diff options
Diffstat (limited to 'libsensors')
42 files changed, 7014 insertions, 0 deletions
diff --git a/libsensors/Android.mk b/libsensors/Android.mk new file mode 100644 index 0000000..41c93d0 --- /dev/null +++ b/libsensors/Android.mk @@ -0,0 +1,52 @@ +# +# Copyright (C) 2013 Paul Kocialkowski +# +# 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/>. +# + +LOCAL_PATH := $(call my-dir) +EXYNOS_SENSORS_PATH := $(LOCAL_PATH) + +include $(CLEAR_VARS) + +LOCAL_SRC_FILES := \ + exynos_sensors.c \ + input.c \ + orientation.c \ + akm8975.c \ + akmdfs/AKFS_APIs_8975/AKFS_AK8975.c \ + akmdfs/AKFS_APIs_8975/AKFS_AOC.c \ + akmdfs/AKFS_APIs_8975/AKFS_Device.c \ + akmdfs/AKFS_APIs_8975/AKFS_Direction.c \ + akmdfs/AKFS_APIs_8975/AKFS_VNorm.c \ + akmdfs/AKFS_FileIO.c \ + cm36651_proximity.c \ + cm36651_light.c \ + lsm330dlc_acceleration.c \ + lsm330dlc_gyroscope.c \ + lps331ap.c \ + +LOCAL_C_INCLUDES := \ + $(LOCAL_PATH)/akmdfs \ + $(LOCAL_PATH)/akmdfs/AKFS_APIs_8975 \ + $(LOCAL_PATH) + +LOCAL_SHARED_LIBRARIES := libutils libcutils liblog libhardware +LOCAL_PRELINK_MODULE := false + +LOCAL_MODULE := sensors.$(TARGET_BOOTLOADER_BOARD_NAME) +LOCAL_MODULE_PATH := $(TARGET_OUT_SHARED_LIBRARIES)/hw +LOCAL_MODULE_TAGS := optional + +include $(BUILD_SHARED_LIBRARY) diff --git a/libsensors/akm8975-reg.h b/libsensors/akm8975-reg.h new file mode 100644 index 0000000..1a78a27 --- /dev/null +++ b/libsensors/akm8975-reg.h @@ -0,0 +1,48 @@ +/* linux/drivers/misc/ak8975-reg.h + * + * Copyright (c) 2010 Samsung Electronics Co., Ltd. + * http://www.samsung.com/ + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License version 2 as + * published by the Free Software Foundation. +*/ +#ifndef __AK8975_REG__ +#define __AK8975_REG__ + +/* Compass device dependent definition */ +#define AK8975_MODE_SNG_MEASURE 0x01 +#define AK8975_MODE_SELF_TEST 0x08 +#define AK8975_MODE_FUSE_ACCESS 0x0F +#define AK8975_MODE_POWER_DOWN 0x00 + +/* Rx buffer size. i.e ST,TMPS,H1X,H1Y,H1Z*/ +#define SENSOR_DATA_SIZE 8 + +/* Read/Write buffer size.*/ +#define RWBUF_SIZE 16 + +/* AK8975 register address */ +#define AK8975_REG_WIA 0x00 +#define AK8975_REG_INFO 0x01 +#define AK8975_REG_ST1 0x02 +#define AK8975_REG_HXL 0x03 +#define AK8975_REG_HXH 0x04 +#define AK8975_REG_HYL 0x05 +#define AK8975_REG_HYH 0x06 +#define AK8975_REG_HZL 0x07 +#define AK8975_REG_HZH 0x08 +#define AK8975_REG_ST2 0x09 +#define AK8975_REG_CNTL 0x0A +#define AK8975_REG_RSV 0x0B +#define AK8975_REG_ASTC 0x0C +#define AK8975_REG_TS1 0x0D +#define AK8975_REG_TS2 0x0E +#define AK8975_REG_I2CDIS 0x0F + +/* AK8975 fuse-rom address */ +#define AK8975_FUSE_ASAX 0x10 +#define AK8975_FUSE_ASAY 0x11 +#define AK8975_FUSE_ASAZ 0x12 + +#endif /* __AK8975_REG__ */ diff --git a/libsensors/akm8975.c b/libsensors/akm8975.c new file mode 100644 index 0000000..a8352ca --- /dev/null +++ b/libsensors/akm8975.c @@ -0,0 +1,587 @@ +/* + * Copyright (C) 2013 Paul Kocialkowski + * 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 <sys/types.h> +#include <linux/ioctl.h> +#include <linux/uinput.h> +#include <linux/input.h> + +#include <hardware/sensors.h> +#include <hardware/hardware.h> + +#define LOG_TAG "exynos_sensors" +#include <utils/Log.h> + +#include "exynos_sensors.h" +#include "akm8975.h" +#include "akm8975-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 { + struct exynos_sensors_handlers *orientation_sensor; + + AK8975PRMS akfs_params; + sensors_vec_t magnetic; + + long int 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 *mag_data) +{ + AK8975PRMS *params; + int rc; + + if (akm8975_data == NULL || mag_data == NULL) + return -EINVAL; + + params = &akm8975_data->akfs_params; + + /* Decomposition */ + /* Sensitivity adjustment, i.e. multiply ASA, is done in this function. */ + rc = AKFS_DecompAK8975(mag_data, 1, ¶ms->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, ¶ms->mfv_hdata[0]); + if (rc == AKFS_ERROR) { + ALOGE("Failed to rotate!"); + return -1; + } + + /* AOC for magnetometer */ + /* Offset estimation is done in this function */ + AKFS_AOC(¶ms->m_aocv, params->mfv_hdata, ¶ms->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, + ¶ms->mfv_ho, ¶ms->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, ¶ms->mfv_hvec); + if (rc == AKFS_ERROR) { + ALOGE("Failed to average!"); + return -1; + } + + 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; + + 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 exynos_sensors_handlers *handlers = NULL; + struct akm8975_data *data = NULL; + struct input_event event; + struct timeval time; + char i2c_data[SENSOR_DATA_SIZE] = { 0 }; + short mag_data[3]; + short mode; + long int before, after; + int diff; + int device_fd; + int uinput_fd; + int rc; + + if (thread_data == NULL) + return NULL; + + handlers = (struct exynos_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; + } + + mag_data[0] = (short) (i2c_data[2] << 8) | (i2c_data[1]); + mag_data[1] = (short) (i2c_data[4] << 8) | (i2c_data[3]); + mag_data[2] = (short) (i2c_data[6] << 8) | (i2c_data[5]); + + rc = akfs_get_magnetic_field(data, (short *) &mag_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_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 exynos_sensors_handlers *handlers, + struct exynos_sensors_device *device) +{ + struct akm8975_data *data = NULL; + pthread_attr_t thread_attr; + char i2c_data[4] = { 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) + return -EINVAL; + + data = (struct akm8975_data *) calloc(1, sizeof(struct akm8975_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/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_ASAY; + rc = ioctl(device_fd, ECS_IOCTL_READ, &i2c_data); + if (rc < 0) { + ALOGE("%s: Unable to set 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 set read akm8975 FUSE 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 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 akm8975_deinit(struct exynos_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 exynos_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 setting files from a file */ + rc = AKFS_LoadParameters(akfs_params, AKFS_CONFIG_PATH); + if (rc != AKM_SUCCESS) + ALOGE("%s: Unable to read AKFS parameters", __func__); + + /* 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 = 0; + + handlers->activated = 1; + pthread_mutex_unlock(&data->mutex); + + return 0; +} + +int akm8975_deactivate(struct exynos_sensors_handlers *handlers) +{ + struct akm8975_data *data; + AK8975PRMS *akfs_params; + int device_fd; + short mode; + 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; + + device_fd = data->device_fd; + if (device_fd < 0) + return -EINVAL; + + /* Write setting files to a file */ + rc = AKFS_SaveParameters(akfs_params, AKFS_CONFIG_PATH); + if (rc != AKM_SUCCESS) + ALOGE("%s: Unable to write AKFS parameters", __func__); + + 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 exynos_sensors_handlers *handlers, long int delay) +{ + struct akm8975_data *data; + + ALOGD("%s(%p, %ld)", __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 exynos_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 -EINVAL; + + 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->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; + 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, NULL, &event->magnetic); + + return 0; +} + + +struct exynos_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, +}; diff --git a/libsensors/akm8975.h b/libsensors/akm8975.h new file mode 100644 index 0000000..79a5de4 --- /dev/null +++ b/libsensors/akm8975.h @@ -0,0 +1,73 @@ +/* + * Copyright (C) 2010 Samsung Electronics. All rights reserved. + * + * This program is free software; you can redistribute it and/or + * modify it under the terms of the GNU General Public License + * version 2 as published by the Free Software Foundation. + * + * 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, write to the Free Software + * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA + * 02110-1301 USA + */ +#ifndef AKM8975_H +#define AKM8975_H + +#include <linux/ioctl.h> + +#define AKM8975_I2C_NAME "ak8975" + +/* Rx buffer size, i.e from ST1 to ST2 */ +#define SENSOR_DATA_SIZE 8 +#define AKMIO 0xA1 + +/* IOCTLs for AKM library */ +/* WRITE and READ sizes don't include data. On WRITE, the first value is data + * size plus one and the second value is the register address. On READ + * the first value is the data size and second value is the register + * address and the data is written back into the buffer starting at + * the second byte (the length is unchanged). + */ +#define ECS_IOCTL_WRITE _IOW(AKMIO, 0x01, char*) +#define ECS_IOCTL_READ _IOWR(AKMIO, 0x02, char*) +#define ECS_IOCTL_RESET _IO(AKMIO, 0x03) +#define ECS_IOCTL_SET_MODE _IOW(AKMIO, 0x04, short) +#define ECS_IOCTL_GETDATA _IOR(AKMIO, 0x05, \ + char[SENSOR_DATA_SIZE]) +#define ECS_IOCTL_SET_YPR _IOW(AKMIO, 0x06, short[12]) +#define ECS_IOCTL_GET_OPEN_STATUS _IOR(AKMIO, 0x07, int) +#define ECS_IOCTL_GET_CLOSE_STATUS _IOR(AKMIO, 0x08, int) +#define ECS_IOCTL_GET_DELAY _IOR(AKMIO, 0x30, int64_t) +#define ECS_IOCTL_GET_PROJECT_NAME _IOR(AKMIO, 0x0D, char[64]) +#define ECS_IOCTL_GET_MATRIX _IOR(AKMIO, 0x0E, short[4][3][3]) + +/* IOCTLs for APPs */ +#define ECS_IOCTL_APP_SET_MODE _IOW(AKMIO, 0x10, short) +#define ECS_IOCTL_APP_SET_MFLAG _IOW(AKMIO, 0x11, short) +#define ECS_IOCTL_APP_GET_MFLAG _IOR(AKMIO, 0x12, short) +#define ECS_IOCTL_APP_SET_AFLAG _IOW(AKMIO, 0x13, short) +#define ECS_IOCTL_APP_GET_AFLAG _IOR(AKMIO, 0x14, short) +#define ECS_IOCTL_APP_SET_TFLAG _IOW(AKMIO, 0x15, short) +#define ECS_IOCTL_APP_GET_TFLAG _IOR(AKMIO, 0x16, short) +#define ECS_IOCTL_APP_RESET_PEDOMETER _IO(AKMIO, 0x17) +#define ECS_IOCTL_APP_SET_DELAY _IOW(AKMIO, 0x18, int64_t) +#define ECS_IOCTL_APP_GET_DELAY ECS_IOCTL_GET_DELAY + +/* Set raw magnetic vector flag */ +#define ECS_IOCTL_APP_SET_MVFLAG _IOW(AKMIO, 0x19, short) + +/* Get raw magnetic vector flag */ +#define ECS_IOCTL_APP_GET_MVFLAG _IOR(AKMIO, 0x1A, short) + +#ifdef __KERNEL__ +struct akm8975_platform_data { + int gpio_data_ready_int; +}; +#endif + +#endif diff --git a/libsensors/akmdfs/AK8975Driver.c b/libsensors/akmdfs/AK8975Driver.c new file mode 100644 index 0000000..003c8d2 --- /dev/null +++ b/libsensors/akmdfs/AK8975Driver.c @@ -0,0 +1,318 @@ +/****************************************************************************** + * + * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan + * + * 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 "AKFS_Common.h" +#include "AK8975Driver.h" + +#define MSENSOR_NAME "/dev/akm8975_dev" + +static int s_fdDev = -1; + +/*! + Open device driver. + This function opens both device drivers of magnetic sensor and acceleration + sensor. Additionally, some initial hardware settings are done, such as + measurement range, built-in filter function and etc. + @return If this function succeeds, the return value is #AKD_SUCCESS. + Otherwise the return value is #AKD_FAIL. + */ +int16_t AKD_InitDevice(void) +{ + if (s_fdDev < 0) { + /* Open magnetic sensor's device driver. */ + if ((s_fdDev = open(MSENSOR_NAME, O_RDWR)) < 0) { + AKMERROR_STR("open"); + return AKD_FAIL; + } + } + + return AKD_SUCCESS; +} + +/*! + Close device driver. + This function closes both device drivers of magnetic sensor and acceleration + sensor. + */ +void AKD_DeinitDevice(void) +{ + if (s_fdDev >= 0) { + close(s_fdDev); + s_fdDev = -1; + } +} + +/*! + Writes data to a register of the AK8975. When more than one byte of data is + specified, the data is written in contiguous locations starting at an address + specified in \a address. + @return If this function succeeds, the return value is #AKD_SUCCESS. Otherwise + the return value is #AKD_FAIL. + @param[in] address Specify the address of a register in which data is to be + written. + @param[in] data Specify data to write or a pointer to a data array containing + the data. When specifying more than one byte of data, specify the starting + address of the array. + @param[in] numberOfBytesToWrite Specify the number of bytes that make up the + data to write. When a pointer to an array is specified in data, this argument + equals the number of elements of the array. + */ +int16_t AKD_TxData( + const BYTE address, + const BYTE * data, + const uint16_t numberOfBytesToWrite) +{ + int i; + char buf[RWBUF_SIZE]; + + if (s_fdDev < 0) { + ALOGE("%s: Device file is not opened.", __FUNCTION__); + return AKD_FAIL; + } + if (numberOfBytesToWrite > (RWBUF_SIZE-2)) { + ALOGE("%s: Tx size is too large.", __FUNCTION__); + return AKD_FAIL; + } + + buf[0] = numberOfBytesToWrite + 1; + buf[1] = address; + + for (i = 0; i < numberOfBytesToWrite; i++) { + buf[i + 2] = data[i]; + } + if (ioctl(s_fdDev, ECS_IOCTL_WRITE, buf) < 0) { + AKMERROR_STR("ioctl"); + return AKD_FAIL; + } else { + +#if ENABLE_AKMDEBUG + AKMDATA(AKMDATA_DRV, "addr(HEX)=%02x data(HEX)=", address); + for (i = 0; i < numberOfBytesToWrite; i++) { + AKMDATA(AKMDATA_DRV, " %02x", data[i]); + } + AKMDATA(AKMDATA_DRV, "\n"); +#endif + return AKD_SUCCESS; + } +} + +/*! + Acquires data from a register or the EEPROM of the AK8975. + @return If this function succeeds, the return value is #AKD_SUCCESS. Otherwise + the return value is #AKD_FAIL. + @param[in] address Specify the address of a register from which data is to be + read. + @param[out] data Specify a pointer to a data array which the read data are + stored. + @param[in] numberOfBytesToRead Specify the number of bytes that make up the + data to read. When a pointer to an array is specified in data, this argument + equals the number of elements of the array. + */ +int16_t AKD_RxData( + const BYTE address, + BYTE * data, + const uint16_t numberOfBytesToRead) +{ + int i; + char buf[RWBUF_SIZE]; + + memset(data, 0, numberOfBytesToRead); + + if (s_fdDev < 0) { + ALOGE("%s: Device file is not opened.", __FUNCTION__); + return AKD_FAIL; + } + if (numberOfBytesToRead > (RWBUF_SIZE-1)) { + ALOGE("%s: Rx size is too large.", __FUNCTION__); + return AKD_FAIL; + } + + buf[0] = numberOfBytesToRead; + buf[1] = address; + + if (ioctl(s_fdDev, ECS_IOCTL_READ, buf) < 0) { + AKMERROR_STR("ioctl"); + return AKD_FAIL; + } else { + for (i = 0; i < numberOfBytesToRead; i++) { + data[i] = buf[i + 1]; + } +#if ENABLE_AKMDEBUG + AKMDATA(AKMDATA_DRV, "addr(HEX)=%02x len=%d data(HEX)=", + address, numberOfBytesToRead); + for (i = 0; i < numberOfBytesToRead; i++) { + AKMDATA(AKMDATA_DRV, " %02x", data[i]); + } + AKMDATA(AKMDATA_DRV, "\n"); +#endif + return AKD_SUCCESS; + } +} + +/*! + Acquire magnetic data from AK8975. If measurement is not done, this function + waits until measurement completion. + @return If this function succeeds, the return value is #AKD_SUCCESS. Otherwise + the return value is #AKD_FAIL. + @param[out] data A magnetic data array. The size should be larger than #SENSOR_DATA_SIZE. + */ +int16_t AKD_GetMagneticData(BYTE data[SENSOR_DATA_SIZE]) +{ + memset(data, 0, SENSOR_DATA_SIZE); + + if (s_fdDev < 0) { + ALOGE("%s: Device file is not opened.", __FUNCTION__); + return AKD_FAIL; + } + + if (ioctl(s_fdDev, ECS_IOCTL_GETDATA, data) < 0) { + AKMERROR_STR("ioctl"); + return AKD_FAIL; + } + + AKMDATA(AKMDATA_DRV, + "bdata(HEX)= %02x %02x %02x %02x %02x %02x %02x %02x\n", + data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]); + + return AKD_SUCCESS; +} + +/*! + Set calculated data to device driver. + @param[in] buf The order of input data depends on driver's specification. + */ +void AKD_SetYPR(const int buf[YPR_DATA_SIZE]) +{ + if (s_fdDev < 0) { + ALOGE("%s: Device file is not opened.", __FUNCTION__); + } else { + if (ioctl(s_fdDev, ECS_IOCTL_SET_YPR, buf) < 0) { + AKMERROR_STR("ioctl"); + } + } +} + +/*! + */ +int AKD_GetOpenStatus(int* status) +{ + if (s_fdDev < 0) { + ALOGE("%s: Device file is not opened.", __FUNCTION__); + return AKD_FAIL; + } + if (ioctl(s_fdDev, ECS_IOCTL_GET_OPEN_STATUS, status) < 0) { + AKMERROR_STR("ioctl"); + return AKD_FAIL; + } + return AKD_SUCCESS; +} + +/*! + */ +int AKD_GetCloseStatus(int* status) +{ + if (s_fdDev < 0) { + ALOGE("%s: Device file is not opened.", __FUNCTION__); + return AKD_FAIL; + } + if (ioctl(s_fdDev, ECS_IOCTL_GET_CLOSE_STATUS, status) < 0) { + AKMERROR_STR("ioctl"); + return AKD_FAIL; + } + return AKD_SUCCESS; +} + +/*! + Set AK8975 to the specific mode. + @return If this function succeeds, the return value is #AKD_SUCCESS. Otherwise + the return value is #AKD_FAIL. + @param[in] mode This value should be one of the AK8975_Mode which is defined in + akm8975.h file. + */ +int16_t AKD_SetMode(const BYTE mode) +{ + if (s_fdDev < 0) { + ALOGE("%s: Device file is not opened.", __FUNCTION__); + return AKD_FAIL; + } + + if (ioctl(s_fdDev, ECS_IOCTL_SET_MODE, &mode) < 0) { + AKMERROR_STR("ioctl"); + return AKD_FAIL; + } + + return AKD_SUCCESS; +} + +/*! + Acquire delay + @return If this function succeeds, the return value is #AKD_SUCCESS. Otherwise + the return value is #AKD_FAIL. + @param[out] delay A delay in nanosecond. + */ +int16_t AKD_GetDelay(int64_t delay[AKM_NUM_SENSORS]) +{ + if (s_fdDev < 0) { + ALOGE("%s: Device file is not opened.