ancora_sensors: opensource libsensors

ancora.mk

@@ -93,6 +93,7 @@ PRODUCT_PACKAGES += \
     gps.msm7x30 \
     lights.msm7x30 \
     power.msm7x30 \
+    sensors.ancora \
     audio.primary.msm7x30 \
     audio.a2dp.default \
     audio.usb.default \

libsensors/AkmSensor.cpp

@@ -0,0 +1,298 @@
+/*
+ * Copyright (C) 2008 The Android Open Source Project
+ *
+ * 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 <errno.h>
+#include <math.h>
+#include <poll.h>
+#include <unistd.h>
+#include <dirent.h>
+#include <sys/select.h>
+#include <dlfcn.h>
+
+#include "ak8975.h"
+
+#include <cutils/log.h>
+#include "AkmSensor.h"
+
+//#define LOG_NDEBUG 0
+
+/*****************************************************************************/
+
+int (*akm_is_sensor_enabled)(uint32_t sensor_type);
+int (*akm_enable_sensor)(uint32_t sensor_type);
+int (*akm_disable_sensor)(uint32_t sensor_type);
+int (*akm_set_delay)(uint32_t sensor_type, uint64_t delay);
+
+int stub_is_sensor_enabled(uint32_t sensor_type) {
+    return 0;
+}
+
+int stub_enable_disable_sensor(uint32_t sensor_type) {
+    return -ENODEV;
+}
+
+int stub_set_delay(uint32_t sensor_type, uint64_t delay) {
+    return -ENODEV;
+}
+
+AkmSensor::AkmSensor()
+: SensorBase(NULL, NULL),
+      mEnabled(0),
+      mPendingMask(0),
+      mInputReader(32)
+{
+    /* Open the library before opening the input device.  The library
+     * creates a uinput device.
+     */
+    if (loadAKMLibrary() == 0) {
+        data_name = "compass_sensor";
+        data_fd = openInput("compass_sensor");
+    }
+
+    memset(mPendingEvents, 0, sizeof(mPendingEvents));
+
+    mPendingEvents[MagneticField].version = sizeof(sensors_event_t);
+    mPendingEvents[MagneticField].sensor = ID_M;
+    mPendingEvents[MagneticField].type = SENSOR_TYPE_MAGNETIC_FIELD;
+    mPendingEvents[MagneticField].magnetic.status = SENSOR_STATUS_ACCURACY_HIGH;
+
+    mPendingEvents[Orientation  ].version = sizeof(sensors_event_t);
+    mPendingEvents[Orientation  ].sensor = ID_O;
+    mPendingEvents[Orientation  ].type = SENSOR_TYPE_ORIENTATION;
+    mPendingEvents[Orientation  ].orientation.status = SENSOR_STATUS_ACCURACY_HIGH;
+
+    // read the actual value of all sensors if they're enabled already
+    struct input_absinfo absinfo;
+    short flags = 0;
+
+    if (akm_is_sensor_enabled(SENSOR_TYPE_MAGNETIC_FIELD))  {
+        mEnabled |= 1<<MagneticField;
+        if (!ioctl(data_fd, EVIOCGABS(EVENT_TYPE_MAGV_X), &absinfo)) {
+            mPendingEvents[MagneticField].magnetic.x = absinfo.value * CONVERT_M_X;
+        }
+        if (!ioctl(data_fd, EVIOCGABS(EVENT_TYPE_MAGV_Y), &absinfo)) {
+            mPendingEvents[MagneticField].magnetic.y = absinfo.value * CONVERT_M_Y;
+        }
+        if (!ioctl(data_fd, EVIOCGABS(EVENT_TYPE_MAGV_Z), &absinfo)) {
+            mPendingEvents[MagneticField].magnetic.z = absinfo.value * CONVERT_M_Z;
+        }
+    }
+    if (akm_is_sensor_enabled(SENSOR_TYPE_ORIENTATION))  {
+        mEnabled |= 1<<Orientation;
+        if (!ioctl(data_fd, EVIOCGABS(EVENT_TYPE_YAW), &absinfo)) {
+            mPendingEvents[Orientation].orientation.azimuth = absinfo.value;
+        }
+        if (!ioctl(data_fd, EVIOCGABS(EVENT_TYPE_PITCH), &absinfo)) {
