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-rw-r--r--sensors/lsm330dlc_acceleration.c403
1 files changed, 403 insertions, 0 deletions
diff --git a/sensors/lsm330dlc_acceleration.c b/sensors/lsm330dlc_acceleration.c
new file mode 100644
index 0000000..4289eaf
--- /dev/null
+++ b/sensors/lsm330dlc_acceleration.c
@@ -0,0 +1,403 @@
+/*
+ * Copyright (C) 2013 Paul Kocialkowski <contact@paulk.fr>
+ *
+ * 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 "lsm330dlc_accel.h"
+
+struct lsm330dlc_acceleration_data {
+ struct smdk4x12_sensors_handlers *orientation_sensor;
+
+ long int delay;
+ int device_fd;
+ int uinput_fd;
+
+ pthread_t thread;
+ pthread_mutex_t mutex;
+ int thread_continue;
+};
+
+void *lsm330dlc_acceleration_thread(void *thread_data)
+{
+ struct smdk4x12_sensors_handlers *handlers = NULL;
+ struct lsm330dlc_acceleration_data *data = NULL;
+ struct input_event event;
+ struct timeval time;
+ struct lsm330dlc_acc acceleration_data;
+ 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 lsm330dlc_acceleration_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);
+
+ memset(&acceleration_data, 0, sizeof(acceleration_data));
+
+ rc = ioctl(device_fd, LSM330DLC_ACCEL_IOCTL_READ_XYZ, &acceleration_data);
+ if (rc < 0) {
+ ALOGE("%s: Unable to get lsm330dlc acceleration data", __func__);
+ return NULL;
+ }
+
+ input_event_set(&event, EV_REL, REL_X, (int) (acceleration_data.x * 1000));
+ write(uinput_fd, &event, sizeof(event));
+ input_event_set(&event, EV_REL, REL_Y, (int) (acceleration_data.y * 1000));
+ write(uinput_fd, &event, sizeof(event));
+ input_event_set(&event, EV_REL, REL_Z, (int) (acceleration_data.z * 1000));
+ write(uinput_fd, &event, sizeof(event));
+ input_event_set(&event, EV_SYN, 0, 0);
+ write(uinput_fd, &event, sizeof(event));
+
+next:
+ gettimeofday(&time, NULL);
+ after = timestamp(&time);
+
+ diff = (int) (data->delay - (after - before)) / 1000;
+ if (diff <= 0)
+ continue;
+
+ usleep(diff);
+ }
+ }
+ return NULL;
+}
+
+int lsm330dlc_acceleration_init(struct smdk4x12_sensors_handlers *handlers,
+ struct smdk4x12_sensors_device *device)
+{
+ struct lsm330dlc_acceleration_data *data = NULL;
+ pthread_attr_t thread_attr;
+ 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 lsm330dlc_acceleration_data *) calloc(1, sizeof(struct lsm330dlc_acceleration_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/accelerometer", O_RDONLY);
+ if (device_fd < 0) {
+ ALOGE("%s: Unable to open device", __func__);
+ goto error;
+ }
+
+ uinput_fd = uinput_rel_create("acceleration");
+ if (uinput_fd < 0) {
+ ALOGD("%s: Unable to create uinput", __func__);
+ goto error;
+ }
+
+ input_fd = input_open("acceleration");
+ if (input_fd < 0) {
+ ALOGE("%s: Unable to open acceleration 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, lsm330dlc_acceleration_thread, (void *) handlers);
+ if (rc < 0) {
+ ALOGE("%s: Unable to create lsm330dlc acceleration 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 lsm330dlc_acceleration_deinit(struct smdk4x12_sensors_handlers *handlers)
+{
+ struct lsm330dlc_acceleration_data *data = NULL;
+
+ ALOGD("%s(%p)", __func__, handlers);
+
+ if (handlers == NULL || handlers->data == NULL)
+ return -EINVAL;
+
+ data = (struct lsm330dlc_acceleration_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;
+
+ if (data->device_fd >= 0)