\n", __FUNCTION__); + return AKD_FAIL; + } + if (ioctl(s_fdDev, ECS_IOCTL_GET_DELAY, delay) < 0) { + AKMERROR_STR("ioctl"); + return AKD_FAIL; + } + return AKD_SUCCESS; +} + +/*! + Get layout information from device driver, i.e. platform data. + */ +int16_t AKD_GetLayout(int16_t* layout) +{ + char tmp; + + if (s_fdDev < 0) { + ALOGE("%s: Device file is not opened.", __FUNCTION__); + return AKD_FAIL; + } + + if (ioctl(s_fdDev, ECS_IOCTL_GET_LAYOUT, &tmp) < 0) { + AKMERROR_STR("ioctl"); + return AKD_FAIL; + } + + *layout = tmp; + return AKD_SUCCESS; +} + +/* Get acceleration data. */ +int16_t AKD_GetAccelerationData(int16_t data[3]) +{ + if (s_fdDev < 0) { + ALOGE("%s: Device file is not opened.", __FUNCTION__); + return AKD_FAIL; + } + if (ioctl(s_fdDev, ECS_IOCTL_GET_ACCEL, data) < 0) { + AKMERROR_STR("ioctl"); + return AKD_FAIL; + } + + AKMDATA(AKMDATA_DRV, "%s: acc=%d, %d, %d\n", + __FUNCTION__, data[0], data[1], data[2]); + + return AKD_SUCCESS; +} diff --git a/libsensors/akmdfs/AK8975Driver.h b/libsensors/akmdfs/AK8975Driver.h new file mode 100644 index 0000000..731210d --- /dev/null +++ b/libsensors/akmdfs/AK8975Driver.h @@ -0,0 +1,102 @@ +/****************************************************************************** + * + * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan + * + * 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. + * + ******************************************************************************/ +#ifndef AKMD_INC_AK8975DRIVER_H +#define AKMD_INC_AK8975DRIVER_H + +#include <linux/akm8975.h> /* Device driver */ +#include <stdint.h> /* int8_t, int16_t etc. */ + +/*** Constant definition ******************************************************/ +#define AKD_TRUE 1 /*!< Represents true */ +#define AKD_FALSE 0 /*!< Represents false */ +#define AKD_SUCCESS 1 /*!< Represents success.*/ +#define AKD_FAIL 0 /*!< Represents fail. */ +#define AKD_ERROR -1 /*!< Represents error. */ + +/*! 0:Don't Output data, 1:Output data */ +#define AKD_DBG_DATA 0 +/*! Typical interval in ns */ +#define AK8975_MEASUREMENT_TIME_NS ((AK8975_MEASUREMENT_TIME_US) * 1000) +/*! 720 LSG = 1G = 9.8 m/s2 */ +#define LSG 720 + + +/*** Type declaration *********************************************************/ +typedef unsigned char BYTE; + +/*! + Open device driver. + This function opens device driver of acceleration sensor. + @return If this function succeeds, the return value is #AKD_SUCCESS. Otherwise + the return value is #AKD_FAIL. + */ +typedef int16_t(*ACCFNC_INITDEVICE)(void); + +/*! + Close device driver. + This function closes device drivers of acceleration sensor. + */ +typedef void(*ACCFNC_DEINITDEVICE)(void); + +/*! + Acquire acceleration data from acceleration sensor and convert it to Android + coordinate system. + @return If this function succeeds, the return value is #AKD_SUCCESS. Otherwise + the return value is #AKD_FAIL. + @param[out] data A acceleration data array. The coordinate system of the + acquired data follows the definition of Android. Unit is SmartCompass. + */ +typedef int16_t(*ACCFNC_GETACCDATA)(short data[3]); + + +/*** Global variables *********************************************************/ + +/*** Prototype of Function ***************************************************/ + +int16_t AKD_InitDevice(void); + +void AKD_DeinitDevice(void); + +int16_t AKD_TxData( + const BYTE address, + const BYTE* data, + const uint16_t numberOfBytesToWrite); + +int16_t AKD_RxData( + const BYTE address, + BYTE* data, + const uint16_t numberOfBytesToRead); + +int16_t AKD_GetMagneticData(BYTE data[SENSOR_DATA_SIZE]); + +void AKD_SetYPR(const int buf[YPR_DATA_SIZE]); + +int AKD_GetOpenStatus(int* status); + +int AKD_GetCloseStatus(int* status); + +int16_t AKD_SetMode(const BYTE mode); + +int16_t AKD_GetDelay(int64_t delay[AKM_NUM_SENSORS]); + +int16_t AKD_GetLayout(int16_t* layout); + +int16_t AKD_GetAccelerationData(int16_t data[3]); + +#endif /* AKMD_INC_AK8975DRIVER_H */ + diff --git a/libsensors/akmdfs/AKFS_APIs.c b/libsensors/akmdfs/AKFS_APIs.c new file mode 100644 index 0000000..ace9bc1 --- /dev/null +++ b/libsensors/akmdfs/AKFS_APIs.c @@ -0,0 +1,389 @@ +/****************************************************************************** + * + * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan + * + * 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 "AKFS_Common.h" +#include "AKFS_Disp.h" +#include "AKFS_FileIO.h" +#include "AKFS_APIs.h" + +#ifdef WIN32 +#include "AK8975_LinuxDriver.h" +#endif + +static AK8975PRMS g_prms; + +/*! + Initialize library. At first, 0 is set to all parameters. After that, some + parameters, which should not be 0, are set to specific value. Some of initial + values can be customized by editing the file \c "AKFS_CSpec.h". + @return The return value is #AKM_SUCCESS. + @param[in] hpat Specify a layout pattern number. The number is determined + according to the mount orientation of the magnetometer. + @param[in] regs[3] Specify the ASA values which are read out from + fuse ROM. regs[0] is ASAX, regs[1] is ASAY, regs[2] is ASAZ. + */ +int16 AKFS_Init( + const AKFS_PATNO hpat, + const uint8 regs[] +) +{ + AKMDATA(AKMDATA_DUMP, "%s: hpat=%d, r[0]=0x%02X, r[1]=0x%02X, r[2]=0x%02X\n", + __FUNCTION__, hpat, regs[0], regs[1], regs[2]); + + /* Set 0 to the AK8975 structure. */ + memset(&g_prms, 0, sizeof(AK8975PRMS)); + + /* Sensitivity */ + g_prms.mfv_hs.u.x = AK8975_HSENSE_DEFAULT; + g_prms.mfv_hs.u.y = AK8975_HSENSE_DEFAULT; + g_prms.mfv_hs.u.z = AK8975_HSENSE_DEFAULT; + g_prms.mfv_as.u.x = AK8975_ASENSE_DEFAULT; + g_prms.mfv_as.u.y = AK8975_ASENSE_DEFAULT; + g_prms.mfv_as.u.z = AK8975_ASENSE_DEFAULT; + + /* Initialize variables that initial value is not 0. */ + g_prms.mi_hnaveV = CSPEC_HNAVE_V; + g_prms.mi_hnaveD = CSPEC_HNAVE_D; + g_prms.mi_anaveV = CSPEC_ANAVE_V; + g_prms.mi_anaveD = CSPEC_ANAVE_D; + + /* Copy ASA values */ + g_prms.mi_asa.u.x = regs[0]; + g_prms.mi_asa.u.y = regs[1]; + g_prms.mi_asa.u.z = regs[2]; + + /* Copy layout pattern */ + g_prms.m_hpat = hpat; + + return AKM_SUCCESS; +} + +/*! + Release resources. This function is for future expansion. + @return The return value is #AKM_SUCCESS. + */ +int16 AKFS_Release(void) +{ + return AKM_SUCCESS; +} + +/* + This function is called just before a measurement sequence starts. + This function reads parameters from file, then initializes algorithm + parameters. + @return The return value is #AKM_SUCCESS. + @param[in] path Specify a path to the settings file. + */ +int16 AKFS_Start( + const char* path +) +{ + AKMDATA(AKMDATA_DUMP, "%s: path=%s\n", __FUNCTION__, path); + + /* Read setting files from a file */ + if (AKFS_LoadParameters(&g_prms, path) != AKM_SUCCESS) { + AKMERROR_STR("AKFS_Load"); + } + + /* Initialize buffer */ + AKFS_InitBuffer(AKFS_HDATA_SIZE, g_prms.mfv_hdata); + AKFS_InitBuffer(AKFS_HDATA_SIZE, g_prms.mfv_hvbuf); + AKFS_InitBuffer(AKFS_ADATA_SIZE, g_prms.mfv_adata); + AKFS_InitBuffer(AKFS_ADATA_SIZE, g_prms.mfv_avbuf); + + /* Initialize for AOC */ + AKFS_InitAOC(&g_prms.m_aocv); + /* Initialize magnetic status */ + g_prms.mi_hstatus = 0; + + return AKM_SUCCESS; +} + +/*! + This function is called when a measurement sequence is done. + This fucntion writes parameters to file. + @return The return value is #AKM_SUCCESS. + @param[in] path Specify a path to the settings file. + */ +int16 AKFS_Stop( + const char* path +) +{ + AKMDATA(AKMDATA_DUMP, "%s: path=%s\n", __FUNCTION__, path); + + /* Write setting files to a file */ + if (AKFS_SaveParameters(&g_prms, path) != AKM_SUCCESS) { + AKMERROR_STR("AKFS_Save"); + } + + return AKM_SUCCESS; +} + +/*! + This function is called when new magnetometer data is available. The output + vector format and coordination system follow the Android definition. + @return The return value is #AKM_SUCCESS. + Otherwise the return value is #AKM_FAIL. + @param[in] mag A set of measurement data from magnetometer. X axis value + should be in mag[0], Y axis value should be in mag[1], Z axis value should be + in mag[2]. + @param[in] status A status of magnetometer. This status indicates the result + of measurement data, i.e. overflow, success or fail, etc. + @param[out] vx X axis value of magnetic field vector. + @param[out] vy Y axis value of magnetic field vector. + @param[out] vz Z axis value of magnetic field vector. + @param[out] accuracy Accuracy of magnetic field vector. + */ +int16 AKFS_Get_MAGNETIC_FIELD( + const int16 mag[3], + const int16 status, + AKFLOAT* vx, + AKFLOAT* vy, + AKFLOAT* vz, + int16* accuracy +) +{ + int16 akret; + int16 aocret; + AKFLOAT radius; + + AKMDATA(AKMDATA_DUMP, "%s: m[0]=%d, m[1]=%d, m[2]=%d, st=%d\n", + __FUNCTION__, mag[0], mag[1], mag[2], status); + + /* Decomposition */ + /* Sensitivity adjustment, i.e. multiply ASA, is done in this function. */ + akret = AKFS_DecompAK8975( + mag, + status, + &g_prms.mi_asa, + AKFS_HDATA_SIZE, + g_prms.mfv_hdata + ); + if(akret == AKFS_ERROR) { + AKMERROR; + return AKM_FAIL; + } + + /* Adjust coordination */ + akret = AKFS_Rotate( + g_prms.m_hpat, + &g_prms.mfv_hdata[0] + ); + if (akret == AKFS_ERROR) { + AKMERROR; + return AKM_FAIL; + } + + /* AOC for magnetometer */ + /* Offset estimation is done in this function */ + aocret = AKFS_AOC( + &g_prms.m_aocv, + g_prms.mfv_hdata, + &g_prms.mfv_ho + ); + + /* Subtract offset */ + /* Then, a magnetic vector, the unit is uT, is stored in mfv_hvbuf. */ + akret = AKFS_VbNorm( + AKFS_HDATA_SIZE, + g_prms.mfv_hdata, + 1, + &g_prms.mfv_ho, + &g_prms.mfv_hs, + AK8975_HSENSE_TARGET, + AKFS_HDATA_SIZE, + g_prms.mfv_hvbuf + ); + if(akret == AKFS_ERROR) { + AKMERROR; + return AKM_FAIL; + } + + /* Averaging */ + akret = AKFS_VbAve( + AKFS_HDATA_SIZE, + g_prms.mfv_hvbuf, + CSPEC_HNAVE_V, + &g_prms.mfv_hvec + ); + if (akret == AKFS_ERROR) { + AKMERROR; + return AKM_FAIL; + } + + /* Check the size of magnetic vector */ + radius = AKFS_SQRT( + (g_prms.mfv_hvec.u.x * g_prms.mfv_hvec.u.x) + + (g_prms.mfv_hvec.u.y * g_prms.mfv_hvec.u.y) + + (g_prms.mfv_hvec.u.z * g_prms.mfv_hvec.u.z)); + + if (radius > AKFS_GEOMAG_MAX) { + g_prms.mi_hstatus = 0; + } else { + if (aocret) { + g_prms.mi_hstatus = 3; + } + } + + *vx = g_prms.mfv_hvec.u.x; + *vy = g_prms.mfv_hvec.u.y; + *vz = g_prms.mfv_hvec.u.z; + *accuracy = g_prms.mi_hstatus; + + /* Debug output */ + AKMDATA(AKMDATA_MAG, "Mag(%d):%8.2f, %8.2f, %8.2f\n", + *accuracy, *vx, *vy, *vz); + + return AKM_SUCCESS; +} + +/*! + This function is called when new accelerometer data is available. The output + vector format and coordination system follow the Android definition. + @return The return value is #AKM_SUCCESS when function succeeds. Otherwise + the return value is #AKM_FAIL. + @param[in] acc A set of measurement data from accelerometer. X axis value + should be in acc[0], Y axis value should be in acc[1], Z axis value should be + in acc[2]. + @param[in] status A status of accelerometer. This status indicates the result + of acceleration data, i.e. overflow, success or fail, etc. + @param[out] vx X axis value of acceleration vector. + @param[out] vy Y axis value of acceleration vector. + @param[out] vz Z axis value of acceleration vector. + @param[out] accuracy Accuracy of acceleration vector. + This value is always 3. + */ +int16 AKFS_Get_ACCELEROMETER( + const int16 acc[3], + const int16 status, + AKFLOAT* vx, + AKFLOAT* vy, + AKFLOAT* vz, + int16* accuracy +) +{ + int16 akret; + + AKMDATA(AKMDATA_DUMP, "%s: a[0]=%d, a[1]=%d, a[2]=%d, st=%d\n", + __FUNCTION__, acc[0], acc[1], acc[2], status); + + /* Save data to buffer */ + AKFS_BufShift( + AKFS_ADATA_SIZE, + 1, + g_prms.mfv_adata + ); + g_prms.mfv_adata[0].u.x = acc[0]; + g_prms.mfv_adata[0].u.y = acc[1]; + g_prms.mfv_adata[0].u.z = acc[2]; + + /* Subtract offset, adjust sensitivity */ + /* As a result, a unit of acceleration data in mfv_avbuf is '1G = 9.8' */ + akret = AKFS_VbNorm( + AKFS_ADATA_SIZE, + g_prms.mfv_adata, + 1, + &g_prms.mfv_ao, + &g_prms.mfv_as, + AK8975_ASENSE_TARGET, + AKFS_ADATA_SIZE, + g_prms.mfv_avbuf + ); + if(akret == AKFS_ERROR) { + AKMERROR; + return AKM_FAIL; + } + + /* Averaging */ + akret = AKFS_VbAve( + AKFS_ADATA_SIZE, + g_prms.mfv_avbuf, + CSPEC_ANAVE_V, + &g_prms.mfv_avec + ); + if (akret == AKFS_ERROR) { + AKMERROR; + return AKM_FAIL; + } + + /* Adjust coordination */ + /* It is not needed. Because, the data from AK8975 driver is already + follows Android coordinate system. */ + + *vx = g_prms.mfv_avec.u.x; + *vy = g_prms.mfv_avec.u.y; + *vz = g_prms.mfv_avec.u.z; + *accuracy = 3; + + /* Debug output */ + AKMDATA(AKMDATA_ACC, "Acc(%d):%8.2f, %8.2f, %8.2f\n", + *accuracy, *vx, *vy, *vz); + + return AKM_SUCCESS; +} + +/*! + Get orientation sensor's elements. The vector format and coordination system + follow the Android definition. Before this function is called, magnetic + field vector and acceleration vector should be stored in the buffer by + calling #AKFS_Get_MAGNETIC_FIELD and #AKFS_Get_ACCELEROMETER. + @return The return value is #AKM_SUCCESS when function succeeds. Otherwise + the return value is #AKM_FAIL. + @param[out] azimuth Azimuthal angle in degree. + @param[out] pitch Pitch angle in degree. + @param[out] roll Roll angle in degree. + @param[out] accuracy Accuracy of orientation sensor. + */ +int16 AKFS_Get_ORIENTATION( + AKFLOAT* azimuth, + AKFLOAT* pitch, + AKFLOAT* roll, + int16* accuracy +) +{ + int16 akret; + + /* Azimuth calculation */ + /* Coordination system follows the Android coordination. */ + akret = AKFS_Direction( + AKFS_HDATA_SIZE, + g_prms.mfv_hvbuf, + CSPEC_HNAVE_D, + AKFS_ADATA_SIZE, + g_prms.mfv_avbuf, + CSPEC_ANAVE_D, + &g_prms.mf_azimuth, + &g_prms.mf_pitch, + &g_prms.mf_roll + ); + + if(akret == AKFS_ERROR) { + AKMERROR; + return AKM_FAIL; + } + *azimuth = g_prms.mf_azimuth; + *pitch = g_prms.mf_pitch; + *roll = g_prms.mf_roll; + *accuracy = g_prms.mi_hstatus; + + /* Debug output */ + AKMDATA(AKMDATA_ORI, "Ori(%d):%8.2f, %8.2f, %8.2f\n", + *accuracy, *azimuth, *pitch, *roll); + + return AKM_SUCCESS; +} + diff --git a/libsensors/akmdfs/AKFS_APIs.h b/libsensors/akmdfs/AKFS_APIs.h new file mode 100644 index 0000000..e4d1e48 --- /dev/null +++ b/libsensors/akmdfs/AKFS_APIs.h @@ -0,0 +1,69 @@ +/****************************************************************************** + * + * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan + * + * 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. + * + ******************************************************************************/ +#ifndef AKFS_INC_APIS_H +#define AKFS_INC_APIS_H + +/* Include files for AK8975 library. */ +#include "AKFS_Compass.h" + +/*** Constant definition ******************************************************/ +#define AKFS_GEOMAG_MAX 70 + +/*** Type declaration *********************************************************/ + +/*** Global variables *********************************************************/ + +/*** Prototype of function ****************************************************/ +int16 AKFS_Init( + const AKFS_PATNO hpat, + const uint8 regs[] +); + +int16 AKFS_Release(void); + +int16 AKFS_Start(const char* path); + +int16 AKFS_Stop(const char* path); + +int16 AKFS_Get_MAGNETIC_FIELD( + const int16 mag[3], + const int16 status, + AKFLOAT* vx, + AKFLOAT* vy, + AKFLOAT* vz, + int16* accuracy +); + +int16 AKFS_Get_ACCELEROMETER( + const int16 acc[3], + const int16 status, + AKFLOAT* vx, + AKFLOAT* vy, + AKFLOAT* vz, + int16* accuracy +); + +int16 AKFS_Get_ORIENTATION( + AKFLOAT* azimuth, + AKFLOAT* pitch, + AKFLOAT* roll, + int16* accuracy +); + +#endif + diff --git a/libsensors/akmdfs/AKFS_APIs_8975/AKFS_AK8975.c b/libsensors/akmdfs/AKFS_APIs_8975/AKFS_AK8975.c new file mode 100644 index 0000000..7bac9a1 --- /dev/null +++ b/libsensors/akmdfs/AKFS_APIs_8975/AKFS_AK8975.c @@ -0,0 +1,44 @@ +/****************************************************************************** + * + * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan + * + * 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 "AKFS_AK8975.h" +#include "AKFS_Device.h" + +/*! + */ +int16 AKFS_DecompAK8975( + const int16 mag[3], + const int16 status, + const uint8vec* asa, + const int16 nhdata, + AKFVEC hdata[] +) +{ + /* put st1 and st2 value */ + if (AK8975_ST_ERROR(status)) { + return AKFS_ERROR; + } + + /* magnetic */ + AKFS_BufShift(nhdata, 1, hdata); + hdata[0].u.x = mag[0] * (((asa->u.x)/256.0f) + 0.5f); + hdata[0].u.y = mag[1] * (((asa->u.y)/256.0f) + 0.5f); + hdata[0].u.z = mag[2] * (((asa->u.z)/256.0f) + 0.5f); + + return AKFS_SUCCESS; +} + diff --git a/libsensors/akmdfs/AKFS_APIs_8975/AKFS_AK8975.h b/libsensors/akmdfs/AKFS_APIs_8975/AKFS_AK8975.h new file mode 100644 index 0000000..25459e3 --- /dev/null +++ b/libsensors/akmdfs/AKFS_APIs_8975/AKFS_AK8975.h @@ -0,0 +1,50 @@ +/****************************************************************************** + * + * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan + * + * 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. + * + ******************************************************************************/ +#ifndef AKFS_INC_AK8975_H +#define AKFS_INC_AK8975_H + +#include "AKFS_Device.h" + +/***** Constant definition ****************************************************/ +#define AK8975_BDATA_SIZE 8 + +#define AK8975_HSENSE_DEFAULT 1 +#define AK8975_HSENSE_TARGET 0.3f +#define