+            mPendingEvents[Orientation].orientation.pitch = absinfo.value;
+        }
+        if (!ioctl(data_fd, EVIOCGABS(EVENT_TYPE_ROLL), &absinfo)) {
+            mPendingEvents[Orientation].orientation.roll = -absinfo.value;
+        }
+        if (!ioctl(data_fd, EVIOCGABS(EVENT_TYPE_ORIENT_STATUS), &absinfo)) {
+            mPendingEvents[Orientation].orientation.status = uint8_t(absinfo.value & SENSOR_STATE_MASK);
+        }
+    }
+
+    // disable temperature sensor, since it is not supported
+    akm_disable_sensor(SENSOR_TYPE_TEMPERATURE);
+}
+
+AkmSensor::~AkmSensor()
+{
+    if (mLibAKM) {
+        unsigned ref = ::dlclose(mLibAKM);
+    }
+}
+
+int AkmSensor::enable(int32_t handle, int en)
+{
+    int what = -1;
+
+    switch (handle) {
+        case ID_M: what = MagneticField; break;
+        case ID_O: what = Orientation;   break;
+    }
+
+    if (uint32_t(what) >= numSensors)
+        return -EINVAL;
+
+    int newState  = en ? 1 : 0;
+    int err = 0;
+
+    if ((uint32_t(newState)<<what) != (mEnabled & (1<<what))) {
+        uint32_t sensor_type;
+        switch (what) {
+            case MagneticField: sensor_type = SENSOR_TYPE_MAGNETIC_FIELD; break;
+            case Orientation:   sensor_type = SENSOR_TYPE_ORIENTATION;  break;
+        }
+        short flags = newState;
+        if (en)
+            err = akm_enable_sensor(sensor_type);
+        else
+            err = akm_disable_sensor(sensor_type);
+
+        ALOGE_IF(err, "Could not change sensor state (%s)", strerror(-err));
+        if (!err) {
+            mEnabled &= ~(1<<what);
+            mEnabled |= (uint32_t(flags)<<what);
+        }
+    }
+    return err;
+}
+
+int AkmSensor::setDelay(int32_t handle, int64_t ns)
+{
+    int what = -1;
+    uint32_t sensor_type = 0;
+
+    if (ns < 0)
+        return -EINVAL;
+
+    switch (handle) {
+        case ID_M: sensor_type = SENSOR_TYPE_MAGNETIC_FIELD; break;
+        case ID_O: sensor_type = SENSOR_TYPE_ORIENTATION; break;
+    }
+
+    if (sensor_type == 0)
+        return -EINVAL;
+
+    mDelays[what] = ns;
+    return update_delay();
+}
+
+int AkmSensor::update_delay()
+{
+    if (mEnabled) {
+        uint64_t wanted = -1LLU;
+        for (int i=0 ; i<numSensors ; i++) {
+            if (mEnabled & (1<<i)) {
+                uint64_t ns = mDelays[i];
+                wanted = wanted < ns ? wanted : ns;
+            }
+        }
+        short delay = int64_t(wanted) / 1000000;
+        if (ioctl(dev_fd, ECS_IOCTL_APP_SET_DELAY, &delay)) {
+            return -errno;
+        }
+    }
+    return 0;
+}
+
+
+int AkmSensor::loadAKMLibrary()
+{
+    mLibAKM = dlopen("libakm.so", RTLD_NOW);
+
+    if (!mLibAKM) {
+        akm_is_sensor_enabled = stub_is_sensor_enabled;
+        akm_enable_sensor = stub_enable_disable_sensor;
+        akm_disable_sensor = stub_enable_disable_sensor;
+        akm_set_delay = stub_set_delay;
+        ALOGE("AkmSensor: unable to load AKM Library, %s", dlerror());
+        return -ENOENT;
+    }
+
+    *(void **)&akm_is_sensor_enabled = dlsym(mLibAKM, "akm_is_sensor_enabled");
+    *(void **)&akm_enable_sensor = dlsym(mLibAKM, "akm_enable_sensor");
+    *(void **)&akm_disable_sensor = dlsym(mLibAKM, "akm_disable_sensor");
