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-rw-r--r--libsensors/akm8975.c612
1 files changed, 612 insertions, 0 deletions
diff --git a/libsensors/akm8975.c b/libsensors/akm8975.c
new file mode 100644
index 0000000..47771fb
--- /dev/null
+++ b/libsensors/akm8975.c
@@ -0,0 +1,612 @@
+/*
+ * 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 {
+ AK8975PRMS akfs_params;
+ sensors_vec_t magnetic;
+
+ int64_t 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, aocret;
+ float radius;
+
+ 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
+ aocret = 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;
+ }
+
+ // Check the size of magnetic vector
+ radius = sqrtf(
+ (params->mfv_hvec.u.x * params->mfv_hvec.u.x) +
+ (params->mfv_hvec.u.y * params->mfv_hvec.u.y) +
+ (params->mfv_hvec.u.z * params->mfv_hvec.u.z));
+
+ // Sanity check result and set accuracy
+ if ((radius > MAGNETIC_FIELD_EARTH_MAX + 10) || (radius < MAGNETIC_FIELD_EARTH_MIN - 10)) {
+ params->mi_hstatus = SENSOR_STATUS_UNRELIABLE;
+ } else if(params->mi_hstatus == SENSOR_STATUS_UNRELIABLE) {
+ params->mi_hstatus = SENSOR_STATUS_ACCURACY_MEDIUM;
+ } else if (aocret == AKFS_SUCCESS) {
+ params->mi_hstatus = SENSOR_STATUS_ACCURACY_HIGH;
+ }
+
+ 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;
+ akm8975_data->magnetic.status = params->mi_hstatus;
+
+ 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;
+ int64_t 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_REL, REL_MISC, (int) data->magnetic.status);
+ 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));
+
+ 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 WIA 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 HO parameters", __func__);
+ akfs_params->mfv_ho.u.x = 0.0f;
+ akfs_params->mfv_ho.u.y = 0.0f;
+ akfs_params->mfv_ho.u.z = 0.0f;
+ } else {
+ ALOGD("AKM8975 HO (Offset Adjustment) parameters read are: (%f, %f, %f)",
+ akfs_params->mfv_ho.u.x, akfs_params->mfv_ho.u.y, akfs_params->mfv_ho.u.z);
+ }
+
+ // 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 = SENSOR_STATUS_UNRELIABLE;
+
+ 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;
+
+ if ((akfs_params->mfv_ho.u.x != 0.0f) || (akfs_params->mfv_ho.u.y != 0.0f) ||
+ (akfs_params->mfv_ho.u.z != 0.0f)) {
+ empty = 0;
+ }
+
+ 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 HO parameters", __func__);
+ } else {
+ ALOGD("AKM8975 HO (Offset Adjustment) parameters written are: (%f, %f, %f)",
+ akfs_params->mfv_ho.u.x, akfs_params->mfv_ho.u.y, akfs_params->mfv_ho.u.z);
+ }
+ }
+
+ 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, int64_t delay)
+{
+ struct akm8975_data *data;
+
+ ALOGD("%s(%p, %" PRId64 ")", __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;
+
+ 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;
+ case REL_MISC:
+ event->magnetic.status = 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);
+
+ 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,
+};