AK8975_ASENSE_DEFAULT 720 +#define AK8975_ASENSE_TARGET 9.80665f + +#define AK8975_HDATA_CONVERTER(hi, low, asa) \ + (AKFLOAT)((int16)((((uint16)(hi))<<8)+(uint16)(low))*(((asa)/256.0f) + 0.5f)) + +#define AK8975_ST_ERROR(st) (((st)&0x09) != 0x01) + +/***** Type declaration *******************************************************/ + +/***** Prototype of function **************************************************/ +AKLIB_C_API_START +int16 AKFS_DecompAK8975( + const int16 mag[3], + const int16 status, + const uint8vec* asa, + const int16 nhdata, + AKFVEC hdata[] +); +AKLIB_C_API_END + +#endif + diff --git a/libsensors/akmdfs/AKFS_APIs_8975/AKFS_AOC.c b/libsensors/akmdfs/AKFS_APIs_8975/AKFS_AOC.c new file mode 100644 index 0000000..62b2361 --- /dev/null +++ b/libsensors/akmdfs/AKFS_APIs_8975/AKFS_AOC.c @@ -0,0 +1,333 @@ +/****************************************************************************** + * + * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan + * + * 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 "AKFS_AOC.h" +#include "AKFS_Math.h" + +/* + * CalcR + */ +static AKFLOAT CalcR( + const AKFVEC* x, + const AKFVEC* y +){ + int16 i; + AKFLOAT r; + + r = 0.0; + for(i = 0; i < 3; i++){ + r += (x->v[i]-y->v[i]) * (x->v[i]-y->v[i]); + } + r = sqrt(r); + + return r; +} + +/* + * From4Points2Sphere() + */ +static int16 From4Points2Sphere( + const AKFVEC points[], /*! (i/o) : input vectors */ + AKFVEC* center, /*! (o) : center of sphere */ + AKFLOAT* r /*! (i) : add/subtract value */ +){ + AKFLOAT dif[3][3]; + AKFLOAT r2[3]; + + AKFLOAT A; + AKFLOAT B; + AKFLOAT C; + AKFLOAT D; + AKFLOAT E; + AKFLOAT F; + AKFLOAT G; + + AKFLOAT OU; + AKFLOAT OD; + + int16 i, j; + + for(i = 0; i < 3; i++){ + r2[i] = 0.0; + for(j = 0; j < 3; j++){ + dif[i][j] = points[i].v[j] - points[3].v[j]; + r2[i] += (points[i].v[j]*points[i].v[j] + - points[3].v[j]*points[3].v[j]); + } + r2[i] *= 0.5; + } + + A = dif[0][0]*dif[2][2] - dif[0][2]*dif[2][0]; + B = dif[0][1]*dif[2][0] - dif[0][0]*dif[2][1]; + C = dif[0][0]*dif[2][1] - dif[0][1]*dif[2][0]; + D = dif[0][0]*r2[2] - dif[2][0]*r2[0]; + E = dif[0][0]*dif[1][1] - dif[0][1]*dif[1][0]; + F = dif[1][0]*dif[0][2] - dif[0][0]*dif[1][2]; + G = dif[0][0]*r2[1] - dif[1][0]*r2[0]; + + OU = D*E + B*G; + OD = C*F + A*E; + + if(fabs(OD) < AKFS_EPSILON){ + return -1; + } + + center->v[2] = OU / OD; + + OU = F*center->v[2] + G; + OD = E; + + if(fabs(OD) < AKFS_EPSILON){ + return -1; + } + + center->v[1] = OU / OD; + + OU = r2[0] - dif[0][1]*center->v[1] - dif[0][2]*center->v[2]; + OD = dif[0][0]; + + if(fabs(OD) < AKFS_EPSILON){ + return -1; + } + + center->v[0] = OU / OD; + + *r = CalcR(&points[0], center); + + return 0; + +} + +/* + * MeanVar + */ +static void MeanVar( + const AKFVEC v[], /*!< (i) : input vectors */ + const int16 n, /*!< (i) : number of vectors */ + AKFVEC* mean, /*!< (o) : (max+min)/2 */ + AKFVEC* var /*!< (o) : variation in vectors */ +){ + int16 i; + int16 j; + AKFVEC max; + AKFVEC min; + + for(j = 0; j < 3; j++){ + min.v[j] = v[0].v[j]; + max.v[j] = v[0].v[j]; + for(i = 1; i < n; i++){ + if(v[i].v[j] < min.v[j]){ + min.v[j] = v[i].v[j]; + } + if(v[i].v[j] > max.v[j]){ + max.v[j] = v[i].v[j]; + } + } + mean->v[j] = (max.v[j] + min.v[j]) / 2.0; /*mean */ + var->v[j] = max.v[j] - min.v[j]; /*var */ + } +} + +/* + * Get4points + */ +static void Get4points( + const AKFVEC v[], /*!< (i) : input vectors */ + const int16 n, /*!< (i) : number of vectors */ + AKFVEC out[] /*!< (o) : */ +){ + int16 i, j; + AKFLOAT temp; + AKFLOAT d; + + AKFVEC dv[AKFS_HBUF_SIZE]; + AKFVEC cross; + AKFVEC tempv; + + /* out 0 */ + out[0] = v[0]; + + /* out 1 */ + d = 0.0; + for(i = 1; i < n; i++){ + temp = CalcR(&v[i], &out[0]); + if(d < temp){ + d = temp; + out[1] = v[i]; + } + } + + /* out 2 */ + d = 0.0; + for(j = 0; j < 3; j++){ + dv[0].v[j] = out[1].v[j] - out[0].v[j]; + } + for(i = 1; i < n; i++){ + for(j = 0; j < 3; j++){ + dv[i].v[j] = v[i].v[j] - out[0].v[j]; + } + tempv.v[0] = dv[0].v[1]*dv[i].v[2] - dv[0].v[2]*dv[i].v[1]; + tempv.v[1] = dv[0].v[2]*dv[i].v[0] - dv[0].v[0]*dv[i].v[2]; + tempv.v[2] = dv[0].v[0]*dv[i].v[1] - dv[0].v[1]*dv[i].v[0]; + temp = tempv.u.x * tempv.u.x + + tempv.u.y * tempv.u.y + + tempv.u.z * tempv.u.z; + if(d < temp){ + d = temp; + out[2] = v[i]; + cross = tempv; + } + } + + /* out 3 */ + d = 0.0; + for(i = 1; i < n; i++){ + temp = dv[i].u.x * cross.u.x + + dv[i].u.y * cross.u.y + + dv[i].u.z * cross.u.z; + temp = fabs(temp); + if(d < temp){ + d = temp; + out[3] = v[i]; + } + } +} + +/* + * CheckInitFvec + */ +static int16 CheckInitFvec( + const AKFVEC *v /*!< [in] vector */ +){ + int16 i; + + for(i = 0; i < 3; i++){ + if(AKFS_FMAX <= v->v[i]){ + return 1; /* initvalue */ + } + } + + return 0; /* not initvalue */ +} + +/* + * AKFS_AOC + */ +int16 AKFS_AOC( /*!< (o) : calibration success(1), failure(0) */ + AKFS_AOC_VAR* haocv, /*!< (i/o) : a set of variables */ + const AKFVEC* hdata, /*!< (i) : vectors of data */ + AKFVEC* ho /*!< (i/o) : offset */ +){ + int16 i, j; + int16 num; + AKFLOAT tempf; + AKFVEC tempho; + + AKFVEC fourpoints[4]; + + AKFVEC var; + AKFVEC mean; + + /* buffer new data */ + for(i = 1; i < AKFS_HBUF_SIZE; i++){ + haocv->hbuf[AKFS_HBUF_SIZE-i] = haocv->hbuf[AKFS_HBUF_SIZE-i-1]; + } + haocv->hbuf[0] = *hdata; + + /* Check Init */ + num = 0; + for(i = AKFS_HBUF_SIZE; 3 < i; i--){ + if(CheckInitFvec(&haocv->hbuf[i-1]) == 0){ + num = i; + break; + } + } + if(num < 4){ + return AKFS_ERROR; + } + + /* get 4 points */ + Get4points(haocv->hbuf, num, fourpoints); + + /* estimate offset */ + if(0 != From4Points2Sphere(fourpoints, &tempho, &haocv->hraoc)){ + return AKFS_ERROR; + } + + /* check distance */ + for(i = 0; i < 4; i++){ + for(j = (i+1); j < 4; j++){ + tempf = CalcR(&fourpoints[i], &fourpoints[j]); + if((tempf < haocv->hraoc)||(tempf < AKFS_HR_TH)){ + return AKFS_ERROR; + } + } + } + + /* update offset buffer */ + for(i = 1; i < AKFS_HOBUF_SIZE; i++){ + haocv->hobuf[AKFS_HOBUF_SIZE-i] = haocv->hobuf[AKFS_HOBUF_SIZE-i-1]; + } + haocv->hobuf[0] = tempho; + + /* clear hbuf */ + for(i = (AKFS_HBUF_SIZE>>1); i < AKFS_HBUF_SIZE; i++) { + for(j = 0; j < 3; j++) { + haocv->hbuf[i].v[j]= AKFS_FMAX; + } + } + + /* Check Init */ + if(CheckInitFvec(&haocv->hobuf[AKFS_HOBUF_SIZE-1]) == 1){ + return AKFS_ERROR; + } + + /* Check ovar */ + tempf = haocv->hraoc * AKFS_HO_TH; + MeanVar(haocv->hobuf, AKFS_HOBUF_SIZE, &mean, &var); + if ((var.u.x >= tempf) || (var.u.y >= tempf) || (var.u.z >= tempf)){ + return AKFS_ERROR; + } + + *ho = mean; + + return AKFS_SUCCESS; +} + +/* + * AKFS_InitAOC + */ +void AKFS_InitAOC( + AKFS_AOC_VAR* haocv +){ + int16 i, j; + + /* Initialize buffer */ + for(i = 0; i < AKFS_HBUF_SIZE; i++) { + for(j = 0; j < 3; j++) { + haocv->hbuf[i].v[j]= AKFS_FMAX; + } + } + for(i = 0; i < AKFS_HOBUF_SIZE; i++) { + for(j = 0; j < 3; j++) { + haocv->hobuf[i].v[j]= AKFS_FMAX; + } + } + + haocv->hraoc = 0.0; +} + diff --git a/libsensors/akmdfs/AKFS_APIs_8975/AKFS_AOC.h b/libsensors/akmdfs/AKFS_APIs_8975/AKFS_AOC.h new file mode 100644 index 0000000..ffaaa88 --- /dev/null +++ b/libsensors/akmdfs/AKFS_APIs_8975/AKFS_AOC.h @@ -0,0 +1,53 @@ +/****************************************************************************** + * + * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan + * + * 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. + * + ******************************************************************************/ +#ifndef AKFS_INC_AOC_H +#define AKFS_INC_AOC_H + +#include "AKFS_Device.h" + +/***** Constant definition ****************************************************/ +#define AKFS_HBUF_SIZE 20 +#define AKFS_HOBUF_SIZE 4 +#define AKFS_HR_TH 10 +#define AKFS_HO_TH 0.15 + +/***** Macro definition *******************************************************/ + +/***** Type declaration *******************************************************/ +typedef struct _AKFS_AOC_VAR{ + AKFVEC hbuf[AKFS_HBUF_SIZE]; + AKFVEC hobuf[AKFS_HOBUF_SIZE]; + AKFLOAT hraoc; +} AKFS_AOC_VAR; + +/***** Prototype of function **************************************************/ +AKLIB_C_API_START +int16 AKFS_AOC( + AKFS_AOC_VAR* haocv, + const AKFVEC* hdata, + AKFVEC* ho +); + +void AKFS_InitAOC( + AKFS_AOC_VAR* haocv +); + +AKLIB_C_API_END + +#endif + diff --git a/libsensors/akmdfs/AKFS_APIs_8975/AKFS_Configure.h b/libsensors/akmdfs/AKFS_APIs_8975/AKFS_Configure.h new file mode 100644 index 0000000..1f80f48 --- /dev/null +++ b/libsensors/akmdfs/AKFS_APIs_8975/AKFS_Configure.h @@ -0,0 +1,37 @@ +/****************************************************************************** + * + * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan + * + * 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. + * + ******************************************************************************/ +#ifndef AKFS_INC_CONFIG_H +#define AKFS_INC_CONFIG_H + +/***** Language configuration *************************************************/ +#if defined(__cplusplus) +#define AKLIB_C_API_START extern "C" { +#define AKLIB_C_API_END } +#else +#define AKLIB_C_API_START +#define AKLIB_C_API_END +#endif + +/*! If following line is commented in, double type is used for floating point + calculation */ +/* +#define AKFS_PRECISION_DOUBLE +*/ + +#endif + diff --git a/libsensors/akmdfs/AKFS_APIs_8975/AKFS_Device.c b/libsensors/akmdfs/AKFS_APIs_8975/AKFS_Device.c new file mode 100644 index 0000000..3d99ab1 --- /dev/null +++ b/libsensors/akmdfs/AKFS_APIs_8975/AKFS_Device.c @@ -0,0 +1,110 @@ +/****************************************************************************** + * + * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan + * + * 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 "AKFS_Device.h" + +int16 AKFS_InitBuffer( + const int16 ndata, /*!< Size of vector buffer */ + AKFVEC vdata[] /*!< Vector buffer */ +) +{ + int i; + + /* size check */ + if (ndata <= 0) { + return AKFS_ERROR; + } + + for (i=0; i<ndata; i++) { + vdata[i].u.x = AKFS_INIT_VALUE_F; + vdata[i].u.y = AKFS_INIT_VALUE_F; + vdata[i].u.z = AKFS_INIT_VALUE_F; + } + + return AKFS_SUCCESS; +} + +int16 AKFS_BufShift( + const int16 len, /*!< size of buffer */ + const int16 shift, /*!< shift size */ + AKFVEC v[] /*!< buffer */ +) +{ + int16 i; + + if((shift < 1) || (len < shift)) { + return AKFS_ERROR; + } + for (i = len-1; i >= shift; i--) { + v[i] = v[i-shift]; + } + return AKFS_SUCCESS; +} + +int16 AKFS_Rotate( + const AKFS_PATNO pat, + AKFVEC* vec +) +{ + AKFLOAT tmp; + switch(pat){ + /* Obverse */ + case PAT1: + /* This is Android default */ + break; + case PAT2: + tmp = vec->u.x; + vec->u.x = vec->u.y; + vec->u.y = -tmp; + break; + case PAT3: + vec->u.x = -(vec->u.x); + vec->u.y = -(vec->u.y); + break; + case PAT4: + tmp = vec->u.x; + vec->u.x = -(vec->u.y); + vec->u.y = tmp; + break; + /* Reverse */ + case PAT5: + vec->u.x = -(vec->u.x); + vec->u.z = -(vec->u.z); + break; + case PAT6: + tmp = vec->u.x; + vec->u.x = vec->u.y; + vec->u.y = tmp; + vec->u.z = -(vec->u.z); + break; + case PAT7: + vec->u.y = -(vec->u.y); + vec->u.z = -(vec->u.z); + break; + case PAT8: + tmp = vec->u.x; + vec->u.x = -(vec->u.y); + vec->u.y = -tmp; + vec->u.z = -(vec->u.z); + break; + default: + return AKFS_ERROR; + } + + return AKFS_SUCCESS; +} + diff --git a/libsensors/akmdfs/AKFS_APIs_8975/AKFS_Device.h b/libsensors/akmdfs/AKFS_APIs_8975/AKFS_Device.h new file mode 100644 index 0000000..0292d54 --- /dev/null +++ b/libsensors/akmdfs/AKFS_APIs_8975/AKFS_Device.h @@ -0,0 +1,107 @@ +/****************************************************************************** + * + * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan + * + * 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. + * + ******************************************************************************/ +#ifndef AKFS_INC_DEVICE_H +#define AKFS_INC_DEVICE_H + +#include <float.h> +#include "AKFS_Configure.h" + +/***** Constant definition ****************************************************/ +#define AKFS_ERROR 0 +#define AKFS_SUCCESS 1 + +#define AKFS_HDATA_SIZE 32 +#define AKFS_ADATA_SIZE 32 + +/***** Type declaration *******************************************************/ +typedef signed char int8; +typedef signed short int16; +typedef unsigned char uint8; +typedef unsigned short uint16; + + +#ifdef AKFS_PRECISION_DOUBLE +typedef double AKFLOAT; +#define AKFS_EPSILON DBL_EPSILON +#define AKFS_FMAX DBL_MAX +#define AKFS_FMIN DBL_MIN + +#else +typedef float AKFLOAT; +#define AKFS_EPSILON FLT_EPSILON +#define AKFS_FMAX FLT_MAX +#define AKFS_FMIN FLT_MIN + +#endif + +/* Treat maximum value as initial value */ +#define AKFS_INIT_VALUE_F AKFS_FMAX + +/***** Vector *****/ +typedef union _uint8vec{ + struct { + uint8 x; + uint8 y; + uint8 z; + }u; + uint8 v[3]; +} uint8vec; + +typedef union _AKFVEC{ + struct { + AKFLOAT x; + AKFLOAT y; + AKFLOAT z; + }u; + AKFLOAT v[3]; +} AKFVEC; + +/***** Layout pattern *****/ +typedef enum _AKFS_PATNO { + PAT_INVALID = 0, + PAT1, /* obverse: 1st pin is right down */ + PAT2, /* obverse: 1st pin is left down */ + PAT3, /* obverse: 1st pin is left top */ + PAT4, /* obverse: 1st pin is right top */ + PAT5, /* reverse: 1st pin is left down (from top view) */ + PAT6, /* reverse: 1st pin is left top (from top view) */ + PAT7, /* reverse: 1st pin is right top (from top view) */ + PAT8 /* reverse: 1st pin is right down (from top view) */ +} AKFS_PATNO; + +/***** Prototype of function **************************************************/ +AKLIB_C_API_START +int16 AKFS_InitBuffer( + const int16 ndata, /*!< Size of raw vector buffer */ + AKFVEC vdata[] /*!< Raw vector buffer */ +); + +int16 AKFS_BufShift( + const int16 len, + const int16 shift, + AKFVEC v[] +); + +int16 AKFS_Rotate( + const AKFS_PATNO pat, + AKFVEC* vec +); +AKLIB_C_API_END + +#endif + diff --git a/libsensors/akmdfs/AKFS_APIs_8975/AKFS_Direction.c b/libsensors/akmdfs/AKFS_APIs_8975/AKFS_Direction.c new file mode 100644 index 0000000..f47e930 --- /dev/null +++ b/libsensors/akmdfs/AKFS_APIs_8975/AKFS_Direction.c @@ -0,0 +1,133 @@ +/****************************************************************************** + * + * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan + * + * 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 "AKFS_Direction.h" +#include "AKFS_VNorm.h" +#include "AKFS_Math.h" + +/* + Coordinate system is right-handed. + X-Axis: from left to right. + Y-Axis: from bottom to top. + Z-Axis: from reverse to obverse. + + azimuth: Rotaion around Z axis, with positive values + when y-axis moves toward the x-axis. + pitch: Rotation around X axis, with positive values + when z-axis moves toward the y-axis. + roll: Rotation around Y axis, with positive values + when x-axis moves toward the z-axis. +*/ + +/* + This function is used internaly, so output is RADIAN! + */ +static void AKFS_Angle( + const AKFVEC* avec, + AKFLOAT* pitch, /* radian */ + AKFLOAT* roll /* radian */ +) +{ + AKFLOAT av; /* Size of vector */ + + av = AKFS_SQRT((avec->u.x)*(avec->u.x) + (avec->u.y)*(avec->u.y) + (avec->u.z)*(avec->u.z)); + + *pitch = AKFS_ASIN(-(avec->u.y) / av); + *roll = AKFS_ASIN((avec->u.x) / av); +} + +/* + This function is used internaly, so output is RADIAN! + */ +static void AKFS_Azimuth( + const AKFVEC* hvec, + const AKFLOAT pitch, /* radian */ + const AKFLOAT roll, /* radian */ + AKFLOAT* azimuth /* radian */ +) +{ + AKFLOAT sinP; /* sin value of pitch angle */ + AKFLOAT cosP; /* cos value of pitch angle */ + AKFLOAT sinR; /* sin value of roll angle */ + AKFLOAT cosR; /* cos value of roll angle */ + AKFLOAT Xh; /* X axis element of vector which is projected to horizontal plane */ + AKFLOAT Yh; /* Y axis element of vector which is projected to horizontal plane */ + + sinP = AKFS_SIN(pitch); + cosP = AKFS_COS(pitch); + sinR = AKFS_SIN(roll); + cosR = AKFS_COS(roll); + + Yh = -(hvec->u.x)*cosR + (hvec->u.z)*sinR; + Xh = (hvec->u.x)*sinP*sinR + (hvec->u.y)*cosP + (hvec->u.z)*sinP*cosR; + + /* atan2(y, x) -> divisor and dividend is opposite from mathematical equation. */ + *azimuth = AKFS_ATAN2(Yh, Xh); +} + +int16 AKFS_Direction( + const int16 nhvec, + const AKFVEC hvec[], + const int16 hnave, + const int16 navec, + const AKFVEC avec[], + const int16 anave, + AKFLOAT* azimuth, + AKFLOAT* pitch, + AKFLOAT* roll +) +{ + AKFVEC have, aave; + AKFLOAT azimuthRad; + AKFLOAT pitchRad; + AKFLOAT rollRad; + + /* arguments check */ + if ((nhvec <= 0) || (navec <= 0) || (hnave <= 0) || (anave <= 0)) { + return AKFS_ERROR; + } + if ((nhvec < hnave) || (navec < anave)) { + return AKFS_ERROR; + } + + /* average */ + if (AKFS_VbAve(nhvec, hvec, hnave, &have) != AKFS_SUCCESS) { + return AKFS_ERROR; + } + if (AKFS_VbAve(navec, avec, anave, &aave) != AKFS_SUCCESS) { + return AKFS_ERROR; + } + + /* calculate pitch and roll */ + AKFS_Angle(&aave, &pitchRad, &rollRad); + + /* calculate azimuth */ + AKFS_Azimuth(&have, pitchRad, rollRad, &azimuthRad); + + *azimuth = RAD2DEG(azimuthRad); + *pitch = RAD2DEG(pitchRad); + *roll = RAD2DEG(rollRad); + + /* Adjust range of azimuth */ + if (*azimuth < 0) { + *azimuth += 360.0f; + } + + return AKFS_SUCCESS; +} + + diff --git a/libsensors/akmdfs/AKFS_APIs_8975/AKFS_Direction.h b/libsensors/akmdfs/AKFS_APIs_8975/AKFS_Direction.h new file mode 100644 index 