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-rw-r--r--sensors/orientation.c444
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,
+};