+ close(data->device_fd);
+ data->device_fd = -1;
+
+ free(handlers->data);
+ handlers->data = NULL;
+
+ return 0;
+}
+
+int lsm330dlc_acceleration_activate(struct smdk4x12_sensors_handlers *handlers)
+{
+ struct lsm330dlc_acceleration_data *data;
+ int device_fd;
+ int enable;
+ int rc;
+
+ ALOGD("%s(%p)", __func__, handlers);
+
+ if (handlers == NULL || handlers->data == NULL)
+ return -EINVAL;
+
+ data = (struct lsm330dlc_acceleration_data *) handlers->data;
+
+ device_fd = data->device_fd;
+ if (device_fd < 0)
+ return -1;
+
+ enable = 1;
+ rc = ioctl(device_fd, LSM330DLC_ACCEL_IOCTL_SET_ENABLE, &enable);
+ if (rc < 0) {
+ ALOGE("%s: Unable to set lsm330dlc acceleration enable", __func__);
+ return -1;
+ }
+
+ handlers->activated = 1;
+ pthread_mutex_unlock(&data->mutex);
+
+ return 0;
+}
+
+int lsm330dlc_acceleration_deactivate(struct smdk4x12_sensors_handlers *handlers)
+{
+ struct lsm330dlc_acceleration_data *data;
+ int device_fd;
+ int enable;
+ int rc;
+
+ ALOGD("%s(%p)", __func__, handlers);
+
+ if (handlers == NULL || handlers->data == NULL)
+ return -EINVAL;
+
+ data = (struct lsm330dlc_acceleration_data *) handlers->data;
+
+ device_fd = data->device_fd;
+ if (device_fd < 0)
+ return -1;
+
+ enable = 0;
+ rc = ioctl(device_fd, LSM330DLC_ACCEL_IOCTL_SET_ENABLE, &enable);
+ if (rc < 0) {
+ ALOGE("%s: Unable to set lsm330dlc acceleration enable", __func__);
+ return -1;
+ }
+
+ handlers->activated = 0;
+
+ return 0;
+}
+
+int lsm330dlc_acceleration_set_delay(struct smdk4x12_sensors_handlers *handlers, long int delay)
+{
+ struct lsm330dlc_acceleration_data *data;
+ int64_t d;
+ int device_fd;
+ int rc;
+
+ ALOGD("%s(%p, %ld)", __func__, handlers, delay);
+
+ if (handlers == NULL || handlers->data == NULL)
+ return -EINVAL;
+
+ data = (struct lsm330dlc_acceleration_data *) handlers->data;
+
+ device_fd = data->device_fd;
+ if (device_fd < 0)
+ return -1;
+
+ d = (int64_t) delay;
+ rc = ioctl(device_fd, LSM330DLC_ACCEL_IOCTL_SET_DELAY, &d);
+ if (rc < 0) {
+ ALOGE("%s: Unable to set lsm330dlc acceleration delay", __func__);
+ return -1;
+ }
+
+ data->delay = delay;
+
+ return 0;
+}
+
+float lsm330dlc_acceleration_convert(int value)
+{
+ return (float) (value / 1000.f) * (GRAVITY_EARTH / 1024.0f);
+}
+
+int lsm330dlc_acceleration_get_data(struct smdk4x12_sensors_handlers *handlers,
+ struct sensors_event_t *event)
+{
+ struct lsm330dlc_acceleration_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 lsm330dlc_acceleration_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->acceleration.x = lsm330dlc_acceleration_convert(input_event.value);
+ break;
+ case REL_Y:
+ event->acceleration.y = lsm330dlc_acceleration_convert(input_event.value);
+ break;
+ case REL_Z:
+ event->acceleration.z = lsm330dlc_acceleration_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, &event->acceleration, NULL);
+
+ return 0;
+}
+
+struct smdk4x12_sensors_handlers lsm330dlc_acceleration = {
+ .name = "LSM330DLC Acceleration",
+ .handle = SENSOR_TYPE_ACCELEROMETER,
+ .init = lsm330dlc_acceleration_init,
+ .deinit = lsm330dlc_acceleration_deinit,
+ .activate = lsm330dlc_acceleration_activate,
+ .deactivate = lsm330dlc_acceleration_deactivate,
+ .set_delay = lsm330dlc_acceleration_set_delay,
+ .get_data = lsm330dlc_acceleration_get_data,
+ .activated = 0,
+ .needed = 0,
+ .poll_fd = -1,
+ .data = NULL,
+};