0000000..c08338d --- /dev/null +++ b/libsensors/akmdfs/AKFS_APIs_8975/AKFS_Direction.h @@ -0,0 +1,39 @@ +/****************************************************************************** + * + * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan + * + * 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. + * + ******************************************************************************/ +#ifndef AKFS_INC_DIRECTION_H +#define AKFS_INC_DIRECTION_H + +#include "AKFS_Device.h" + +/***** Prototype of function **************************************************/ +AKLIB_C_API_START +int16 AKFS_Direction( + const int16 nhvec, + const AKFVEC hvec[], + const int16 hnave, + const int16 navec, + const AKFVEC avec[], + const int16 anave, + AKFLOAT* azimuth, + AKFLOAT* pitch, + AKFLOAT* roll +); +AKLIB_C_API_END + +#endif + diff --git a/libsensors/akmdfs/AKFS_APIs_8975/AKFS_Math.h b/libsensors/akmdfs/AKFS_APIs_8975/AKFS_Math.h new file mode 100644 index 0000000..dfe48b3 --- /dev/null +++ b/libsensors/akmdfs/AKFS_APIs_8975/AKFS_Math.h @@ -0,0 +1,47 @@ +/****************************************************************************** + * + * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan + * + * 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. + * + ******************************************************************************/ +#ifndef AKFS_INC_MATH_H +#define AKFS_INC_MATH_H + +#include <math.h> +#include "AKFS_Configure.h" + +/***** Constant definition ****************************************************/ +#define AKFS_PI 3.141592654f +#define RAD2DEG(rad) ((rad)*180.0f/AKFS_PI) + +/***** Macro definition *******************************************************/ + +#ifdef AKFS_PRECISION_DOUBLE +#define AKFS_SIN(x) sin(x) +#define AKFS_COS(x) cos(x) +#define AKFS_ASIN(x) asin(x) +#define AKFS_ACOS(x) acos(x) +#define AKFS_ATAN2(y, x) atan2((y), (x)) +#define AKFS_SQRT(x) sqrt(x) +#else +#define AKFS_SIN(x) sinf(x) +#define AKFS_COS(x) cosf(x) +#define AKFS_ASIN(x) asinf(x) +#define AKFS_ACOS(x) acosf(x) +#define AKFS_ATAN2(y, x) atan2f((y), (x)) +#define AKFS_SQRT(x) sqrtf(x) +#endif + +#endif + diff --git a/libsensors/akmdfs/AKFS_APIs_8975/AKFS_VNorm.c b/libsensors/akmdfs/AKFS_APIs_8975/AKFS_VNorm.c new file mode 100644 index 0000000..ffa934a --- /dev/null +++ b/libsensors/akmdfs/AKFS_APIs_8975/AKFS_VNorm.c @@ -0,0 +1,107 @@ +/****************************************************************************** + * + * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan + * + * 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 "AKFS_VNorm.h" +#include "AKFS_Device.h" + +/*! + */ +int16 AKFS_VbNorm( + const int16 ndata, /*!< Size of raw vector buffer */ + const AKFVEC vdata[], /*!< Raw vector buffer */ + const int16 nbuf, /*!< Size of data to be buffered */ + const AKFVEC* o, /*!< Offset */ + const AKFVEC* s, /*!< Sensitivity */ + const AKFLOAT tgt, /*!< Target sensitivity */ + const int16 nvec, /*!< Size of normalized vector buffer */ + AKFVEC vvec[] /*!< Normalized vector buffer */ +) +{ + int i; + + /* size check */ + if ((ndata <= 0) || (nvec <= 0) || (nbuf <= 0)) { + return AKFS_ERROR; + } + /* dependency check */ + if ((nbuf < 1) || (ndata < nbuf) || (nvec < nbuf)) { + return AKFS_ERROR; + } + /* sensitivity check */ + if ((s->u.x <= AKFS_EPSILON) || + (s->u.y <= AKFS_EPSILON) || + (s->u.z <= AKFS_EPSILON) || + (tgt <= 0)) { + return AKFS_ERROR; + } + + /* calculate and store data to buffer */ + if (AKFS_BufShift(nvec, nbuf, vvec) != AKFS_SUCCESS) { + return AKFS_ERROR; + } + for (i=0; i<nbuf; i++) { + vvec[i].u.x = ((vdata[i].u.x - o->u.x) / (s->u.x) * (AKFLOAT)tgt); + vvec[i].u.y = ((vdata[i].u.y - o->u.y) / (s->u.y) * (AKFLOAT)tgt); + vvec[i].u.z = ((vdata[i].u.z - o->u.z) / (s->u.z) * (AKFLOAT)tgt); + } + + return AKFS_SUCCESS; +} + +/*! + */ +int16 AKFS_VbAve( + const int16 nvec, /*!< Size of normalized vector buffer */ + const AKFVEC vvec[], /*!< Normalized vector buffer */ + const int16 nave, /*!< Number of averaeg */ + AKFVEC* vave /*!< Averaged vector */ +) +{ + int i; + + /* arguments check */ + if ((nave <= 0) || (nvec <= 0) || (nvec < nave)) { + return AKFS_ERROR; + } + + /* calculate average */ + vave->u.x = 0; + vave->u.y = 0; + vave->u.z = 0; + for (i=0; i<nave; i++) { + if ((vvec[i].u.x == AKFS_INIT_VALUE_F) || + (vvec[i].u.y == AKFS_INIT_VALUE_F) || + (vvec[i].u.z == AKFS_INIT_VALUE_F)) { + break; + } + vave->u.x += vvec[i].u.x; + vave->u.y += vvec[i].u.y; + vave->u.z += vvec[i].u.z; + } + if (i == 0) { + vave->u.x = 0; + vave->u.y = 0; + vave->u.z = 0; + } else { + vave->u.x /= i; + vave->u.y /= i; + vave->u.z /= i; + } + return AKFS_SUCCESS; +} + + diff --git a/libsensors/akmdfs/AKFS_APIs_8975/AKFS_VNorm.h b/libsensors/akmdfs/AKFS_APIs_8975/AKFS_VNorm.h new file mode 100644 index 0000000..c3c9bed --- /dev/null +++ b/libsensors/akmdfs/AKFS_APIs_8975/AKFS_VNorm.h @@ -0,0 +1,46 @@ +/****************************************************************************** + * + * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan + * + * 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. + * + ******************************************************************************/ +#ifndef AKFS_INC_VNORM_H +#define AKFS_INC_VNORM_H + +#include "AKFS_Device.h" + +/***** Prototype of function **************************************************/ +AKLIB_C_API_START +int16 AKFS_VbNorm( + const int16 ndata, /*!< Size of raw vector buffer */ + const AKFVEC vdata[], /*!< Raw vector buffer */ + const int16 nbuf, /*!< Size of data to be buffered */ + const AKFVEC* o, /*!< Offset */ + const AKFVEC* s, /*!< Sensitivity */ + const AKFLOAT tgt, /*!< Target sensitivity */ + const int16 nvec, /*!< Size of normalized vector buffer */ + AKFVEC vvec[] /*!< Normalized vector buffer */ +); + +int16 AKFS_VbAve( + const int16 nvec, /*!< Size of normalized vector buffer */ + const AKFVEC vvec[], /*!< Normalized vector buffer */ + const int16 nave, /*!< Number of averaeg */ + AKFVEC* vave /*!< Averaged vector */ +); + +AKLIB_C_API_END + +#endif + diff --git a/libsensors/akmdfs/AKFS_CSpec.h b/libsensors/akmdfs/AKFS_CSpec.h new file mode 100644 index 0000000..380f06f --- /dev/null +++ b/libsensors/akmdfs/AKFS_CSpec.h @@ -0,0 +1,38 @@ +/****************************************************************************** + * + * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan + * + * 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. + * + ******************************************************************************/ +#ifndef AKFS_INC_CSPEC_H +#define AKFS_INC_CSPEC_H + +/******************************************************************************* + User defines parameters. + ******************************************************************************/ +/* Parameters for Average */ +/* The number of magnetic/acceleration data to be averaged. */ +#define CSPEC_HNAVE_D 4 +#define CSPEC_ANAVE_D 4 +#define CSPEC_HNAVE_V 8 +#define CSPEC_ANAVE_V 8 + +#ifdef WIN32 +#define CSPEC_SETTING_FILE "akmdfs.txt" +#else +#define CSPEC_SETTING_FILE "/data/misc/akmdfs.txt" +#endif + +#endif + diff --git a/libsensors/akmdfs/AKFS_Common.h b/libsensors/akmdfs/AKFS_Common.h new file mode 100644 index 0000000..53eabf9 --- /dev/null +++ b/libsensors/akmdfs/AKFS_Common.h @@ -0,0 +1,141 @@ +/****************************************************************************** + * + * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan + * + * 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. + * + ******************************************************************************/ +#ifndef AKFS_INC_COMMON_H +#define AKFS_INC_COMMON_H + +#ifdef WIN32 +#ifndef _WIN32_WINNT +#define _WIN32_WINNT 0x0501 +#endif + +#include <windows.h> +#include <stdio.h> +#include <stdlib.h> +#include <conio.h> +#include <stdarg.h> +#include <crtdbg.h> +#include "Android.h" + +#define DBG_LEVEL DBG_LEVEL4 +#define ENABLE_AKMDEBUG 1 + +#else +#include <stdio.h> /* frpintf */ +#include <stdlib.h> /* atoi */ +#include <string.h> /* memset */ +#include <unistd.h> +#include <stdarg.h> /* va_list */ +#include <utils/Log.h> /* LOGV */ +#include <errno.h> /* errno */ + +#endif + +/*** Constant definition ******************************************************/ +#define AKM_TRUE 1 /*!< Represents true */ +#define AKM_FALSE 0 /*!< Represents false */ +#define AKM_SUCCESS 1 /*!< Represents success */ +#define AKM_FAIL 0 /*!< Represents fail */ + +#define DBG_LEVEL0 0 /* Critical */ +#define DBG_LEVEL1 1 /* Notice */ +#define DBG_LEVEL2 2 /* Information */ +#define DBG_LEVEL3 3 /* Debug */ +#define DBG_LEVEL4 4 /* Verbose */ + +#ifndef DBG_LEVEL +#define DBG_LEVEL DBG_LEVEL0 +#endif + +#define DATA_AREA01 0x0001 +#define DATA_AREA02 0x0002 +#define DATA_AREA03 0x0004 +#define DATA_AREA04 0x0008 +#define DATA_AREA05 0x0010 +#define DATA_AREA06 0x0020 +#define DATA_AREA07 0x0040 +#define DATA_AREA08 0x0080 +#define DATA_AREA09 0x0100 +#define DATA_AREA10 0x0200 +#define DATA_AREA11 0x0400 +#define DATA_AREA12 0x0800 +#define DATA_AREA13 0x1000 +#define DATA_AREA14 0x2000 +#define DATA_AREA15 0x4000 +#define DATA_AREA16 0x8000 + + +/* Debug area definition */ +#define AKMDATA_DUMP DATA_AREA01 /*<! Dump data */ +#define AKMDATA_BDATA DATA_AREA02 /*<! BDATA */ +#define AKMDATA_MAG DATA_AREA03 /*<! Magnetic Field */ +#define AKMDATA_ACC DATA_AREA04 /*<! Accelerometer */ +#define AKMDATA_ORI DATA_AREA05 /*<! Orientation */ +#define AKMDATA_GETINTERVAL DATA_AREA06 +#define AKMDATA_LOOP DATA_AREA07 +#define AKMDATA_DRV DATA_AREA08 + +#ifndef ENABLE_AKMDEBUG +#define ENABLE_AKMDEBUG 0 /* Eanble debug output when it is 1. */ +#endif + +#define OPMODE_CONSOLE 0x01 +#define OPMODE_FST 0x02 + +/***** Debug Level Output *************************************/ +#if ENABLE_AKMDEBUG +#define AKMDEBUG(level, format, ...) \ + (((level) <= DBG_LEVEL) \ + ? (fprintf(stdout, (format), ##__VA_ARGS__)) \ + : ((void)0)) +#else +#define AKMDEBUG(level, format, ...) +#endif + +/***** Dbg Zone Output ***************************************/ +#if ENABLE_AKMDEBUG +#define AKMDATA(flag, format, ...) \ + ((((int)flag) & g_dbgzone) \ + ? (fprintf(stdout, (format), ##__VA_ARGS__)) \ + : ((void)0)) +#else +#define AKMDATA(flag, format, ...) +#endif + +/***** Log output ********************************************/ +#ifdef AKM_LOG_ENABLE +#define AKM_LOG(format, ...) LOGD((format), ##__VA_ARGS__) +#else +#define AKM_LOG(format, ...) +#endif + +/***** Error output *******************************************/ +#define AKMERROR \ + ALOGE("%s:%d Error.", __FUNCTION__, __LINE__) + +#define AKMERROR_STR(api) \ + ALOGE("%s:%d %s Error (%s).", \ + __FUNCTION__, __LINE__, (api), strerror(errno)) + +/*** Type declaration *********************************************************/ + +/*** Global variables *********************************************************/ + +/*** Prototype of function ****************************************************/ + +#endif /* AKMD_INC_AKCOMMON_H */ + diff --git a/libsensors/akmdfs/AKFS_Compass.h b/libsensors/akmdfs/AKFS_Compass.h new file mode 100644 index 0000000..aa59285 --- /dev/null +++ b/libsensors/akmdfs/AKFS_Compass.h @@ -0,0 +1,84 @@ +/****************************************************************************** + * + * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan + * + * 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. + * + ******************************************************************************/ +#ifndef AKFS_INC_COMPASS_H +#define AKFS_INC_COMPASS_H + +#include "AKFS_Common.h" +#include "AKFS_CSpec.h" + +/****************************************/ +/* Include files for AK8975 library. */ +/****************************************/ +#include "AKFS_AK8975.h" +#include "AKFS_Configure.h" +#include "AKFS_AOC.h" +#include "AKFS_Device.h" +#include "AKFS_Direction.h" +#include "AKFS_Math.h" +#include "AKFS_VNorm.h" + +/*** Constant definition ******************************************************/ + +/*** Type declaration *********************************************************/ +typedef struct _AKSENSOR_DATA{ + AKFLOAT x; + AKFLOAT y; + AKFLOAT z; + int8 status; +} AKSENSOR_DATA; + +/*! A parameter structure. */ +typedef struct _AK8975PRMS{ + /* Variables for Decomp8975. */ + AKFVEC mfv_hdata[AKFS_HDATA_SIZE]; + uint8vec mi_asa; + uint8 mi_st; + + /* Variables forAOC. */ + AKFS_AOC_VAR m_aocv; + + /* Variables for Magnetometer buffer. */ + AKFVEC mfv_hvbuf[AKFS_HDATA_SIZE]; + AKFVEC mfv_ho; + AKFVEC mfv_hs; + AKFS_PATNO m_hpat; + + /* Variables for Accelerometer buffer. */ + AKFVEC mfv_adata[AKFS_ADATA_SIZE]; + AKFVEC mfv_avbuf[AKFS_ADATA_SIZE]; + AKFVEC mfv_ao; + AKFVEC mfv_as; + + /* Variables for Direction. */ + int16 mi_hnaveD; + int16 mi_anaveD; + AKFLOAT mf_azimuth; + AKFLOAT mf_pitch; + AKFLOAT mf_roll; + + /* Variables for vector output */ + int16 mi_hnaveV; + int16 mi_anaveV; + AKFVEC mfv_hvec; + AKFVEC mfv_avec; + int16 mi_hstatus; + +} AK8975PRMS; + +#endif + diff --git a/libsensors/akmdfs/AKFS_Disp.c b/libsensors/akmdfs/AKFS_Disp.c new file mode 100644 index 0000000..4e7c501 --- /dev/null +++ b/libsensors/akmdfs/AKFS_Disp.c @@ -0,0 +1,89 @@ +/****************************************************************************** + * + * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan + * + * 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 "AKFS_Disp.h" +#include "AKFS_Common.h" + +/*! + Print startup message to Android Log daemon. + */ +void Disp_StartMessage(void) +{ + ALOGI("AK8975 Daemon for Open Source v20120329."); + ALOGI("Debug: %s", ((ENABLE_AKMDEBUG)?("ON"):("OFF"))); + ALOGI("Debug level: %d", DBG_LEVEL); +} + +/*! + Print ending message to Android Log daemon. + */ +void Disp_EndMessage(int ret) +{ + ALOGI("AK8975 for Android end (%d).", ret); +} + +/*! + Print result + */ +void Disp_Result(int buf[YPR_DATA_SIZE]) +{ + AKMDEBUG(DBG_LEVEL1, + "Flag=%d\n", buf[0]); + AKMDEBUG(DBG_LEVEL1, + "Acc(%d):%8.2f, %8.2f, %8.2f\n", + buf[4], REVERT_ACC(buf[1]), REVERT_ACC(buf[2]), REVERT_ACC(buf[3])); + AKMDEBUG(DBG_LEVEL1, + "Mag(%d):%8.2f, %8.2f, %8.2f\n", + buf[8], REVERT_MAG(buf[5]), REVERT_MAG(buf[6]), REVERT_MAG(buf[7])); + AKMDEBUG(DBG_LEVEL1, + "Ori(%d)=%8.2f, %8.2f, %8.2f\n", + buf[8], REVERT_ORI(buf[9]), REVERT_ORI(buf[10]), REVERT_ORI(buf[11])); +} + +/*! + Output main menu to stdout and wait for user input from stdin. + @return Selected mode. + */ +MODE Menu_Main(void) +{ + char msg[20]; + memset(msg, 0, sizeof(msg)); + + AKMDEBUG(DBG_LEVEL1, + " -------------------- AK8975 Console Application -------------------- \n" + " 1. Start measurement. \n" + " 2. Self-test. \n" + " Q. Quit application. \n" + " --------------------------------------------------------------------- \n" + " Please select a number.\n" + " ---> "); + fgets(msg, 10, stdin); + AKMDEBUG(DBG_LEVEL1, "\n"); + + /* BUG : If 2-digits number is input, */ + /* only the first character is compared. */ + if (!strncmp(msg, "1", 1)) { + return MODE_Measure; + } else if (!strncmp(msg, "2", 1)) { + return MODE_SelfTest; + } else if (strncmp(msg, "Q", 1) == 0 || strncmp(msg, "q", 1) == 0) { + return MODE_Quit; + } else { + return MODE_ERROR; + } +} + diff --git a/libsensors/akmdfs/AKFS_Disp.h b/libsensors/akmdfs/AKFS_Disp.h new file mode 100644 index 0000000..4769e3c --- /dev/null +++ b/libsensors/akmdfs/AKFS_Disp.h @@ -0,0 +1,52 @@ +/****************************************************************************** + * + * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan + * + * 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. + * + ******************************************************************************/ +#ifndef AKFS_INC_DISP_H +#define AKFS_INC_DISP_H + +/* Include file for AK8975 library. */ +#include "AKFS_Compass.h" + +/*** Constant definition ******************************************************/ +#define REVERT_ACC(a) ((float)((a) * 9.8f / 720.0f)) +#define REVERT_MAG(m) ((float)((m) * 0.06f)) +#define REVERT_ORI(o) ((float)((o) / 64.0f)) + +/*** Type declaration *********************************************************/ + +/*! These defined types represents the current mode. */ +typedef enum _MODE { + MODE_ERROR, /*!< Error */ + MODE_Measure, /*!< Measurement */ + MODE_SelfTest, /*!< Self-test */ + MODE_Quit /*!