1 files changed, 444 insertions, 0 deletions
diff --git a/sensors/orientation.c b/sensors/orientation.c
new file mode 100644
index 0000000..e3529bd
--- /dev/null
+++ b/sensors/orientation.c
@@ -0,0 +1,444 @@
+/*
+ * 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 <stddef.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <math.h>
+#include <linux/ioctl.h>
+#include <linux/uinput.h>
+#include <linux/input.h>
+
+#include <hardware/sensors.h>
+#include <hardware/hardware.h>
+
+#define LOG_TAG "smdk4x12_sensors"
+#include <utils/Log.h>
+
+#include "smdk4x12_sensors.h"
+
+struct orientation_data {
+	struct smdk4x12_sensors_handlers *acceleration_sensor;
+	struct smdk4x12_sensors_handlers *magnetic_sensor;
+
+	sensors_vec_t orientation;
+	sensors_vec_t acceleration;
+	sensors_vec_t magnetic;
+
+	long int delay;
+	int uinput_fd;
+
+	pthread_t thread;
+	pthread_mutex_t mutex;
+	int thread_continue;
+};
+
+static float rad2deg(float v)
+{
+	return (v * 180.0f / 3.1415926535f);
+}
+
+static float vector_scalar(sensors_vec_t *v, sensors_vec_t *d)
+{
+	return v->x * d->x + v->y * d->y + v->z * d->z;
+}
+
+static float vector_length(sensors_vec_t *v)
+{
+	return sqrtf(vector_scalar(v, v));
+}
+
+void orientation_calculate(sensors_vec_t *a, sensors_vec_t *m, sensors_vec_t *o)
+{
+	float azimuth, pitch, roll;
+	float la, sinp, cosp, sinr, cosr, x, y;
+
+	if (a == NULL || m == NULL || o == NULL)
+		return;
+
+	la = vector_length(a);
+	pitch = asinf(-(a->y) / la);
+	roll = asinf((a->x) / la);
+
+	sinp = sinf(pitch);
+	cosp = cosf(pitch);
+	sinr = sinf(roll);
+	cosr = cosf(roll);
+
+	y = -(m->x) * cosr + m->z * sinr;
+	x = m->x * sinp * sinr + m->y * cosp + m->z * sinp * cosr;
+	azimuth = atan2f(y, x);
+
+	o->azimuth = rad2deg(azimuth);
+	o->pitch = rad2deg(pitch);
+	o->roll = rad2deg(roll);
+
+	if (o->azimuth < 0)
+		o->azimuth += 360.0f;
+}
+
+void *orientation_thread(void *thread_data)
+{
+	struct smdk4x12_sensors_handlers *handlers = NULL;
+	struct orientation_data *data = NULL;
+	struct input_event event;
+	struct timeval time;
+	long int before, after;
+	int diff;
+	int uinput_fd;
+
+	if (thread_data == NULL)
+		return NULL;
+
+	handlers = (struct smdk4x12_sensors_handlers *) thread_data;
+	if (handlers->data == NULL)
+		return NULL;
+
+	data = (struct orientation_data *) handlers->data;
+
+	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);
+
+			orientation_calculate(&data->acceleration, &data->magnetic, &data->orientation);
+
+			input_event_set(&event, EV_REL, REL_X, (int) (data->orientation.azimuth * 1000));
+			write(uinput_fd, &event, sizeof(event));
+			input_event_set(&event, EV_REL, REL_Y, (int) (data->orientation.pitch * 1000));
+			write(uinput_fd, &event, sizeof(event));
+			input_event_set(&event, EV_REL, REL_Z, (int) (data->orientation.roll * 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 orientation_fill(struct smdk4x12_sensors_handlers *handlers,
+	sensors_vec_t *acceleration, sensors_vec_t *magnetic)
+{
+	struct orientation_data *data;
+
+//	ALOGD("%s(%p, %p, %p)", __func__, handlers, acceleration, magnetic);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct orientation_data *) handlers->data;
+
+	if (acceleration != NULL) {
+		data->acceleration.x = acceleration->x;
+		data->acceleration.y = acceleration->y;
+		data->acceleration.z = acceleration->z;
+	}
+
+	if (magnetic != NULL) {
+		data->magnetic.x = magnetic->x;
+		data->magnetic.y = magnetic->y;
+		data->magnetic.z = magnetic->z;
+	}
+
+	return 0;
+}
+
+int orientation_init(struct smdk4x12_sensors_handlers *handlers,
+	struct smdk4x12_sensors_device *device)
+{
+	struct orientation_data *data = NULL;
+	pthread_attr_t thread_attr;
+	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 orientation_data *) calloc(1, sizeof(struct orientation_data));
+
+	for (i = 0; i < device->handlers_count; i++) {
+		if (device->handlers[i] == NULL)
+			continue;
+
+		if (device->handlers[i]->handle == SENSOR_TYPE_ACCELEROMETER)
+			data->acceleration_sensor = device->handlers[i];
+		else if (device->handlers[i]->handle == SENSOR_TYPE_MAGNETIC_FIELD)
+			data->magnetic_sensor = device->handlers[i];
+	}
+
+	if (data->acceleration_sensor == NULL || data->magnetic_sensor == NULL) {
+		ALOGE("%s: Missing sensors for orientation", __func__);
+		goto error;
+	}
+
+	uinput_fd = uinput_rel_create("orientation");
+	if (uinput_fd < 0) {
+		ALOGD("%s: Unable to create uinput", __func__);
+		goto error;
