/*
* Copyright (C) 2014 Invensense, Inc.
*
* 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.
*/
#define FUNC_LOG LOGV("%s", __PRETTY_FUNCTION__)
#include <hardware_legacy/power.h>
#include <hardware/sensors.h>
#include <fcntl.h>
#include <errno.h>
#include <dirent.h>
#include <math.h>
#include <poll.h>
#include <pthread.h>
#include <stdlib.h>
#include <sys/queue.h>
#include <linux/input.h>
#include <utils/Atomic.h>
#include <utils/Log.h>
#include "sensors.h"
#include "MPLSensor.h"
/*
* Vendor-defined Accel Load Calibration File Method
* @param[out] Accel bias, length 3. In HW units scaled by 2^16 in body frame
* @return '0' for a successful load, '1' otherwise
* example: int AccelLoadConfig(long* offset);
* End of Vendor-defined Accel Load Cal Method
*/
/*****************************************************************************/
/* The SENSORS Module */
#ifdef ENABLE_DMP_SCREEN_AUTO_ROTATION
#define LOCAL_SENSORS (NumSensors + 1)
#else
#define LOCAL_SENSORS (NumSensors)
#endif
struct handle_entry {
SIMPLEQ_ENTRY(handle_entry) entries;
int handle;
};
static SIMPLEQ_HEAD(simplehead, handle_entry) pending_flush_items_head;
struct simplehead *headp;
static pthread_mutex_t flush_handles_mutex = PTHREAD_MUTEX_INITIALIZER;
static const char *smdWakelockStr = "significant motion";
static struct sensor_t sSensorList[LOCAL_SENSORS];
static int sensors = (sizeof(sSensorList) / sizeof(sensor_t));
static int open_sensors(const struct hw_module_t* module, const char* id,
struct hw_device_t** device);
static int sensors__get_sensors_list(struct sensors_module_t* module,
struct sensor_t const** list)
{
*list = sSensorList;
return sensors;
}
static struct hw_module_methods_t sensors_module_methods = {
open: open_sensors
};
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: "Invensense module",
author: "Invensense Inc.",
methods: &sensors_module_methods,
dso: NULL,
reserved: {0}
},
get_sensors_list: sensors__get_sensors_list,
};
struct sensors_poll_context_t {
sensors_poll_device_1_t device; // must be first
sensors_poll_context_t();
~sensors_poll_context_t();
int activate(int handle, int enabled);
int setDelay(int handle, int64_t ns);
int pollEvents(sensors_event_t* data, int count);
int query(int what, int *value);
int batch(int handle, int flags, int64_t period_ns, int64_t timeout);
#if defined ANDROID_KITKAT
int flush(int handle);
#endif
private:
enum {
mpl = 0,
compass,
dmpOrient,
dmpSign,
dmpPed,
numSensorDrivers,
numFds,
};
struct pollfd mPollFds[numFds];
SensorBase *mSensor;
CompassSensor *mCompassSensor;
/* Significant Motion wakelock support */
bool mSMDWakelockHeld;
};
/******************************************************************************/
sensors_poll_context_t::sensors_poll_context_t() {
VFUNC_LOG;
/* TODO: Handle external pressure sensor */
mCompassSensor = new CompassSensor();
MPLSensor *mplSensor = new MPLSensor(mCompassSensor);
/* No significant motion events pending yet */
mSMDWakelockHeld = false;
/* For Vendor-defined Accel Calibration File Load
* Use the Following Constructor and Pass Your Load Cal File Function
*
* MPLSensor *mplSensor = new MPLSensor(mCompassSensor, AccelLoadConfig);
*/
// Initialize pending flush queue
SIMPLEQ_INIT(&pending_flush_items_head);
// populate the sensor list
sensors =
mplSensor->populateSensorList(sSensorList, sizeof(sSensorList));
mSensor = mplSensor;
mPollFds[mpl].fd = mSensor->getFd();
mPollFds[mpl].events = POLLIN;
mPollFds[mpl].revents = 0;
mPollFds[compass].fd = mCompassSensor->getFd();
mPollFds[compass].events = POLLIN;
mPollFds[compass].revents = 0;
mPollFds[dmpOrient].fd = ((MPLSensor*) mSensor)->getDmpOrientFd();
mPollFds[dmpOrient].events = POLLPRI;
mPollFds[dmpOrient].revents = 0;