< Quit */ +} MODE; + +/*** Prototype of function ****************************************************/ +/* + Disp_ : Display messages. + Menu_ : Display menu (two or more selection) and wait for user input. + */ + +void Disp_StartMessage(void); +void Disp_EndMessage(int ret); +void Disp_Result(int buf[YPR_DATA_SIZE]); + +MODE Menu_Main(void); + +#endif + diff --git a/libsensors/akmdfs/AKFS_FileIO.c b/libsensors/akmdfs/AKFS_FileIO.c new file mode 100644 index 0000000..92c2ce9 --- /dev/null +++ b/libsensors/akmdfs/AKFS_FileIO.c @@ -0,0 +1,130 @@ +/****************************************************************************** + * + * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan + * + * 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 "AKFS_FileIO.h" + +/*** Constant definition ******************************************************/ +#ifdef AKFS_PRECISION_DOUBLE +#define AKFS_SCANF_FORMAT "%63s = %lf" +#else +#define AKFS_SCANF_FORMAT "%63s = %f" +#endif +#define AKFS_PRINTF_FORMAT "%s = %f\n" +#define LOAD_BUF_SIZE 64 + +/*! + Load parameters from file which is specified with #path. This function reads + data from a beginning of the file line by line, and check parameter name + sequentially. In otherword, this function depends on the order of eache + parameter described in the file. + @return If function fails, the return value is #AKM_FAIL. When function fails, + the output is undefined. Therefore, parameters which are possibly overwritten + by this function should be initialized again. If function succeeds, the + return value is #AKM_SUCCESS. + @param[out] prms A pointer to #AK8975PRMS structure. Loaded parameter is + stored to the member of this structure. + @param[in] path A path to the setting file. + */ +int16 AKFS_LoadParameters(AK8975PRMS * prms, const char* path) +{ + int16 ret; + char buf[LOAD_BUF_SIZE]; + FILE *fp = NULL; + + /* Open setting file for read. */ + if ((fp = fopen(path, "r")) == NULL) { + AKMERROR_STR("fopen"); + return AKM_FAIL; + } + + ret = 1; + + /* Load data to HO */ + if (fscanf(fp, AKFS_SCANF_FORMAT, buf, &prms->mfv_ho.u.x) != 2) { + ret = 0; + } else { + if (strncmp(buf, "HO.x", sizeof(buf)) != 0) { + ret = 0; + } + } + if (fscanf(fp, AKFS_SCANF_FORMAT, buf, &prms->mfv_ho.u.y) != 2) { + ret = 0; + } else { + if (strncmp(buf, "HO.y", sizeof(buf)) != 0) { + ret = 0; + } + } + if (fscanf(fp, AKFS_SCANF_FORMAT, buf, &prms->mfv_ho.u.z) != 2) { + ret = 0; + } else { + if (strncmp(buf, "HO.z", sizeof(buf)) != 0) { + ret = 0; + } + } + + if (fclose(fp) != 0) { + AKMERROR_STR("fclose"); + ret = 0; + } + + if (ret == 0) { + AKMERROR; + return AKM_FAIL; + } + + return AKM_SUCCESS; +} + +/*! + Save parameters to file which is specified with #path. This function saves + variables when the offsets of magnetic sensor estimated successfully. + @return If function fails, the return value is #AKM_FAIL. When function fails, + the parameter file may collapsed. Therefore, the parameters file should be + discarded. If function succeeds, the return value is #AKM_SUCCESS. + @param[out] prms A pointer to #AK8975PRMS structure. Member variables are + saved to the parameter file. + @param[in] path A path to the setting file. + */ +int16 AKFS_SaveParameters(AK8975PRMS *prms, const char* path) +{ + int16 ret = 1; + FILE *fp; + + /*Open setting file for write. */ + if ((fp = fopen(path, "w")) == NULL) { + AKMERROR_STR("fopen"); + return AKM_FAIL; + } + + /* Save data to HO */ + if (fprintf(fp, AKFS_PRINTF_FORMAT, "HO.x", prms->mfv_ho.u.x) < 0) { ret = 0; } + if (fprintf(fp, AKFS_PRINTF_FORMAT, "HO.y", prms->mfv_ho.u.y) < 0) { ret = 0; } + if (fprintf(fp, AKFS_PRINTF_FORMAT, "HO.z", prms->mfv_ho.u.z) < 0) { ret = 0; } + + if (fclose(fp) != 0) { + AKMERROR_STR("fclose"); + ret = 0; + } + + if (ret == 0) { + AKMERROR; + return AKM_FAIL; + } + + return AKM_SUCCESS; +} + diff --git a/libsensors/akmdfs/AKFS_FileIO.h b/libsensors/akmdfs/AKFS_FileIO.h new file mode 100644 index 0000000..62f6e77 --- /dev/null +++ b/libsensors/akmdfs/AKFS_FileIO.h @@ -0,0 +1,39 @@ +/****************************************************************************** + * + * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan + * + * 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. + * + ******************************************************************************/ +#ifndef AKFS_INC_FILEIO_H +#define AKFS_INC_FILEIO_H + +/* Common include files. */ +#include "AKFS_Common.h" + +/* Include file for AK8975 library. */ +#include "AKFS_Compass.h" + +/*** Constant definition ******************************************************/ + +/*** Type declaration *********************************************************/ + +/*** Global variables *********************************************************/ + +/*** Prototype of function ****************************************************/ +int16 AKFS_LoadParameters(AK8975PRMS *prms, const char* path); + +int16 AKFS_SaveParameters(AK8975PRMS* prms, const char* path); + +#endif + diff --git a/libsensors/akmdfs/AKFS_Measure.c b/libsensors/akmdfs/AKFS_Measure.c new file mode 100644 index 0000000..84c0843 --- /dev/null +++ b/libsensors/akmdfs/AKFS_Measure.c @@ -0,0 +1,410 @@ +/****************************************************************************** + * + * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan + * + * 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. + * + ******************************************************************************/ +#ifdef WIN32 +#include "AK8975_LinuxDriver.h" +#else +#include "AK8975Driver.h" +#endif + +#include "AKFS_Measure.h" +#include "AKFS_Disp.h" +#include "AKFS_APIs.h" + +/*! + Read sensitivity adjustment data from fuse ROM. + @return If data are read successfully, the return value is #AKM_SUCCESS. + Otherwise the return value is #AKM_FAIL. + @param[out] regs The read ASA values. When this function succeeds, ASAX value + is saved in regs[0], ASAY is saved in regs[1], ASAZ is saved in regs[2]. + */ +int16 AKFS_ReadAK8975FUSEROM( + uint8 regs[3] +) +{ + /* Set to FUSE ROM access mode */ + if (AKD_SetMode(AK8975_MODE_FUSE_ACCESS) != AKD_SUCCESS) { + AKMERROR; + return AKM_FAIL; + } + + /* Read values. ASAX, ASAY, ASAZ */ + if (AKD_RxData(AK8975_FUSE_ASAX, regs, 3) != AKD_SUCCESS) { + AKMERROR; + return AKM_FAIL; + } + + /* Set to PowerDown mode */ + if (AKD_SetMode(AK8975_MODE_POWERDOWN) != AKD_SUCCESS) { + AKMERROR; + return AKM_FAIL; + } + + AKMDEBUG(DBG_LEVEL2, "%s: asa(dec)=%d,%d,%d\n", + __FUNCTION__, regs[0], regs[1], regs[2]); + + return AKM_SUCCESS; +} + +/*! + Carry out self-test. + @return If this function succeeds, the return value is #AKM_SUCCESS. + Otherwise the return value is #AKM_FAIL. + */ +int16 AKFS_SelfTest(void) +{ + BYTE i2cData[SENSOR_DATA_SIZE]; + BYTE asa[3]; + AKFLOAT hdata[3]; + int16 ret; + + /* Set to FUSE ROM access mode */ + if (AKD_SetMode(AK8975_MODE_FUSE_ACCESS) != AKD_SUCCESS) { + AKMERROR; + return AKM_FAIL; + } + + /* Read values from ASAX to ASAZ */ + if (AKD_RxData(AK8975_FUSE_ASAX, asa, 3) != AKD_SUCCESS) { + AKMERROR; + return AKM_FAIL; + } + + /* Set to PowerDown mode */ + if (AKD_SetMode(AK8975_MODE_POWERDOWN) != AKD_SUCCESS) { + AKMERROR; + return AKM_FAIL; + } + + /* Set to self-test mode */ + i2cData[0] = 0x40; + if (AKD_TxData(AK8975_REG_ASTC, i2cData, 1) != AKD_SUCCESS) { + AKMERROR; + return AKM_FAIL; + } + + /* Set to Self-test mode */ + if (AKD_SetMode(AK8975_MODE_SELF_TEST) != AKD_SUCCESS) { + AKMERROR; + return AKM_FAIL; + } + + /* + Wait for DRDY pin changes to HIGH. + Get measurement data from AK8975 + */ + if (AKD_GetMagneticData(i2cData) != AKD_SUCCESS) { + AKMERROR; + return AKM_FAIL; + } + + hdata[0] = AK8975_HDATA_CONVERTER(i2cData[2], i2cData[1], asa[0]); + hdata[1] = AK8975_HDATA_CONVERTER(i2cData[4], i2cData[3], asa[1]); + hdata[2] = AK8975_HDATA_CONVERTER(i2cData[6], i2cData[5], asa[2]); + + /* Test */ + ret = 1; + if ((hdata[0] < AK8975_SELFTEST_MIN_X) || + (AK8975_SELFTEST_MAX_X < hdata[0])) { + ret = 0; + } + if ((hdata[1] < AK8975_SELFTEST_MIN_Y) || + (AK8975_SELFTEST_MAX_Y < hdata[1])) { + ret = 0; + } + if ((hdata[2] < AK8975_SELFTEST_MIN_Z) || + (AK8975_SELFTEST_MAX_Z < hdata[2])) { + ret = 0; + } + + AKMDEBUG(DBG_LEVEL2, "Test(%s):%8.2f, %8.2f, %8.2f\n", + (ret ? "Success" : "fail"), hdata[0], hdata[1], hdata[2]); + + if (ret) { + return AKM_SUCCESS; + } else { + return AKM_FAIL; + } +} + +/*! + This function calculate the duration of sleep for maintaining + the loop keep the period. + This function calculates "minimum - (end - start)". + @return The result of above equation in nanosecond. + @param end The time of after execution. + @param start The time of before execution. + @param minimum Loop period of each execution. + */ +struct timespec AKFS_CalcSleep( + const struct timespec* end, + const struct timespec* start, + const int64_t minimum +) +{ + int64_t endL; + int64_t startL; + int64_t diff; + + struct timespec ret; + + endL = (end->tv_sec * 1000000000) + end->tv_nsec; + startL = (start->tv_sec * 1000000000) + start->tv_nsec; + diff = minimum; + + diff -= (endL - startL); + + /* Don't allow negative value */ + if (diff < 0) { + diff = 0; + } + + /* Convert to timespec */ + if (diff > 1000000000) { + ret.tv_sec = diff / 1000000000; + ret.tv_nsec = diff % 1000000000; + } else { + ret.tv_sec = 0; + ret.tv_nsec = diff; + } + return ret; +} + +/*! + Get interval of each sensors from device driver. + @return If this function succeeds, the return value is #AKM_SUCCESS. + Otherwise the return value is #AKM_FAIL. + @param flag This variable indicates what sensor frequency is updated. + @param minimum This value show the minimum loop period in all sensors. + */ +int16 AKFS_GetInterval( + uint16* flag, + int64_t* minimum +) +{ + /* Accelerometer, Magnetometer, Orientation */ + /* Delay is in nano second unit. */ + /* Negative value means the sensor is disabled.*/ + int64_t delay[AKM_NUM_SENSORS]; + int i; + + if (AKD_GetDelay(delay) < 0) { + AKMERROR; + return AKM_FAIL; + } + AKMDATA(AKMDATA_GETINTERVAL,"delay[A,M,O]=%lld,%lld,%lld\n", + delay[0], delay[1], delay[2]); + + /* update */ + *minimum = 1000000000; + *flag = 0; + for (i=0; i<AKM_NUM_SENSORS; i++) { + /* Set flag */ + if (delay[i] >= 0) { + *flag |= 1 << i; + if (*minimum > delay[i]) { + *minimum = delay[i]; + } + } + } + return AKM_SUCCESS; +} + +/*! + If this program run as console mode, measurement result will be displayed + on console terminal. + @return If this function succeeds, the return value is #AKM_SUCCESS. + Otherwise the return value is #AKM_FAIL. + */ +void AKFS_OutputResult( + const uint16 flag, + const AKSENSOR_DATA* acc, + const AKSENSOR_DATA* mag, + const AKSENSOR_DATA* ori +) +{ + int buf[YPR_DATA_SIZE]; + + /* Store to buffer */ + buf[0] = flag; /* Data flag */ + buf[1] = CONVERT_ACC(acc->x); /* Ax */ + buf[2] = CONVERT_ACC(acc->y); /* Ay */ + buf[3] = CONVERT_ACC(acc->z); /* Az */ + buf[4] = acc->status; /* Acc status */ + buf[5] = CONVERT_MAG(mag->x); /* Mx */ + buf[6] = CONVERT_MAG(mag->y); /* My */ + buf[7] = CONVERT_MAG(mag->z); /* Mz */ + buf[8] = mag->status; /* Mag status */ + buf[9] = CONVERT_ORI(ori->x); /* yaw */ + buf[10] = CONVERT_ORI(ori->y); /* pitch */ + buf[11] = CONVERT_ORI(ori->z); /* roll */ + + if (g_opmode & OPMODE_CONSOLE) { + /* Console mode */ + Disp_Result(buf); + } + + /* Set result to driver */ + AKD_SetYPR(buf); +} + +/*! + This is the main routine of measurement. + */ +void AKFS_MeasureLoop(void) +{ + BYTE i2cData[SENSOR_DATA_SIZE]; /* ST1 ~ ST2 */ + int16 mag[3]; + int16 mstat; + int16 acc[3]; + struct timespec tsstart= {0, 0}; + struct timespec tsend = {0, 0}; + struct timespec doze; + int64_t minimum; + uint16 flag; + AKSENSOR_DATA sv_acc; + AKSENSOR_DATA sv_mag; + AKSENSOR_DATA sv_ori; + AKFLOAT tmpx, tmpy, tmpz; + int16 tmp_accuracy; + + minimum = -1; + +#ifdef WIN32 + clock_init_time(); +#endif + + /* Initialize library functions and device */ + if (AKFS_Start(CSPEC_SETTING_FILE) != AKM_SUCCESS) { + AKMERROR; + goto MEASURE_END; + } + + while (g_stopRequest != AKM_TRUE) { + /* Beginning time */ + if (clock_gettime(CLOCK_MONOTONIC, &tsstart) < 0) { + AKMERROR; + goto MEASURE_END; + } + + /* Get interval */ + if (AKFS_GetInterval(&flag, &minimum) != AKM_SUCCESS) { + AKMERROR; + goto MEASURE_END; + } + + if ((flag & ACC_DATA_READY) || (flag & ORI_DATA_READY)) { + /* Get accelerometer */ + if (AKD_GetAccelerationData(acc) != AKD_SUCCESS) { + AKMERROR; + goto MEASURE_END; + } + + /* Calculate accelerometer vector */ + if (AKFS_Get_ACCELEROMETER(acc, 0, &tmpx, &tmpy, &tmpz, &tmp_accuracy) == AKM_SUCCESS) { + sv_acc.x = tmpx; + sv_acc.y = tmpy; + sv_acc.z = tmpz; + sv_acc.status = tmp_accuracy; + } else { + flag &= ~ACC_DATA_READY; + flag &= ~ORI_DATA_READY; + } + } + + if ((flag & MAG_DATA_READY) || (flag & ORI_DATA_READY)) { + /* Set to measurement mode */ + if (AKD_SetMode(AK8975_MODE_SNG_MEASURE) != AKD_SUCCESS) { + AKMERROR; + goto MEASURE_END; + } + + /* Wait for DRDY and get data from device */ + if (AKD_GetMagneticData(i2cData) != AKD_SUCCESS) { + AKMERROR; + goto MEASURE_END; + } + /* raw data to x,y,z value */ + mag[0] = (int)((int16_t)(i2cData[2]<<8)+((int16_t)i2cData[1])); + mag[1] = (int)((int16_t)(i2cData[4]<<8)+((int16_t)i2cData[3])); + mag[2] = (int)((int16_t)(i2cData[6]<<8)+((int16_t)i2cData[5])); + mstat = i2cData[0] | i2cData[7]; + + AKMDATA(AKMDATA_BDATA, + "bData=%02X,%02X,%02X,%02X,%02X,%02X,%02X,%02X\n", + i2cData[0], i2cData[1], i2cData[2], i2cData[3], + i2cData[4], i2cData[5], i2cData[6], i2cData[7]); + + /* Calculate magnetic field vector */ + if (AKFS_Get_MAGNETIC_FIELD(mag, mstat, &tmpx, &tmpy, &tmpz, &tmp_accuracy) == AKM_SUCCESS) { + sv_mag.x = tmpx; + sv_mag.y = tmpy; + sv_mag.z = tmpz; + sv_mag.status = tmp_accuracy; + } else { + flag &= ~MAG_DATA_READY; + flag &= ~ORI_DATA_READY; + } + } + + if (flag & ORI_DATA_READY) { + if (AKFS_Get_ORIENTATION(&tmpx, &tmpy, &tmpz, &tmp_accuracy) == AKM_SUCCESS) { + sv_ori.x = tmpx; + sv_ori.y = tmpy; + sv_ori.z = tmpz; + sv_ori.status = tmp_accuracy; + } else { + flag &= ~ORI_DATA_READY; + } + } + + /* Output result */ + AKFS_OutputResult(flag, &sv_acc, &sv_mag, &sv_ori); + + /* Ending time */ + if (clock_gettime(CLOCK_MONOTONIC, &tsend) < 0) { + AKMERROR; + goto MEASURE_END; + } + + /* Calculate duration */ + doze = AKFS_CalcSleep(&tsend, &tsstart, minimum); + AKMDATA(AKMDATA_LOOP, "Sleep: %6.2f msec\n", (doze.tv_nsec/1000000.0f)); + nanosleep(&doze, NULL); + +#ifdef WIN32 + if (_kbhit()) { + _getch(); + break; + } +#endif + } + +MEASURE_END: + /* Set to PowerDown mode */ + if (AKD_SetMode(AK8975_MODE_POWERDOWN) != AKD_SUCCESS) { + AKMERROR; + return; + } + + /* Save parameters */ + if (AKFS_Stop(CSPEC_SETTING_FILE) != AKM_SUCCESS) { + AKMERROR; + } +} + + diff --git a/libsensors/akmdfs/AKFS_Measure.h b/libsensors/akmdfs/AKFS_Measure.h new file mode 100644 index 0000000..d156b95 --- /dev/null +++ b/libsensors/akmdfs/AKFS_Measure.h @@ -0,0 +1,70 @@ +/****************************************************************************** + * + * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan + * + * 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. + * + ******************************************************************************/ +#ifndef AKFS_INC_MEASURE_H +#define AKFS_INC_MEASURE_H + +/* Include files for AK8975 library. */ +#include "AKFS_Compass.h" + +/*** Constant definition ******************************************************/ +#define AK8975_SELFTEST_MIN_X -100 +#define AK8975_SELFTEST_MAX_X 100 + +#define AK8975_SELFTEST_MIN_Y -100 +#define AK8975_SELFTEST_MAX_Y 100 + +#define AK8975_SELFTEST_MIN_Z -1000 +#define AK8975_SELFTEST_MAX_Z -300 + +#define CONVERT_ACC(a) ((int)((a) * 720 / 9.8f)) +#define CONVERT_MAG(m) ((int)((m) / 0.06f)) +#define CONVERT_ORI(o) ((int)((o) * 64)) + +/*** Type declaration *********************************************************/ + +/*** Global variables *********************************************************/ + +/*** Prototype of function ****************************************************/ +int16 AKFS_ReadAK8975FUSEROM( + uint8 regs[3] +); + +int16 AKFS_SelfTest(void); + +struct timespec AKFS_CalcSleep( + const struct timespec* end, + const struct timespec* start, + const int64_t minimum +); + +int16 AKFS_GetInterval( + uint16* flag, + int64_t* minimum +); + +void AKFS_OutputResult( + const uint16 flag, + const AKSENSOR_DATA* acc, + const AKSENSOR_DATA* mag, + const AKSENSOR_DATA* ori +); + +void AKFS_MeasureLoop(void); + +#endif + diff --git a/libsensors/akmdfs/NOTICE b/libsensors/akmdfs/NOTICE new file mode 100644 index 0000000..d645695 --- /dev/null +++ b/libsensors/akmdfs/NOTICE @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + 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. diff --git a/libsensors/akmdfs/Version.txt b/libsensors/akmdfs/Version.txt new file mode 100644 index 0000000..3d56b30 --- /dev/null +++ b/libsensors/akmdfs/Version.txt @@ -0,0 +1,31 @@ +Version + * Console Version 20120329 + 570 AK8975Driver.c + 496 AK8975Driver.h + 579 AKFS_APIs.c + 572 AKFS_APIs.h + 580 AKFS_APIs_8975/AKFS_AK8975.c + 580 AKFS_APIs_8975/AKFS_AK8975.h + 580 AKFS_APIs_8975/AKFS_AOC.c + 580 AKFS_APIs_8975/AKFS_AOC.h + 580 AKFS_APIs_8975/AKFS_Configure.h + 580 AKFS_APIs_8975/AKFS_Device.c + 580 AKFS_APIs_8975/AKFS_Device.h + 580 AKFS_APIs_8975/AKFS_Direction.c + 580 AKFS_APIs_8975/AKFS_Direction.h + 580 AKFS_APIs_8975/AKFS_Math.h + 580 AKFS_APIs_8975/AKFS_VNorm.c + 580 AKFS_APIs_8975/AKFS_VNorm.h + 568 AKFS_CSpec.h + 573 AKFS_Common.h + 572 AKFS_Compass.h + 579 AKFS_Disp.c + 568 AKFS_Disp.h + 568 AKFS_FileIO.c + 549 AKFS_FileIO.h + 573 AKFS_Measure.c + 568 AKFS_Measure.h + 574 Android.mk + 575 NOTICE + 579 main.c + diff --git a/libsensors/akmdfs/main.c b/libsensors/akmdfs/main.c new file mode 100644 index 0000000..a3df0bc --- /dev/null +++ b/libsensors/akmdfs/main.c @@ -0,0 +1,293 @@ +/****************************************************************************** + * + * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan + * + * 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 "AKFS_Common.h" +#include "AKFS_Compass.h" +#include "AKFS_Disp.h" +#include "AKFS_FileIO.h" +#include "AKFS_Measure.h" +#include "AKFS_APIs.h" + +#ifndef WIN32 +#include <sched.h> +#include <pthread.h> +#include <linux/input.h> +#endif + +#define ERROR_INITDEVICE (-1) +#define ERROR_OPTPARSE (-2) +#define ERROR_SELF_TEST (-3) +#define ERROR_READ_FUSE (-4) +#define ERROR_INIT (-5) +#define ERROR_GETOPEN_STAT (-6) +#define ERROR_STARTCLONE (-7) +#define ERROR_GETCLOSE_STAT (-8) + +/* Global variable. See AKFS_Common.h file. */ +int g_stopRequest = 0; +int g_opmode = 0; +int g_dbgzone = 0; +int g_mainQuit = AKD_FALSE; + +/* Static variable. */ +static pthread_t s_thread; /*!