+	}
+
+	input_fd = input_open("orientation");
+	if (input_fd < 0) {
+		ALOGE("%s: Unable to open orientation 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, orientation_thread, (void *) handlers);
+	if (rc < 0) {
+		ALOGE("%s: Unable to create orientation thread", __func__);
+		pthread_mutex_destroy(&data->mutex);
+		goto error;
+	}
+
+	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);
+
+	handlers->poll_fd = -1;
+	handlers->data = NULL;
+
+	return -1;
+}
+
+int orientation_deinit(struct smdk4x12_sensors_handlers *handlers)
+{
+	struct orientation_data *data;
+
+	ALOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct orientation_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;
+
+	free(handlers->data);
+	handlers->data = NULL;
+
+	return 0;
+}
+
+int orientation_activate(struct smdk4x12_sensors_handlers *handlers)
+{
+	struct orientation_data *data;
+
+	ALOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct orientation_data *) handlers->data;
+
+	if (data->acceleration_sensor == NULL || data->magnetic_sensor == NULL)
+		return -1;
+
+	data->acceleration_sensor->needed |= SMDK4x12_SENSORS_NEEDED_ORIENTATION;
+	if (data->acceleration_sensor->needed == SMDK4x12_SENSORS_NEEDED_ORIENTATION)
+		data->acceleration_sensor->activate(data->acceleration_sensor);
+
+	data->magnetic_sensor->needed |= SMDK4x12_SENSORS_NEEDED_ORIENTATION;
+	if (data->magnetic_sensor->needed == SMDK4x12_SENSORS_NEEDED_ORIENTATION)
+		data->magnetic_sensor->activate(data->magnetic_sensor);
+
+	handlers->activated = 1;
+	pthread_mutex_unlock(&data->mutex);
+
+	return 0;
+}
+
+int orientation_deactivate(struct smdk4x12_sensors_handlers *handlers)
+{
+	struct orientation_data *data;
+
+	ALOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct orientation_data *) handlers->data;
+
+	if (data->acceleration_sensor == NULL || data->magnetic_sensor == NULL)
+		return -1;
+
+	data->acceleration_sensor->needed &= ~(SMDK4x12_SENSORS_NEEDED_ORIENTATION);
+	if (data->acceleration_sensor->needed == 0)
+		data->acceleration_sensor->deactivate(data->acceleration_sensor);
+
+	data->magnetic_sensor->needed &= ~(SMDK4x12_SENSORS_NEEDED_ORIENTATION);
+	if (data->magnetic_sensor->needed == 0)
+		data->magnetic_sensor->deactivate(data->magnetic_sensor);
+
+	handlers->activated = 0;
+
+	return 0;
+}
+
+int orientation_set_delay(struct smdk4x12_sensors_handlers *handlers,
+	long int delay)
+{
+	struct orientation_data *data;
+
+	ALOGD("%s(%p)", __func__, handlers);
+
+	if (handlers == NULL || handlers->data == NULL)
+		return -EINVAL;
+
+	data = (struct orientation_data *) handlers->data;
+
+	if (data->acceleration_sensor == NULL || data->magnetic_sensor == NULL)
+		return -1;
+
+	if (data->acceleration_sensor->needed == SMDK4x12_SENSORS_NEEDED_ORIENTATION)
+		data->acceleration_sensor->set_delay(data->acceleration_sensor, delay);
+
+	if (data->magnetic_sensor->needed == SMDK4x12_SENSORS_NEEDED_ORIENTATION)
+		data->magnetic_sensor->set_delay(data->magnetic_sensor, delay);
+
+	data->delay = delay;
+
+	return 0;
+}
+
+float orientation_convert(int value)
+{
+	return (float) value / 1000.0f;
+}
+
+int orientation_get_data(struct smdk4x12_sensors_handlers *handlers,
+	struct sensors_event_t *event)
+{
+	struct input_event input_event;
+	int input_fd = -1;
+	int rc;
+
+//	ALOGD("%s(%p, %p)", __func__, handlers, event);
+
+	if (handlers == NULL || event == NULL)
+		return -EINVAL;
+
+	input_fd = handlers->poll_fd;
+	if (input_fd < 0)
+		return -EINVAL;
+
+	memset(event, 0, sizeof(struct sensors_event_t));
+	event->version = sizeof(struct sensors_event_t);
+	event->sensor = handlers->handle;
+	event->type = handlers->handle;
+
+	event->orientation.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->orientation.azimuth = orientation_convert(input_event.value);
+					break;
+				case REL_Y:
+					event->orientation.pitch = orientation_convert(input_event.value);
+					break;
+				case REL_Z:
+					event->orientation.roll = orientation_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);
+
+	return 0;
+}
+
+struct smdk4x12_sensors_handlers orientation = {
+	.name = "Orientation",
+	.handle = SENSOR_TYPE_ORIENTATION,
+	.init = orientation_init,
+	.deinit = orientation_deinit,
+	.activate = orientation_activate,
+	.deactivate = orientation_deactivate,
+	.set_delay = orientation_set_delay,
+	.get_data = orientation_get_data,
+	.activated = 0,
+	.needed = 0,
+	.poll_fd = -1,
+	.data = NULL,
+};