mPollFds[dmpSign].fd = ((MPLSensor*) mSensor)->getDmpSignificantMotionFd();
mPollFds[dmpSign].events = POLLPRI;
mPollFds[dmpSign].revents = 0;
mPollFds[dmpPed].fd = ((MPLSensor*) mSensor)->getDmpPedometerFd();
mPollFds[dmpPed].events = POLLPRI;
mPollFds[dmpPed].revents = 0;
}
sensors_poll_context_t::~sensors_poll_context_t() {
FUNC_LOG;
delete mSensor;
delete mCompassSensor;
for (int i = 0; i < numSensorDrivers; i++) {
close(mPollFds[i].fd);
}
}
int sensors_poll_context_t::activate(int handle, int enabled) {
FUNC_LOG;
int err;
err = mSensor->enable(handle, enabled);
return err;
}
int sensors_poll_context_t::setDelay(int handle, int64_t ns)
{
FUNC_LOG;
return mSensor->setDelay(handle, ns);
}
int sensors_poll_context_t::pollEvents(sensors_event_t *data, int count)
{
VHANDLER_LOG;
int nbEvents = 0;
int nb, polltime = -1;
if (mSMDWakelockHeld) {
mSMDWakelockHeld = false;
release_wake_lock(smdWakelockStr);
}
struct handle_entry *handle_element;
pthread_mutex_lock(&flush_handles_mutex);
if (!SIMPLEQ_EMPTY(&pending_flush_items_head)) {
sensors_event_t flushCompleteEvent;
flushCompleteEvent.type = SENSOR_TYPE_META_DATA;
flushCompleteEvent.sensor = 0;
handle_element = SIMPLEQ_FIRST(&pending_flush_items_head);
flushCompleteEvent.meta_data.sensor = handle_element->handle;
SIMPLEQ_REMOVE_HEAD(&pending_flush_items_head, entries);
free(handle_element);
memcpy(data, (void *) &flushCompleteEvent, sizeof(flushCompleteEvent));
LOGI_IF(1, "pollEvents() Returning fake flush event completion for handle %d",
flushCompleteEvent.meta_data.sensor);
pthread_mutex_unlock(&flush_handles_mutex);
return 1;
}
pthread_mutex_unlock(&flush_handles_mutex);
polltime = ((MPLSensor*) mSensor)->getStepCountPollTime();
// look for new events
nb = poll(mPollFds, numSensorDrivers, polltime);
LOGI_IF(0, "poll nb=%d, count=%d, pt=%d", nb, count, polltime);
if (nb > 0) {
for (int i = 0; count && i < numSensorDrivers; i++) {
if (mPollFds[i].revents & (POLLIN | POLLPRI)) {
nb = 0;
if (i == mpl) {
((MPLSensor*) mSensor)->buildMpuEvent();
mPollFds[i].revents = 0;
} else if (i == compass) {
((MPLSensor*) mSensor)->buildCompassEvent();
mPollFds[i].revents = 0;
} else if (i == dmpOrient) {
nb = ((MPLSensor*)mSensor)->
readDmpOrientEvents(data, count);
mPollFds[dmpOrient].revents= 0;
if (isDmpScreenAutoRotationEnabled() && nb > 0) {
count -= nb;
nbEvents += nb;
data += nb;
}
} else if (i == dmpSign) {
nb = ((MPLSensor*) mSensor)->
readDmpSignificantMotionEvents(data, count);
mPollFds[i].revents = 0;
if (nb) {
if (!mSMDWakelockHeld) {
/* Hold wakelock until Sensor Services reads event */
acquire_wake_lock(PARTIAL_WAKE_LOCK, smdWakelockStr);
LOGI_IF(1, "HAL: grabbed %s wakelock", smdWakelockStr);
mSMDWakelockHeld = true;
}
count -= nb;
nbEvents += nb;
data += nb;
}
} else if (i == dmpPed) {
nb = ((MPLSensor*) mSensor)->readDmpPedometerEvents(
data, count, ID_P, 0);
mPollFds[i].revents = 0;
count -= nb;
nbEvents += nb;
data += nb;
}
if(nb == 0) {
nb = ((MPLSensor*) mSensor)->readEvents(data, count);
LOGI_IF(0, "sensors_mpl:readEvents() - "
"i=%d, nb=%d, count=%d, nbEvents=%d, "
"data->timestamp=%lld, data->data[0]=%f,",
i, nb, count, nbEvents, data->timestamp,
data->data[0]);
if (nb > 0) {
count -= nb;
nbEvents += nb;
data += nb;
}
}
}
}
/* to see if any step counter events */
if(((MPLSensor*) mSensor)->hasStepCountPendingEvents() == true) {
nb = 0;
nb = ((MPLSensor*) mSensor)->readDmpPedometerEvents(
data, count, ID_SC, 0);
LOGI_IF(SensorBase::HANDLER_DATA, "sensors_mpl:readStepCount() - "
"nb=%d, count=%d, nbEvents=%d, data->timestamp=%lld, ",
nb, count, nbEvents, data->timestamp);
if (nb > 0) {
count -= nb;
nbEvents += nb;
data += nb;
}
}
} else if(nb == 0) {
/* to see if any step counter events */
if(((MPLSensor*) mSensor)->hasStepCountPendingEvents() == true) {