< Thread handle */ + +/*! + A thread function which is raised when measurement is started. + @param[in] args This parameter is not used currently. + */ +static void* thread_main(void* args) +{ + AKFS_MeasureLoop(); + return ((void*)0); +} + +/*! + Signal handler. This should be used only in DEBUG mode. + @param[in] sig Event + */ +static void signal_handler(int sig) +{ + if (sig == SIGINT) { + ALOGE("SIGINT signal"); + g_stopRequest = 1; + g_mainQuit = AKD_TRUE; + } +} + +/*! + Starts new thread. + @return If this function succeeds, the return value is 1. Otherwise, + the return value is 0. + */ +static int startClone(void) +{ + pthread_attr_t attr; + + pthread_attr_init(&attr); + g_stopRequest = 0; + if (pthread_create(&s_thread, &attr, thread_main, NULL) == 0) { + return 1; + } else { + return 0; + } +} + +/*! + This function parse the option. + @retval 1 Parse succeeds. + @retval 0 Parse failed. + @param[in] argc Argument count + @param[in] argv Argument vector + @param[out] layout_patno + */ +int OptParse( + int argc, + char* argv[], + AKFS_PATNO* layout_patno) +{ +#ifdef WIN32 + /* Static */ +#if defined(AKFS_WIN32_PAT1) + *layout_patno = PAT1; +#elif defined(AKFS_WIN32_PAT2) + *layout_patno = PAT2; +#elif defined(AKFS_WIN32_PAT3) + *layout_patno = PAT3; +#elif defined(AKFS_WIN32_PAT4) + *layout_patno = PAT4; +#elif defined(AKFS_WIN32_PAT5) + *layout_patno = PAT5; +#else + *layout_patno = PAT1; +#endif + g_opmode = OPMODE_CONSOLE; + /*g_opmode = 0;*/ + g_dbgzone = AKMDATA_LOOP | AKMDATA_TEST; +#else + int opt; + char optVal; + + *layout_patno = PAT_INVALID; + + while ((opt = getopt(argc, argv, "sm:z:")) != -1) { + switch(opt){ + case 'm': + optVal = (char)(optarg[0] - '0'); + if ((PAT1 <= optVal) && (optVal <= PAT8)) { + *layout_patno = (AKFS_PATNO)optVal; + AKMDEBUG(DBG_LEVEL2, "%s: Layout=%d\n", __FUNCTION__, optVal); + } + break; + case 's': + g_opmode |= OPMODE_CONSOLE; + break; + case 'z': + /* If error detected, hopefully 0 is returned. */ + errno = 0; + g_dbgzone = (int)strtol(optarg, (char**)NULL, 0); + AKMDEBUG(DBG_LEVEL2, "%s: Dbg Zone=%d\n", __FUNCTION__, g_dbgzone); + break; + default: + ALOGE("%s: Invalid argument", argv[0]); + return 0; + } + } + + /* If layout is not specified with argument, get parameter from driver */ + if (*layout_patno == PAT_INVALID) { + int16_t n; + if (AKD_GetLayout(&n) == AKM_SUCCESS) { + if ((PAT1 <= n) && (n <= PAT8)) { + *layout_patno = (AKFS_PATNO)n; + } + } + } + /* Error */ + if (*layout_patno == PAT_INVALID) { + ALOGE("No layout is specified."); + return 0; + } +#endif + + return 1; +} + +void ConsoleMode(void) +{ + /*** Console Mode *********************************************/ + while (AKD_TRUE) { + /* Select operation */ + switch (Menu_Main()) { + case MODE_SelfTest: + AKFS_SelfTest(); + break; + case MODE_Measure: + /* Reset flag */ + g_stopRequest = 0; + /* Measurement routine */ + AKFS_MeasureLoop(); + break; + + case MODE_Quit: + return; + + default: + AKMDEBUG(DBG_LEVEL0, "Unknown operation mode.\n"); + break; + } + } +} + +int main(int argc, char **argv) +{ + int retValue = 0; + AKFS_PATNO pat; + uint8 regs[3]; + + /* Show the version info of this software. */ + Disp_StartMessage(); + +#if ENABLE_AKMDEBUG + /* Register signal handler */ + signal(SIGINT, signal_handler); +#endif + + /* Open device driver */ + if(AKD_InitDevice() != AKD_SUCCESS) { + retValue = ERROR_INITDEVICE; + goto MAIN_QUIT; + } + + /* Parse command-line options */ + /* This function calls device driver function to get layout */ + if (OptParse(argc, argv, &pat) == 0) { + retValue = ERROR_OPTPARSE; + goto MAIN_QUIT; + } + + /* Self Test */ + if (g_opmode & OPMODE_FST){ + if (AKFS_SelfTest() != AKD_SUCCESS) { + retValue = ERROR_SELF_TEST; + goto MAIN_QUIT; + } + } + + /* OK, then start */ + if (AKFS_ReadAK8975FUSEROM(regs) != AKM_SUCCESS) { + retValue = ERROR_READ_FUSE; + goto MAIN_QUIT; + } + + /* Initialize library. */ + if (AKFS_Init(pat, regs) != AKM_SUCCESS) { + retValue = ERROR_INIT; + goto MAIN_QUIT; + } + + /* Start console mode */ + if (g_opmode & OPMODE_CONSOLE) { + ConsoleMode(); + goto MAIN_QUIT; + } + + /*** Start Daemon ********************************************/ + while (g_mainQuit == AKD_FALSE) { + int st = 0; + /* Wait until device driver is opened. */ + if (AKD_GetOpenStatus(&st) != AKD_SUCCESS) { + retValue = ERROR_GETOPEN_STAT; + goto MAIN_QUIT; + } + if (st == 0) { + ALOGI("Suspended."); + } else { + ALOGI("Compass Opened."); + /* Reset flag */ + g_stopRequest = 0; + /* Start measurement thread. */ + if (startClone() == 0) { + retValue = ERROR_STARTCLONE; + goto MAIN_QUIT; + } + + /* Wait until device driver is closed. */ + if (AKD_GetCloseStatus(&st) != AKD_SUCCESS) { + retValue = ERROR_GETCLOSE_STAT; + g_mainQuit = AKD_TRUE; + } + /* Wait thread completion. */ + g_stopRequest = 1; + pthread_join(s_thread, NULL); + ALOGI("Compass Closed."); + } + } + +MAIN_QUIT: + + /* Release library */ + AKFS_Release(); + /* Close device driver. */ + AKD_DeinitDevice(); + /* Show the last message. */ + Disp_EndMessage(retValue); + + return retValue; +} + + diff --git a/libsensors/cm36651_light.c b/libsensors/cm36651_light.c new file mode 100644 index 0000000..389f5b6 --- /dev/null +++ b/libsensors/cm36651_light.c @@ -0,0 +1,241 @@ +/* + * Copyright (C) 2013 Paul Kocialkowski + * + * 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 <sys/types.h> +#include <linux/ioctl.h> +#include <linux/input.h> + +#include <hardware/sensors.h> +#include <hardware/hardware.h> + +#define LOG_TAG "exynos_sensors" +#include <utils/Log.h> + +#include "exynos_sensors.h" + +struct cm36651_light_data { + char path_enable[PATH_MAX]; + char path_delay[PATH_MAX]; +}; + +int cm36651_light_init(struct exynos_sensors_handlers *handlers, + struct exynos_sensors_device *device) +{ + struct cm36651_light_data *data = NULL; + char path[PATH_MAX] = { 0 }; + int input_fd = -1; + int rc; + + ALOGD("%s(%p, %p)", __func__, handlers, device); + + if (handlers == NULL) + return -EINVAL; + + data = (struct cm36651_light_data *) calloc(1, sizeof(struct cm36651_light_data)); + + input_fd = input_open("light_sensor"); + if (input_fd < 0) { + ALOGE("%s: Unable to open input", __func__); + goto error; + } + + rc = sysfs_path_prefix("light_sensor", (char *) &path); + if (rc < 0 || path[0] == '\0') { + ALOGE("%s: Unable to open sysfs", __func__); + goto error; + } + + snprintf(data->path_enable, PATH_MAX, "%s/enable", path); + snprintf(data->path_delay, PATH_MAX, "%s/poll_delay", path); + + handlers->poll_fd = input_fd; + handlers->data = (void *) data; + + return 0; + +error: + if (data != NULL) + free(data); + + if (input_fd >= 0) + close(input_fd); + + handlers->poll_fd = -1; + handlers->data = NULL; + + return -1; +} + +int cm36651_light_deinit(struct exynos_sensors_handlers *handlers) +{ + ALOGD("%s(%p)", __func__, handlers); + + if (handlers == NULL) + return -EINVAL; + + if (handlers->poll_fd >= 0) + close(handlers->poll_fd); + handlers->poll_fd = -1; + + if (handlers->data != NULL) + free(handlers->data); + handlers->data = NULL; + + return 0; +} + + +int cm36651_light_activate(struct exynos_sensors_handlers *handlers) +{ + struct cm36651_light_data *data; + int rc; + + ALOGD("%s(%p)", __func__, handlers); + + if (handlers == NULL || handlers->data == NULL) + return -EINVAL; + + data = (struct cm36651_light_data *) handlers->data; + + rc = sysfs_value_write(data->path_enable, 1); + if (rc < 0) { + ALOGE("%s: Unable to write sysfs value", __func__); + return -1; + } + + handlers->activated = 1; + + return 0; +} + +int cm36651_light_deactivate(struct exynos_sensors_handlers *handlers) +{ + struct cm36651_light_data *data; + int rc; + + ALOGD("%s(%p)", __func__, handlers); + + if (handlers == NULL || handlers->data == NULL) + return -EINVAL; + + data = (struct cm36651_light_data *) handlers->data; + + rc = sysfs_value_write(data->path_enable, 0); + if (rc < 0) { + ALOGE("%s: Unable to write sysfs value", __func__); + return -1; + } + + handlers->activated = 1; + + return 0; +} + +int cm36651_light_set_delay(struct exynos_sensors_handlers *handlers, long int delay) +{ + struct cm36651_light_data *data; + int rc; + + ALOGD("%s(%p, %ld)", __func__, handlers, delay); + + if (handlers == NULL || handlers->data == NULL) + return -EINVAL; + + data = (struct cm36651_light_data *) handlers->data; + + rc = sysfs_value_write(data->path_delay, (int) delay); + if (rc < 0) { + ALOGE("%s: Unable to write sysfs value", __func__); + return -1; + } + + return 0; +} + +float cm36651_light_convert(int red, int green, int blue, int white) +{ + return (float) white * 1.7f - 0.5f; +} + +int cm36651_light_get_data(struct exynos_sensors_handlers *handlers, + struct sensors_event_t *event) +{ + struct input_event input_event; + int red = 0; + int green = 0; + int blue = 0; + int white = 0; + int input_fd; + 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; + + 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) { + if (input_event.code == REL_X) + red = input_event.value; + if (input_event.code == REL_Y) + green = input_event.value; + if (input_event.code == REL_Z) + blue = input_event.value; + if (input_event.code == REL_MISC) + white = input_event.value; + } 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); + + event->distance = cm36651_light_convert(red, green, blue, white); + + return 0; +} + +struct exynos_sensors_handlers cm36651_light = { + .name = "CM36651 Light", + .handle = SENSOR_TYPE_LIGHT, + .init = cm36651_light_init, + .deinit = cm36651_light_deinit, + .activate = cm36651_light_activate, + .deactivate = cm36651_light_deactivate, + .set_delay = cm36651_light_set_delay, + .get_data = cm36651_light_get_data, + .activated = 0, + .needed = 0, + .poll_fd = -1, + .data = NULL, +}; diff --git a/libsensors/cm36651_proximity.c b/libsensors/cm36651_proximity.c new file mode 100644 index 0000000..23349ce --- /dev/null +++ b/libsensors/cm36651_proximity.c @@ -0,0 +1,213 @@ +/* + * Copyright (C) 2013 Paul Kocialkowski + * + * 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 <sys/types.h> +#include <linux/ioctl.h> +#include <linux/input.h> + +#include <hardware/sensors.h> +#include <hardware/hardware.h> + +#define LOG_TAG "exynos_sensors" +#include <utils/Log.h> + +#include "exynos_sensors.h" + +struct cm36651_proximity_data { + char path_enable[PATH_MAX]; +}; + +int cm36651_proximity_init(struct exynos_sensors_handlers *handlers, + struct exynos_sensors_device *device) +{ + struct cm36651_proximity_data *data = NULL; + char path[PATH_MAX] = { 0 }; + int input_fd = -1; + int rc; + + ALOGD("%s(%p, %p)", __func__, handlers, device); + + if (handlers == NULL) + return -EINVAL; + + data = (struct cm36651_proximity_data *) calloc(1, sizeof(struct cm36651_proximity_data)); + + input_fd = input_open("proximity_sensor"); + if (input_fd < 0) { + ALOGE("%s: Unable to open input", __func__); + goto error; + } + + rc = sysfs_path_prefix("proximity_sensor", (char *) &path); + if (rc < 0 || path[0] == '\0') { + ALOGE("%s: Unable to open sysfs", __func__); + goto error; + } + + snprintf(data->path_enable, PATH_MAX, "%s/enable", path); + + handlers->poll_fd = input_fd; + handlers->data = (void *) data; + + return 0; + +error: + if (data != NULL) + free(data); + + if (input_fd >= 0) + close(input_fd); + + handlers->poll_fd = -1; + handlers->data = NULL; + + return -1; +} + +int cm36651_proximity_deinit(struct exynos_sensors_handlers *handlers) +{ + ALOGD("%s(%p)", __func__, handlers); + + if (handlers == NULL) + return -EINVAL; + + if (handlers->poll_fd >= 0) + close(handlers->poll_fd); + handlers->poll_fd = -1; + + if (handlers->data != NULL) + free(handlers->data); + handlers->data = NULL; + + return 0; +} + + +int cm36651_proximity_activate(struct exynos_sensors_handlers *handlers) +{ + struct cm36651_proximity_data *data; + int rc; + + ALOGD("%s(%p)", __func__, handlers); + + if (handlers == NULL || handlers->data == NULL) + return -EINVAL; + + data = (struct cm36651_proximity_data *) handlers->data; + + rc = sysfs_value_write(data->path_enable, 1); + if (rc < 0) { + ALOGE("%s: Unable to write sysfs value", __func__); + return -1; + } + + handlers->activated = 1; + + return 0; +} + +int cm36651_proximity_deactivate(struct exynos_sensors_handlers *handlers) +{ + struct cm36651_proximity_data *data; + int rc; + + ALOGD("%s(%p)", __func__, handlers); + + if (handlers == NULL || handlers->data == NULL) + return -EINVAL; + + data = (struct cm36651_proximity_data *) handlers->data; + + rc = sysfs_value_write(data->path_enable, 0); + if (rc < 0) { + ALOGE("%s: Unable to write sysfs value", __func__); + return -1; + } + + handlers->activated = 1; + + return 0; +} + +int cm36651_proximity_set_delay(struct exynos_sensors_handlers *handlers, long int delay) +{ + ALOGD("%s(%p, %ld)", __func__, handlers, delay); + + return 0; +} + +float cm36651_proximity_convert(int value) +{ + return (float) value * 8.0f; +} + +int cm36651_proximity_get_data(struct exynos_sensors_handlers *handlers, + struct sensors_event_t *event) +{ + struct input_event input_event; + int input_fd; + 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; + + 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_ABS) { + if (input_event.code == ABS_DISTANCE) + event->distance = cm36651_proximity_convert(input_event.value); + } 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 exynos_sensors_handlers cm36651_proximity = { + .name = "CM36651 Proximity", + .handle = SENSOR_TYPE_PROXIMITY, + .init = cm36651_proximity_init, + .deinit = cm36651_proximity_deinit, + .activate = cm36651_proximity_activate, + .deactivate = cm36651_proximity_deactivate, + .set_delay = cm36651_proximity_set_delay, + .get_data = cm36651_proximity_get_data, + .activated = 0, + .needed = 0, + .poll_fd = -1, + .data = NULL, +}; diff --git a/libsensors/exynos_sensors.c b/libsensors/exynos_sensors.c new file mode 100644 index 0000000..36f061b --- /dev/null +++ b/libsensors/exynos_sensors.c @@ -0,0 +1,296 @@ +/* + * Copyright (C) 2013 Paul Kocialkowski + * + * 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 <poll.h> + + + +#include <sys/select.h> + + + +#include <hardware/sensors.h> +#include <hardware/hardware.h> + +#define LOG_TAG "exynos_sensors" +#include <utils/Log.h> + +#include "exynos_sensors.h" + +/* + * Sensors list + */ + +struct sensor_t exynos_sensors[] = { + { "LSM330DLC Acceleration Sensor", "STMicroelectronics", 1, SENSOR_TYPE_ACCELEROMETER, + SENSOR_TYPE_ACCELEROMETER, 19.61f, 0.0096f, 0.23f, 10000, 0, 0, {}, }, + { "AKM8975 Magnetic Sensor", "Asahi Kasei", 1, SENSOR_TYPE_MAGNETIC_FIELD, + SENSOR_TYPE_MAGNETIC_FIELD, 2000.0f, 0.06f, 6.8f, 10000, 0, 0, {}, }, + { "Orientation Sensor", "Exynos Sensors", 1, SENSOR_TYPE_ORIENTATION, + SENSOR_TYPE_ORIENTATION, 360.0f, 0.1f, 0.0f, 10000, 0, 0, {}, }, + { "CM36651 Light Sensor", "Capella", 1, SENSOR_TYPE_LIGHT, + SENSOR_TYPE_LIGHT, 121240.0f, 1.0f, 0.2f, 0, 0, 0, {}, }, + { "CM36651 Proximity Sensor", "Capella", 1, SENSOR_TYPE_PROXIMITY, + SENSOR_TYPE_PROXIMITY, 8.0f, 8.0f, 1.3f, 0, 0, 0, {}, }, + { "LSM330DLC Gyroscope Sensor", "STMicroelectronics", 1, SENSOR_TYPE_GYROSCOPE, + SENSOR_TYPE_GYROSCOPE, 8.73f, 0.00031f, 6.1f, 5000, 0, 0, {}, }, + { "LPS331AP Pressure Sensor", "STMicroelectronics", 1, SENSOR_TYPE_PRESSURE, + SENSOR_TYPE_PRESSURE, 1260.0f, 0.00024f, 0.045f, 40000, 0, 0, {}, }, +}; + +int exynos_sensors_count = sizeof(exynos_sensors) / sizeof(struct sensor_t); + +struct exynos_sensors_handlers *exynos_sensors_handlers[] = { + &lsm330dlc_acceleration, + &akm8975, + &orientation, + &cm36651_proximity, + &cm36651_light, + &lsm330dlc_gyroscope, + &lps331ap, +}; + +int exynos_sensors_handlers_count = sizeof(exynos_sensors_handlers) / + sizeof(struct exynos_sensors_handlers *); + +/* + * Exynos Sensors + */ + +int exynos_sensors_activate(struct sensors_poll_device_t *dev, int handle, int enabled) +{ + struct exynos_sensors_device *device; + int i; + + ALOGD("%s(%p, %d, %d)", __func__, dev, handle, enabled); + + if (dev == NULL) + return -EINVAL; + + device = (struct exynos_sensors_device *) dev; + + if (device->handlers == NULL || device->handlers_count <= 0) + return -EINVAL; + + for (i = 0; i < device->handlers_count; i++) { + if (device->handlers[i] == NULL) + continue; + + if (device->handlers[i]->handle == handle) { + if (enabled && device->handlers[i]->activate != NULL) { + device->handlers[i]->needed |= EXYNOS_SENSORS_NEEDED_API; + if (device->handlers[i]->needed == EXYNOS_SENSORS_NEEDED_API) + return device->handlers[i]->activate(device->handlers[i]); + else + return 0; + } else if (!enabled && device->handlers[i]->deactivate != NULL) { + device->handlers[i]->needed &= ~EXYNOS_SENSORS_NEEDED_API; + if (device->handlers[i]->needed == 0) + return device->handlers[i]->deactivate(device->handlers[i]); + else + return 0; + } + } + } + + return -1; +} + +int exynos_sensors_set_delay(struct sensors_poll_device_t *dev, int handle, int64_t ns) +{ + struct exynos_sensors_device *device; + int i; + + ALOGD("%s(%p, %d, %ld)", __func__, dev, handle, (long int) ns); + + if (dev == NULL) + return -EINVAL; + + device = (struct exynos_sensors_device *) dev; + + if (device->handlers == NULL || device->handlers_count <= 0) + return -EINVAL; + + for (i = 0; i < device->handlers_count; i++) { + if (device->handlers[i] == NULL) + continue; + + if (device->handlers[i]->handle == handle && device->handlers[i]->set_delay != NULL) + return device->handlers[i]->set_delay(device->handlers[i], (long int) ns); + } + + return 0; +} + +int exynos_sensors_poll(struct sensors_poll_device_t *dev, + struct sensors_event_t* data, int count) +{ + struct exynos_sensors_device *device; + int i, j; + int c, n; + int poll_rc, rc; + +// ALOGD("%s(%p, %p, %d)", __func__, dev, data, count); + + if (dev == NULL) + return -EINVAL; + + device = (struct exynos_sensors_device *) dev; + + if (device->handlers == NULL || device->handlers_count <= 0 || + device->poll_fds == NULL || device->poll_fds_count <= 0) + return -EINVAL; + + n = 0; + + do { + poll_rc = poll(device->poll_fds, device->poll_fds_count, n > 0 ? 