+ return 0;
+ }
+ return -1;
+}
+
+int GyroSensor::readEvents(sensors_event_t* data, int count)
+{
+ if (count < 1)
+ return -EINVAL;
+
+ if (mHasPendingEvent) {
+ mHasPendingEvent = false;
+ mPendingEvent.timestamp = getTimestamp();
+ *data = mPendingEvent;
+ return mEnabled ? 1 : 0;
+ }
+
+ ssize_t n = mInputReader.fill(data_fd);
+ if (n < 0)
+ return n;
+
+ int numEventReceived = 0;
+ input_event const* event;
+
+#if FETCH_FULL_EVENT_BEFORE_RETURN
+again:
+#endif
+ while (count && mInputReader.readEvent(&event)) {
+ int type = event->type;
+ if (type == EV_REL) {
+ float value = event->value;
+ if (event->code == EVENT_TYPE_GYRO_X) {
+ mPendingEvent.data[0] = value * CONVERT_GYRO_X;
+ } else if (event->code == EVENT_TYPE_GYRO_Y) {
+ mPendingEvent.data[1] = value * CONVERT_GYRO_Y;
+ } else if (event->code == EVENT_TYPE_GYRO_Z) {
+ mPendingEvent.data[2] = value * CONVERT_GYRO_Z;
+ }
+ } else if (type == EV_SYN) {
+ mPendingEvent.timestamp = timevalToNano(event->time);
+ if (mEnabled) {
+ if (mPendingEvent.timestamp >= mEnabledTime) {
+ *data++ = mPendingEvent;
+ numEventReceived++;
+ }
+ count--;
+ }
+ } else {
+ ALOGE("%s: unknown event (type=%d, code=%d)", LOGTAG,
+ type, event->code);
+ }
+ mInputReader.next();
+ }
+
+#if FETCH_FULL_EVENT_BEFORE_RETURN
+ /* if we didn't read a complete event, see if we can fill and
+ try again instead of returning with nothing and redoing poll. */
+ if (numEventReceived == 0 && mEnabled == 1) {
+ n = mInputReader.fill(data_fd);
+ if (n)
+ goto again;
+ }
+#endif
+
+ return numEventReceived;
+}
+