nb = 0;
nb = ((MPLSensor*) mSensor)->readDmpPedometerEvents(
data, count, ID_SC, 0);
LOGI_IF(SensorBase::HANDLER_DATA, "sensors_mpl:readStepCount() - "
"nb=%d, count=%d, nbEvents=%d, data->timestamp=%lld, ",
nb, count, nbEvents, data->timestamp);
if (nb > 0) {
count -= nb;
nbEvents += nb;
data += nb;
}
}
}
return nbEvents;
}
int sensors_poll_context_t::query(int what, int* value)
{
FUNC_LOG;
return mSensor->query(what, value);
}
int sensors_poll_context_t::batch(int handle, int flags, int64_t period_ns,
int64_t timeout)
{
FUNC_LOG;
return mSensor->batch(handle, flags, period_ns, timeout);
}
#if defined ANDROID_KITKAT
void inv_pending_flush(int handle) {
struct handle_entry *the_entry;
pthread_mutex_lock(&flush_handles_mutex);
the_entry = (struct handle_entry*) malloc(sizeof(struct handle_entry));
if (the_entry != NULL) {
LOGI_IF(0, "Inserting %d into pending list", handle);
the_entry->handle = handle;
SIMPLEQ_INSERT_TAIL(&pending_flush_items_head, the_entry, entries);
} else {
LOGE("ERROR malloc'ing space for pending handler flush entry");
}
pthread_mutex_unlock(&flush_handles_mutex);
}
int sensors_poll_context_t::flush(int handle)
{
FUNC_LOG;
return mSensor->flush(handle);
}
#endif
/******************************************************************************/
static int poll__close(struct hw_device_t *dev)
{
FUNC_LOG;
sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev;
if (ctx) {
delete ctx;
}
return 0;
}
static int poll__activate(struct sensors_poll_device_t *dev,
int handle, int enabled)
{
sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev;
return ctx->activate(handle, enabled);
}
static int poll__setDelay(struct sensors_poll_device_t *dev,
int handle, int64_t ns)
{
sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev;
int s= ctx->setDelay(handle, ns);
return s;
}
static int poll__poll(struct sensors_poll_device_t *dev,
sensors_event_t* data, int count)
{
sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev;
return ctx->pollEvents(data, count);
}
static int poll__query(struct sensors_poll_device_1 *dev,
int what, int *value)
{
sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev;
return ctx->query(what, value);
}
static int poll__batch(struct sensors_poll_device_1 *dev,
int handle, int flags, int64_t period_ns, int64_t timeout)
{
sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev;
return ctx->batch(handle, flags, period_ns, timeout);
}
#if defined ANDROID_KITKAT
static int poll__flush(struct sensors_poll_device_1 *dev,
int handle)
{
sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev;
int status = ctx->flush(handle);
if (handle == SENSORS_STEP_COUNTER_HANDLE) {
LOGI_IF(0, "creating flush completion event for handle %d", handle);
inv_pending_flush(handle);
return 0;
}
return status;
}
#endif
/******************************************************************************/
/** Open a new instance of a sensor device using name */
static int open_sensors(const struct hw_module_t* module, const char* id,
struct hw_device_t** device)
{
FUNC_LOG;
int status = -EINVAL;
sensors_poll_context_t *dev = new sensors_poll_context_t();
memset(&dev->device, 0, sizeof(sensors_poll_device_1));
dev->device.common.tag = HARDWARE_DEVICE_TAG;
#if defined ANDROID_KITKAT
dev->device.common.version = SENSORS_DEVICE_API_VERSION_1_3;
dev->device.flush = poll__flush;
#else
dev->device.common.version = SENSORS_DEVICE_API_VERSION_1_0;
#endif
dev->device.common.module = const_cast<hw_module_t*>(module);
dev->device.common.close = poll__close;
dev->device.activate = poll__activate;
dev->device.setDelay = poll__setDelay;
dev->device.poll = poll__poll;
dev->device.batch = poll__batch;
*device = &dev->device.common;
status = 0;
return status;
}