0 : -1); + if (poll_rc < 0) + return -1; + + for (i = 0; i < device->poll_fds_count; i++) { + if (!(device->poll_fds[i].revents & POLLIN)) + continue; + + for (j = 0; j < device->handlers_count; j++) { + if (device->handlers[j] == NULL || device->handlers[j]->poll_fd != device->poll_fds[i].fd || device->handlers[j]->get_data == NULL) + continue; + + rc = device->handlers[j]->get_data(device->handlers[j], &data[n]); + if (rc < 0) { + device->poll_fds[i].revents = 0; + poll_rc = -1; + } else { + n++; + count--; + } + } + } + } while ((poll_rc > 0 || n < 1) && count > 0); + + return n; +} + +/* + * Interface + */ + +int exynos_sensors_close(hw_device_t *device) +{ + struct exynos_sensors_device *exynos_sensors_device; + int i; + + ALOGD("%s(%p)", __func__, device); + + if (device == NULL) + return -EINVAL; + + exynos_sensors_device = (struct exynos_sensors_device *) device; + + if (exynos_sensors_device->poll_fds != NULL) + free(exynos_sensors_device->poll_fds); + + for (i = 0; i < exynos_sensors_device->handlers_count; i++) { + if (exynos_sensors_device->handlers[i] == NULL || exynos_sensors_device->handlers[i]->deinit == NULL) + continue; + + exynos_sensors_device->handlers[i]->deinit(exynos_sensors_device->handlers[i]); + } + + free(device); + + return 0; +} + +int exynos_sensors_open(const struct hw_module_t* module, const char *id, + struct hw_device_t** device) +{ + struct exynos_sensors_device *exynos_sensors_device; + int p, i; + + ALOGD("%s(%p, %s, %p)", __func__, module, id, device); + + if (module == NULL || device == NULL) + return -EINVAL; + + exynos_sensors_device = (struct exynos_sensors_device *) + calloc(1, sizeof(struct exynos_sensors_device)); + exynos_sensors_device->device.common.tag = HARDWARE_DEVICE_TAG; + exynos_sensors_device->device.common.version = 0; + exynos_sensors_device->device.common.module = (struct hw_module_t *) module; + exynos_sensors_device->device.common.close = exynos_sensors_close; + exynos_sensors_device->device.activate = exynos_sensors_activate; + exynos_sensors_device->device.setDelay = exynos_sensors_set_delay; + exynos_sensors_device->device.poll = exynos_sensors_poll; + exynos_sensors_device->handlers = exynos_sensors_handlers; + exynos_sensors_device->handlers_count = exynos_sensors_handlers_count; + exynos_sensors_device->poll_fds = (struct pollfd *) + calloc(1, exynos_sensors_handlers_count * sizeof(struct pollfd)); + + p = 0; + for (i = 0; i < exynos_sensors_handlers_count; i++) { + if (exynos_sensors_handlers[i] == NULL || exynos_sensors_handlers[i]->init == NULL) + continue; + + exynos_sensors_handlers[i]->init(exynos_sensors_handlers[i], exynos_sensors_device); + if (exynos_sensors_handlers[i]->poll_fd >= 0) { + exynos_sensors_device->poll_fds[p].fd = exynos_sensors_handlers[i]->poll_fd; + exynos_sensors_device->poll_fds[p].events = POLLIN; + p++; + } + } + + exynos_sensors_device->poll_fds_count = p; + + *device = &(exynos_sensors_device->device.common); + + return 0; +} + +int exynos_sensors_get_sensors_list(struct sensors_module_t* module, + const struct sensor_t **sensors_p) +{ + ALOGD("%s(%p, %p)", __func__, module, sensors_p); + + if (sensors_p == NULL) + return -EINVAL; + + *sensors_p = exynos_sensors; + return exynos_sensors_count; +} + +struct hw_module_methods_t exynos_sensors_module_methods = { + .open = exynos_sensors_open, +}; + +struct sensors_module_t HAL_MODULE_INFO_SYM = { + .common = { + .tag = HARDWARE_MODULE_TAG, + .version_major = 1, + .version_minor = 0, + .id = SENSORS_HARDWARE_MODULE_ID, + .name = "Exynos Sensors", + .author = "Paul Kocialkowski", + .methods = &exynos_sensors_module_methods, + }, + .get_sensors_list = exynos_sensors_get_sensors_list, +}; diff --git a/libsensors/exynos_sensors.h b/libsensors/exynos_sensors.h new file mode 100644 index 0000000..65aed7f --- /dev/null +++ b/libsensors/exynos_sensors.h @@ -0,0 +1,101 @@ +/* + * Copyright (C) 2013 Paul Kocialkowski + * + * 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 <stdint.h> +#include <poll.h> + +#include <linux/input.h> + +#include <hardware/sensors.h> +#include <hardware/hardware.h> + +#ifndef _EXYNOS_SENSORS_H_ +#define _EXYNOS_SENSORS_H_ + +#define EXYNOS_SENSORS_NEEDED_API (1 << 0) +#define EXYNOS_SENSORS_NEEDED_ORIENTATION (1 << 1) + +struct exynos_sensors_device; + +struct exynos_sensors_handlers { + char *name; + int handle; + + int (*init)(struct exynos_sensors_handlers *handlers, struct exynos_sensors_device *device); + int (*deinit)(struct exynos_sensors_handlers *handlers); + int (*activate)(struct exynos_sensors_handlers *handlers); + int (*deactivate)(struct exynos_sensors_handlers *handlers); + int (*set_delay)(struct exynos_sensors_handlers *handlers, long int delay); + int (*get_data)(struct exynos_sensors_handlers *handlers, struct sensors_event_t *event); + + int activated; + int needed; + int poll_fd; + + void *data; +}; + +struct exynos_sensors_device { + struct sensors_poll_device_t device; + + struct exynos_sensors_handlers **handlers; + int handlers_count; + + struct pollfd *poll_fds; + int poll_fds_count; +}; + +extern struct exynos_sensors_handlers *exynos_sensors_handlers[]; +extern int exynos_sensors_handlers_count; + +int exynos_sensors_activate(struct sensors_poll_device_t *dev, int handle, int enabled); +int exynos_sensors_set_delay(struct sensors_poll_device_t *dev, int handle, int64_t ns); +int exynos_sensors_poll(struct sensors_poll_device_t *dev, + struct sensors_event_t* data, int count); + +/* + * Input + */ + +void input_event_set(struct input_event *event, int type, int code, int value); +long int timestamp(struct timeval *time); +long int input_timestamp(struct input_event *event); +int uinput_rel_create(const char *name); +void uinput_destroy(int uinput_fd); +int input_open(char *name); +int sysfs_path_prefix(char *name, char *path_prefix); +int sysfs_value_read(char *path); +int sysfs_value_write(char *path, int value); +int sysfs_string_read(char *path, char *buffer, int length); +int sysfs_string_write(char *path, char *buffer, int length); + +/* + * Sensors + */ + +int orientation_fill(struct exynos_sensors_handlers *handlers, + sensors_vec_t *acceleration, sensors_vec_t *magnetic); + +extern struct exynos_sensors_handlers lsm330dlc_acceleration; +extern struct exynos_sensors_handlers akm8975; +extern struct exynos_sensors_handlers orientation; +extern struct exynos_sensors_handlers cm36651_proximity; +extern struct exynos_sensors_handlers cm36651_light; +extern struct exynos_sensors_handlers lsm330dlc_gyroscope; +extern struct exynos_sensors_handlers lps331ap; + +#endif diff --git a/libsensors/input.c b/libsensors/input.c new file mode 100644 index 0000000..f1e5283 --- /dev/null +++ b/libsensors/input.c @@ -0,0 +1,335 @@ +/* + * Copyright (C) 2013 Paul Kocialkowski + * + * 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 <dirent.h> +#include <linux/ioctl.h> +#include <linux/input.h> +#include <linux/uinput.h> + +#define LOG_TAG "exynos_sensors" +#include <utils/Log.h> + +#include "exynos_sensors.h" + +void input_event_set(struct input_event *event, int type, int code, int value) +{ + if (event == NULL) + return; + + memset(event, 0, sizeof(struct input_event)); + + event->type = type, + event->code = code; + event->value = value; + + gettimeofday(&event->time, NULL); +} + +long int timestamp(struct timeval *time) +{ + if (time == NULL) + return -1; + + return time->tv_sec * 1000000000LL + time->tv_usec * 1000; +} + +long int input_timestamp(struct input_event *event) +{ + if (event == NULL) + return -1; + + return timestamp(&event->time); +} + +int uinput_rel_create(const char *name) +{ + struct uinput_user_dev uinput_dev; + int uinput_fd; + int rc; + + if (name == NULL) + return -1; + + uinput_fd = open("/dev/uinput", O_WRONLY | O_NONBLOCK); + if (uinput_fd < 0) { + ALOGE("%s: Unable to open uinput device", __func__); + goto error; + } + + memset(&uinput_dev, 0, sizeof(uinput_dev)); + + strncpy(uinput_dev.name, name, sizeof(uinput_dev.name)); + uinput_dev.id.bustype = BUS_I2C; + uinput_dev.id.vendor = 0; + uinput_dev.id.product = 0; + uinput_dev.id.version = 0; + + rc = 0; + rc |= ioctl(uinput_fd, UI_SET_EVBIT, EV_REL); + rc |= ioctl(uinput_fd, UI_SET_RELBIT, REL_X); + rc |= ioctl(uinput_fd, UI_SET_RELBIT, REL_Y); + rc |= ioctl(uinput_fd, UI_SET_RELBIT, REL_Z); + rc |= ioctl(uinput_fd, UI_SET_EVBIT, EV_SYN); + + if (rc < 0) { + ALOGE("%s: Unable to set uinput bits", __func__); + goto error; + } + + rc = write(uinput_fd, &uinput_dev, sizeof(uinput_dev)); + if (rc < 0) { + ALOGE("%s: Unable to write uinput device", __func__); + goto error; + } + + rc = ioctl(uinput_fd, UI_DEV_CREATE); + if (rc < 0) { + ALOGE("%s: Unable to create uinput device", __func__); + goto error; + } + + usleep(3000); + + return uinput_fd; + +error: + if (uinput_fd >= 0) + close(uinput_fd); + + return -1; +} + +void uinput_destroy(int uinput_fd) +{ + if (uinput_fd < 0) + return; + + ioctl(uinput_fd, UI_DEV_DESTROY); +} + +int input_open(char *name) +{ + DIR *d; + struct dirent *di; + + char input_name[80] = { 0 }; + char path[PATH_MAX]; + char *c; + int fd; + int rc; + + if (name == NULL) + return -EINVAL; + + d = opendir("/dev/input"); + if (d == NULL) + return -1; + + while ((di = readdir(d))) { + if (di == NULL || strcmp(di->d_name, ".") == 0 || strcmp(di->d_name, "..") == 0) + continue; + + snprintf(path, PATH_MAX, "/dev/input/%s", di->d_name); + fd = open(path, O_RDONLY | O_NONBLOCK); + if (fd < 0) + continue; + + rc = ioctl(fd, EVIOCGNAME(sizeof(input_name) - 1), &input_name); + if (rc < 0) + continue; + + c = strstr((char *) &input_name, "\n"); + if (c != NULL) + *c = '\0'; + + if (strcmp(input_name, name) == 0) + return fd; + else + close(fd); + } + + return -1; +} + +int sysfs_path_prefix(char *name, char *path_prefix) +{ + DIR *d; + struct dirent *di; + + char input_name[80] = { 0 }; + char path[PATH_MAX]; + char *c; + int fd; + + if (name == NULL || path_prefix == NULL) + return -EINVAL; + + d = opendir("/sys/class/input"); + if (d == NULL) + return -1; + + while ((di = readdir(d))) { + if (di == NULL || strcmp(di->d_name, ".") == 0 || strcmp(di->d_name, "..") == 0) + continue; + + snprintf(path, PATH_MAX, "/sys/class/input/%s/name", di->d_name); + + fd = open(path, O_RDONLY); + if (fd < 0) + continue; + + read(fd, &input_name, sizeof(input_name)); + close(fd); + + c = strstr((char *) &input_name, "\n"); + if (c != NULL) + *c = '\0'; + + if (strcmp(input_name, name) == 0) { + snprintf(path_prefix, PATH_MAX, "/sys/class/input/%s", di->d_name); + return 0; + } + } + + return -1; +} + +int sysfs_value_read(char *path) +{ + char buffer[100]; + int value; + int fd = -1; + int rc; + + if (path == NULL) + return -1; + + fd = open(path, O_RDONLY); + if (fd < 0) + goto error; + + rc = read(fd, &buffer, sizeof(buffer)); + if (rc <= 0) + goto error; + + value = atoi(buffer); + goto complete; + +error: + value = -1; + +complete: + if (fd >= 0) + close(fd); + + return value; +} + +int sysfs_value_write(char *path, int value) +{ + char buffer[100]; + int fd = -1; + int rc; + + if (path == NULL) + return -1; + + fd = open(path, O_WRONLY); + if (fd < 0) + goto error; + + snprintf((char *) &buffer, sizeof(buffer), "%d\n", value); + + rc = write(fd, buffer, strlen(buffer)); + if (rc < (int) strlen(buffer)) + goto error; + + rc = 0; + goto complete; + +error: + rc = -1; + +complete: + if (fd >= 0) + close(fd); + + return rc; +} + +int sysfs_string_read(char *path, char *buffer, int length) +{ + int fd = -1; + int rc; + + if (path == NULL || buffer == NULL || length <= 0) + return -1; + + fd = open(path, O_RDONLY); + if (fd < 0) + goto error; + + rc = read(fd, buffer, length); + if (rc <= 0) + goto error; + + rc = 0; + goto complete; + +error: + rc = -1; + +complete: + if (fd >= 0) + close(fd); + + return rc; +} + +int sysfs_string_write(char *path, char *buffer, int length) +{ + int fd = -1; + int rc; + + if (path == NULL || buffer == NULL || length <= 0) + return -1; + + fd = open(path, O_WRONLY); + if (fd < 0) + goto error; + + rc = write(fd, buffer, length); + if (rc <= 0) + goto error; + + rc = 0; + goto complete; + +error: + rc = -1; + +complete: + if (fd >= 0) + close(fd); + + return rc; +} diff --git a/libsensors/lps331ap.c b/libsensors/lps331ap.c new file mode 100644 index 0000000..aed233d --- /dev/null +++ b/libsensors/lps331ap.c @@ -0,0 +1,230 @@ +/* + * Copyright (C) 2013 Paul Kocialkowski + * + * 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 <sys/types.h> +#include <linux/ioctl.h> +#include <linux/uinput.h> +#include <linux/input.h> + +#include <hardware/sensors.h> +#include <hardware/hardware.h> + +#define LOG_TAG "exynos_sensors" +#include <utils/Log.h> + +#include "exynos_sensors.h" + +struct lps331ap_data { + char path_enable[PATH_MAX]; + char path_delay[PATH_MAX]; +}; + +int lps331ap_init(struct exynos_sensors_handlers *handlers, + struct exynos_sensors_device *device) +{ + struct lps331ap_data *data = NULL; + char path[PATH_MAX] = { 0 }; + int input_fd = -1; + int rc; + + ALOGD("%s(%p, %p)", __func__, handlers, device); + + if (handlers == NULL) + return -EINVAL; + + data = (struct lps331ap_data *) calloc(1, sizeof(struct lps331ap_data)); + + input_fd = input_open("barometer_sensor"); + if (input_fd < 0) { + ALOGE("%s: Unable to open input", __func__); + goto error; + } + + rc = sysfs_path_prefix("barometer_sensor", (char *) &path); + if (rc < 0 || path[0] == '\0') { + ALOGE("%s: Unable to open sysfs", __func__); + goto error; + } + + snprintf(data->path_enable, PATH_MAX, "%s/enable", path); + snprintf(data->path_delay, PATH_MAX, "%s/poll_delay", path); + + handlers->poll_fd = input_fd; + handlers->data = (void *) data; + + return 0; + +error: + if (data != NULL) + free(data); + + if (input_fd >= 0) + close(input_fd); + + handlers->poll_fd = -1; + handlers->data = NULL; + + return -1; +} + +int lps331ap_deinit(struct exynos_sensors_handlers *handlers) +{ + ALOGD("%s(%p)", __func__, handlers); + + if (handlers == NULL) + return -EINVAL; + + if (handlers->poll_fd >= 0) + close(handlers->poll_fd); + handlers->poll_fd = -1; + + if (handlers->data != NULL) + free(handlers->data); + handlers->data = NULL; + + return 0; +} + + +int lps331ap_activate(struct exynos_sensors_handlers *handlers) +{ + struct lps331ap_data *data; + int rc; + + ALOGD("%s(%p)", __func__, handlers); + + if (handlers == NULL || handlers->data == NULL) + return -EINVAL; + + data = (struct lps331ap_data *) handlers->data; + + rc = sysfs_value_write(data->path_enable, 1); + if (rc < 0) { + ALOGE("%s: Unable to write sysfs value", __func__); + return -1; + } + + handlers->activated = 1; + + return 0; +} + +int lps331ap_deactivate(struct exynos_sensors_handlers *handlers) +{ + struct lps331ap_data *data; + int rc; + + ALOGD("%s(%p)", __func__, handlers); + + if (handlers == NULL || handlers->data == NULL) + return -EINVAL; + + data = (struct lps331ap_data *) handlers->data; + + rc = sysfs_value_write(data->path_enable, 0); + if (rc < 0) { + ALOGE("%s: Unable to write sysfs value", __func__); + return -1; + } + + handlers->activated = 1; + + return 0; +} + +int lps331ap_set_delay(struct exynos_sensors_handlers *handlers, long int delay) +{ + struct lps331ap_data *data; + int rc; + + ALOGD("%s(%p, %ld)", __func__, handlers, delay); + + if (handlers == NULL || handlers->data == NULL) + return -EINVAL; + + data = (struct lps331ap_data *) handlers->data; + + rc = sysfs_value_write(data->path_delay, (int) delay / 1000000); + if (rc < 0) { + ALOGE("%s: Unable to write sysfs value", __func__); + return -1; + } + + return 0; +} + +float lps331ap_convert(int value) +{ + return (float) value / 4096.0f; +} + +int lps331ap_get_data(struct exynos_sensors_handlers *handlers, + struct sensors_event_t *event) +{ + struct input_event input_event; + int input_fd; + 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; + + 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) { + if (input_event.code == REL_X) + event->pressure = lps331ap_convert(input_event.value); + } 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 exynos_sensors_handlers lps331ap = { + .name = "LPS331AP", + .handle = SENSOR_TYPE_PRESSURE, + .init = lps331ap_init, + .deinit = lps331ap_deinit, + .activate = lps331ap_activate, + .deactivate = lps331ap_deactivate, + .set_delay = lps331ap_set_delay, + .get_data = lps331ap_get_data, + .activated = 0, + .needed = 0, + .poll_fd = -1, + .data = NULL, +}; diff --git a/libsensors/lsm330dlc_accel.h b/libsensors/lsm330dlc_accel.h new file mode 100644 index 0000000..ff5f666 --- /dev/null +++ b/libsensors/lsm330dlc_accel.h @@ -0,0 +1,185 @@ +/* + * Copyright (C) 2011, Samsung Electronics Co. Ltd. All Rights Reserved. + * + * 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 2 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. + * + */ + +#ifndef __LSM330DLC_ACCEL_HEADER__ +#define __LSM330DLC_ACCEL_HEADER__ + +#include <linux/types.h> +#include <linux/ioctl.h> + +/*lsm330dlc_accel registers */ +#define STATUS_AUX 0x07 +#define OUT_1_L 0x08 +#define OUT_1_H 0x09 +#define OUT_2_L 0x0A +#define OUT_2_H 0x0B +#define OUT_3_L 0x0C +#define OUT_3_H 0x0D +#define INT_COUNTER 0x0E +#define WHO_AM_I 0x0F +#define TEMP_CFG_REG 0x1F +#define CTRL_REG1 0x20 /* power control reg */ +#define CTRL_REG2 0x21 /* power control reg */ +#define CTRL_REG3 0x22 /* power control reg */ +#define CTRL_REG4 0x23 /* interrupt control reg */ +#define CTRL_REG5 0x24 /* interrupt control reg */ +#define CTRL_REG6 0x25 +#define REFERENCE 0x26 +#define STATUS_REG 0x27 +#define OUT_X_L 0x28 +#define OUT_X_H 0x29 +#define OUT_Y_L 0x2A +#define OUT_Y_H 0x2B +#define OUT_Z_L 0x2C +#define OUT_Z_H 0x2D +#define FIFO_CTRL_REG 0x2E +#define FIFO_SRC_REG 0x2F +#define INT1_CFG 0x30 +#define INT1_SRC 0x31 +#define INT1_THS 0x32 +#define INT1_DURATION 0x33 +#define INT2_CFG 0x34 +#define INT2_SRC 0x35 +#define INT2_THS 0x36 +#define INT2_DURATION 0x37 +#define CLICK_CFG 0x38 +#define CLICK_SRC 0x39 +#define CLICK_THS 0x3A +#define TIME_LIMIT 0x3B +#define TIME_LATENCY 0x3C +#define TIME_WINDOW 0x3D + +/* CTRL_REG1 */ +#define CTRL_REG1_ODR3 (1 << 7) +#define CTRL_REG1_ODR2 (1 << 6) +#define CTRL_REG1_ODR1 (1 << 5) +#define CTRL_REG1_ODR0 (1 << 4) +#define CTRL_REG1_LPEN (1 << 3) +#define CTRL_REG1_Zen (1 << 2) +#define CTRL_REG1_Yen (1 << 1) +#define CTRL_REG1_Xen (1 << 0) + +#define PM_OFF 0x00 +#define LOW_PWR_MODE 0x4F /* 50HZ */ +#define FASTEST_MODE 0x9F /* 1344Hz */ +#define ENABLE_ALL_AXES 0x07 + +#define ODR1 0x10 /* 1Hz output data rate */ +#define ODR10 0x20 /* 10Hz output data rate */ +#define ODR25 0x30 /* 25Hz output data rate */ +#define ODR50 0x40 /* 50Hz output data rate */ +#define ODR100 0x50 /* 100Hz output data rate */ +#define ODR200 0x60 /* 100Hz output data rate */ +#define ODR400 0x70 /* 400Hz output data rate */ +#define ODR1344 0x90 /* 1344Hz output data rate */ +#define ODR_MASK 0xf0 + +/* CTRL_REG2 */ +#define CTRL_REG2_HPM1 (1 << 7) +#define CTRL_REG2_HPM0 (1 << 6) +#define CTRL_REG2_HPCF2 (1 << 5) +#define CTRL_REG2_HPCF1 (1 << 4) +#define CTRL_REG2_FDS (1 << 3) +#define CTRL_REG2_HPPCLICK (1 << 2) +#define CTRL_REG2_HPIS2 (1 << 1) +#define CTRL_REG2_HPIS1 (1 << 0) + +#define HPM_Normal (CTRL_REG2_HPM1) +#define HPM_Filter (CTRL_REG2_HPM0) + +/* CTRL_REG3 */ +#define I1_CLICK (1 << 7) +#define I1_AOI1 (1 << 6) +#define I1_AOI2 (1 << 5) +#define I1_DRDY1 (1 << 4) +#define I1_DRDY2 (1 << 3) +#define I1_WTM (1 << 2) +#define I1_OVERRUN (1 << 1) + +/* CTRL_REG4 */ +#define CTRL_REG4_BLE (1 << 6) +#define CTRL_REG4_FS1 (1 << 5) +#define CTRL_REG4_FS0 (1 << 4) +#define CTRL_REG4_HR (1 << 3) +#define CTRL_REG4_ST1 (1 << 2) +#define CTRL_REG4_ST0 (1 << 1) +#define CTRL_REG4_SIM (1 << 0) + +#define FS2g 0x00 +#define FS4g (CTRL_REG4_FS0) +#define FS8g (CTRL_REG4_FS1) +#define FS16g (CTRL_REG4_FS1|CTRL_REG4_FS0) + +/* CTRL_REG5 */ +#define BOOT (1 << 7) +#define FIFO_EN (1 << 6) +#define LIR_INT1 (1 << 3) +#define D4D_INT1 (1 << 2) + +/* STATUS_REG */ +#define ZYXOR (1 << 7) +#define ZOR (1 << 6) +#define YOR (1 << 5) +#define XOR (1 << 4) +#define ZYXDA (1 << 3) +#define ZDA (1 << 2) +#define YDA (1 << 1) +#define XDA (1 << 0) + +/* INT1_CFG */ +#define INT_CFG_AOI (1 << 7) +#define INT_CFG_6D (1 << 6) +#define INT_CFG_ZHIE (1 << 5) +#define INT_CFG_ZLIE (1 << 4) +#define INT_CFG_YHIE (1 << 3) +#define INT_CFG_YLIE (1 << 2) +#define INT_CFG_XHIE (1 << 1) +#define INT_CFG_XLIE (1 << 0) + +/* INT1_SRC */ +#define IA (1 << 6) +#define ZH (1 << 5) +#define ZL (1 << 4) +#define YH (1 << 3) +#define YL (1 << 2) +#define XH (1 << 1) +#define XL (1 << 0) + +/* Register Auto-increase */ +#define AC (1 << 7) + +/* dev info */ +#define ACC_DEV_NAME "accelerometer" + +struct lsm330dlc_acc { + __s16 x; + __s16 y; + __s16 z; +}; + +/* For movement recognition*/ +#define USES_MOVEMENT_RECOGNITION + +/* LSM330DLC_ACCEL ioctl command label */ +#define LSM330DLC_ACCEL_IOCTL_BASE 'a' +#define LSM330DLC_ACCEL_IOCTL_SET_DELAY \ + _IOW(LSM330DLC_ACCEL_IOCTL_BASE, 0, int64_t) +#define LSM330DLC_ACCEL_IOCTL_GET_DELAY \ + _IOR(LSM330DLC_ACCEL_IOCTL_BASE, 1, int64_t) +#define LSM330DLC_ACCEL_IOCTL_READ_XYZ\ + _IOR(LSM330DLC_ACCEL_IOCTL_BASE, 8, struct lsm330dlc_acc) +#define LSM330DLC_ACCEL_IOCTL_SET_ENABLE \ + _IOW(LSM330DLC_ACCEL_IOCTL_BASE, 9, int) +#endif diff --git a/libsensors/lsm330dlc_acceleration.c b/libsensors/lsm330dlc_acceleration.c new file mode 100644 index 0000000..435faf8 --- /dev/null +++ b/libsensors/lsm330dlc_acceleration.c @@ -0,0 +1,404 @@ +/* + * Copyright (C) 2013 Paul Kocialkowski + * + * 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 <sys/types.h> +#include <linux/ioctl.h> +#include <linux/uinput.h> +#include <linux/input.h> + +#include <hardware/sensors.h> +#include <hardware/hardware.h> + +#define LOG_TAG "exynos_sensors" +#include <utils/Log.h> + +#include "exynos_sensors.h" +#include "lsm330dlc_accel.h" + +struct lsm330dlc_acceleration_data { + struct exynos_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 exynos_sensors_handlers *handlers = NULL; + struct lsm330dlc_acceleration_data *data = NULL; + struct lsm330dlc_acc values; + struct input_event event; + struct timeval time; + long int before, after; + int diff; + int device_fd; + int uinput_fd; + int rc; + + if (thread_data == NULL) + return NULL; + + handlers = (struct exynos_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(&values, 0, sizeof(values)); + rc = ioctl(device_fd, LSM330DLC_ACCEL_IOCTL_READ_XYZ, &values); + if (rc < 0) { + ALOGE("%s: Unable to set read XYZ", __func__); + return NULL; + } + + input_event_set(&event, EV_REL, REL_X, (int) values.x); + write(uinput_fd, &event, sizeof(event)); + input_event_set(&event, EV_REL, REL_Y, (int) values.y); + write(uinput_fd, &event, sizeof(event)); + input_event_set(&event, EV_REL, REL_Z, (int) values.z); + 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 lsm330dlc_acceleration_init(struct exynos_sensors_handlers *handlers, + struct exynos_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) + 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 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 exynos_sensors_handlers *handlers) +{ + struct lsm330dlc_acceleration_data *data; + + 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 exynos_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 -EINVAL; + + enable = 1; + rc = ioctl(device_fd, LSM330DLC_ACCEL_IOCTL_SET_ENABLE, &enable); + if (rc < 0) { + ALOGE("%s: Unable to set enable", __func__); + return -1; + } + + handlers->activated = 1; + pthread_mutex_unlock(&data->mutex); + + return 0; +} + +int lsm330dlc_acceleration_deactivate(struct exynos_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 -EINVAL; + + enable = 0; + rc = ioctl(device_fd, LSM330DLC_ACCEL_IOCTL_SET_ENABLE, &enable); + if (rc < 0) { + ALOGE("%s: Unable to set enable", __func__); + return -1; + } + + handlers->activated = 0; + + return 0; +} + +int lsm330dlc_acceleration_set_delay(struct exynos_sensors_handlers *handlers, long int delay) +{ + struct lsm330dlc_acceleration_data *data; + unsigned long long 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 -EINVAL; + + d = (unsigned long long) delay; + rc = ioctl(device_fd, LSM330DLC_ACCEL_IOCTL_SET_DELAY, &d); + if (rc < 0) { + ALOGE("%s: Unable to set delay", __func__); + return -1; + } + + data->delay = delay; + + return 0; +} + +float lsm330dlc_acceleration_convert(int value) +{ + return (float) (value * GRAVITY_EARTH) / 1024.0f; +} + +int lsm330dlc_acceleration_get_data(struct exynos_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 -EINVAL; + + event->version = sizeof(struct sensors_event_t); + event->sensor = handlers->handle; + event->type = handlers->handle; + + event->acceleration.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 exynos_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, +}; diff --git a/libsensors/lsm330dlc_gyroscope.c b/libsensors/lsm330dlc_gyroscope.c new file mode 100644 index 0000000..a741a21 --- /dev/null +++ b/libsensors/lsm330dlc_gyroscope.c @@ -0,0 +1,241 @@ +/* + * Copyright (C) 2013 Paul Kocialkowski + * + * 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 <sys/types.h> +#include <linux/ioctl.h> +#include <linux/uinput.h> +#include <linux/input.h> + +#include <hardware/sensors.h> +#include <hardware/hardware.h> + +#define LOG_TAG "exynos_sensors" +#include <utils/Log.h> + +#include "exynos_sensors.h" + +struct lsm330dlc_gyroscope_data { + char path_enable[PATH_MAX]; + char path_delay[PATH_MAX]; +}; + +int lsm330dlc_gyroscope_init(struct exynos_sensors_handlers *handlers, + struct exynos_sensors_device *device) +{ + struct lsm330dlc_gyroscope_data *data = NULL; + char path[PATH_MAX] = { 0 }; + int input_fd = -1; + int rc; + + ALOGD("%s(%p, %p)", __func__, handlers, device); + + if (handlers == NULL) + return -EINVAL; + + data = (struct lsm330dlc_gyroscope_data *) calloc(1, sizeof(struct lsm330dlc_gyroscope_data)); + + input_fd = input_open("gyro_sensor"); + if (input_fd < 0) { + ALOGE("%s: Unable to open input", __func__); + goto error; + } + + rc = sysfs_path_prefix("gyro_sensor", (char *) &path); + if (rc < 0 || path[0] == '\0') { + ALOGE("%s: Unable to open sysfs", __func__); + goto error; + } + + snprintf(data->path_enable, PATH_MAX, "%s/enable", path); + snprintf(data->path_delay, PATH_MAX, "%s/poll_delay", path); + + handlers->poll_fd = input_fd; + handlers->data = (void *) data; + + return 0; + +error: + if (data != NULL) + free(data); + + if (input_fd >= 0) + close(input_fd); + + handlers->poll_fd = -1; + handlers->data = NULL; + + return -1; +} + +int lsm330dlc_gyroscope_deinit(struct exynos_sensors_handlers *handlers) +{ + ALOGD("%s(%p)", __func__, handlers); + + if (handlers == NULL) + return -EINVAL; + + if (handlers->poll_fd >= 0) + close(handlers->poll_fd); + handlers->poll_fd = -1; + + if (handlers->data != NULL) + free(handlers->data); + handlers->data = NULL; + + return 0; +} + + +int lsm330dlc_gyroscope_activate(struct exynos_sensors_handlers *handlers) +{ + struct lsm330dlc_gyroscope_data *data; + int rc; + + ALOGD("%s(%p)", __func__, handlers); + + if (handlers == NULL || handlers->data == NULL) + return -EINVAL; + + data = (struct lsm330dlc_gyroscope_data *) handlers->data; + + rc = sysfs_value_write(data->path_enable, 1); + if (rc < 0) { + ALOGE("%s: Unable to write sysfs value", __func__); + return -1; + } + + handlers->activated = 1; + + return 0; +} + +int lsm330dlc_gyroscope_deactivate(struct exynos_sensors_handlers *handlers) +{ + struct lsm330dlc_gyroscope_data *data; + int rc; + + ALOGD("%s(%p)", __func__, handlers); + + if (handlers == NULL || handlers->data == NULL) + return -EINVAL; + + data = (struct lsm330dlc_gyroscope_data *) handlers->data; + + rc = sysfs_value_write(data->path_enable, 0); + if (rc < 0) { + ALOGE("%s: Unable to write sysfs value", __func__); + return -1; + } + + handlers->activated = 1; + + return 0; +} + +int lsm330dlc_gyroscope_set_delay(struct exynos_sensors_handlers *handlers, long int delay) +{ + struct lsm330dlc_gyroscope_data *data; + int rc; + + ALOGD("%s(%p, %ld)", __func__, handlers, delay); + + if (handlers == NULL || handlers->data == NULL) + return -EINVAL; + + data = (struct lsm330dlc_gyroscope_data *) handlers->data; + + rc = sysfs_value_write(data->path_delay, (int) delay); + if (rc < 0) { + ALOGE("%s: Unable to write sysfs value", __func__); + return -1; + } + + return 0; +} + +float lsm330dlc_gyroscope_convert(int value) +{ + return ((float) value * 0.3054326f) / 1000.0f; +} + +int lsm330dlc_gyroscope_get_data(struct exynos_sensors_handlers *handlers, + struct sensors_event_t *event) +{ + struct input_event input_event; + int input_fd; + 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; + + 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_RX: + event->magnetic.x = lsm330dlc_gyroscope_convert(input_event.value); + break; + case REL_RY: + event->magnetic.y = lsm330dlc_gyroscope_convert(input_event.value); + break; + case REL_RZ: + event->magnetic.z = lsm330dlc_gyroscope_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 exynos_sensors_handlers lsm330dlc_gyroscope = { + .name = "LSM330DLC Gyroscope", + .handle = SENSOR_TYPE_GYROSCOPE, + .init = lsm330dlc_gyroscope_init, + .deinit = lsm330dlc_gyroscope_deinit, + .activate = lsm330dlc_gyroscope_activate, + .deactivate = lsm330dlc_gyroscope_deactivate, + .set_delay = lsm330dlc_gyroscope_set_delay, + .get_data = lsm330dlc_gyroscope_get_data, + .activated = 0, + .needed = 0, + .poll_fd = -1, + .data = NULL, +}; diff --git a/libsensors/orientation.c b/libsensors/orientation.c new file mode 100644 index 0000000..954c2b9 --- /dev/null +++ b/libsensors/orientation.c @@ -0,0 +1,445 @@ +/* + * Copyright (C) 2013 Paul Kocialkowski + * + * 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 "exynos_sensors" +#include <utils/Log.h> + +#include "exynos_sensors.h" + +struct orientation_data { + struct exynos_sensors_handlers *acceleration_sensor; + struct exynos_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->x = rad2deg(azimuth); + o->y = rad2deg(pitch); + o->z = rad2deg(roll); + + if (o->x < 0) + o->x += 360.0f; +} + +void *orientation_thread(void *thread_data) +{ + struct exynos_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 exynos_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.x * 1000)); + write(uinput_fd, &event, sizeof(event)); + input_event_set(&event, EV_REL, REL_Y, (int) (data->orientation.y * 1000)); + write(uinput_fd, &event, sizeof(event)); + input_event_set(&event, EV_REL, REL_Z, (int) (data->orientation.z * 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 exynos_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 exynos_sensors_handlers *handlers, + struct exynos_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 exynos_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 exynos_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 |= EXYNOS_SENSORS_NEEDED_ORIENTATION; + if (data->acceleration_sensor->needed == EXYNOS_SENSORS_NEEDED_ORIENTATION) + data->acceleration_sensor->activate(data->acceleration_sensor); + + data->magnetic_sensor->needed |= EXYNOS_SENSORS_NEEDED_ORIENTATION; + if (data->magnetic_sensor->needed == EXYNOS_SENSORS_NEEDED_ORIENTATION) + data->magnetic_sensor->activate(data->magnetic_sensor); + + handlers->activated = 1; + pthread_mutex_unlock(&data->mutex); + + return 0; +} + +int orientation_deactivate(struct exynos_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 &= ~(EXYNOS_SENSORS_NEEDED_ORIENTATION); + if (data->acceleration_sensor->needed == 0) + data->acceleration_sensor->deactivate(data->acceleration_sensor); + + data->magnetic_sensor->needed &= ~(EXYNOS_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 exynos_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 == EXYNOS_SENSORS_NEEDED_ORIENTATION) + data->acceleration_sensor->set_delay(data->acceleration_sensor, delay); + + if (data->magnetic_sensor->needed == EXYNOS_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 exynos_sensors_handlers *handlers, + struct sensors_event_t *event) +{ + struct orientation_data *data; + struct input_event input_event; + int input_fd = -1; + int rc; + +// ALOGD("%s(%p, %p)", __func__, handlers, event); + + if (handlers == NULL || handlers->data == NULL || event == NULL) + return -EINVAL; + + data = (struct orientation_data *) handlers->data; + + input_fd = handlers->poll_fd; + if (input_fd < 0) + return -EINVAL; + + 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.x = orientation_convert(input_event.value); + break; + case REL_Y: + event->orientation.y = orientation_convert(input_event.value); + break; + case REL_Z: + event->orientation.z = 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 exynos_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, +}; 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