+    *(void **)&akm_set_delay = dlsym(mLibAKM, "akm_set_delay");
+
+    return 0;
+}
+
+int AkmSensor::readEvents(sensors_event_t* data, int count)
+{
+    if (count < 1)
+        return -EINVAL;
+
+    ssize_t n = mInputReader.fill(data_fd);
+    if (n < 0)
+        return n;
+
+    int numEventReceived = 0;
+    input_event const* event;
+
+    while (count && mInputReader.readEvent(&event)) {
+        int type = event->type;
+        if (type == EV_REL) {
+            processEvent(event->code, event->value);
+            mInputReader.next();
+        } else if (type == EV_SYN) {
+            int64_t time = timevalToNano(event->time);
+            for (int j=0 ; count && mPendingMask && j<numSensors ; j++) {
+                if (mPendingMask & (1<<j)) {
+                    mPendingMask &= ~(1<<j);
+                    mPendingEvents[j].timestamp = time;
+                    if (mEnabled & (1<<j)) {
+                        *data++ = mPendingEvents[j];
+                        count--;
+                        numEventReceived++;
+                    }
+                }
+            }
+            if (!mPendingMask) {
+                mInputReader.next();
+            }
+        } else {
+            ALOGE("AkmSensor: unknown event (type=%d, code=%d)",
+                    type, event->code);
+            mInputReader.next();
+        }
+    }
+    return numEventReceived;
+}
+
+void AkmSensor::processEvent(int code, int value)
+{
+    switch (code) {
+        case EVENT_TYPE_MAGV_X:
+            ALOGV("AkmSensor: EVENT_TYPE_MAGV_X value =%d", value);
+            mPendingMask |= 1<<MagneticField;
+            mPendingEvents[MagneticField].magnetic.x = value * CONVERT_M_X;
+            break;
+        case EVENT_TYPE_MAGV_Y:
+            ALOGV("AkmSensor: EVENT_TYPE_MAGV_Y value =%d", value);
+            mPendingMask |= 1<<MagneticField;
+            mPendingEvents[MagneticField].magnetic.y = value * CONVERT_M_Y;
+            break;
+        case EVENT_TYPE_MAGV_Z:
+            ALOGV("AkmSensor: EVENT_TYPE_MAGV_Z value =%d", value);
+            mPendingMask |= 1<<MagneticField;
+            mPendingEvents[MagneticField].magnetic.z = value * CONVERT_M_Z;
+            break;
+
+        case EVENT_TYPE_YAW:
+            mPendingMask |= 1<<Orientation;
+            mPendingEvents[Orientation].orientation.azimuth = value * CONVERT_O_A;
+            break;
+        case EVENT_TYPE_PITCH:
+            mPendingMask |= 1<<Orientation;
+            mPendingEvents[Orientation].orientation.pitch = value * CONVERT_O_P;
+            break;
+        case EVENT_TYPE_ROLL:
+            mPendingMask |= 1<<Orientation;
+            mPendingEvents[Orientation].orientation.roll = value * CONVERT_O_R;
+            break;
+        case EVENT_TYPE_ORIENT_STATUS:
+            uint8_t status = uint8_t(value & SENSOR_STATE_MASK);
+            if (status == 4)
+                status = 0;
+            mPendingMask |= 1<<Orientation;
+            mPendingEvents[Orientation].orientation.status = status;
+            break;
+    }
+}

libsensors/AkmSensor.h

@@ -0,0 +1,63 @@
+/*
+ * Copyright (C) 2008 The Android Open Source Project
+ *
+ * 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 ANDROID_AKM_SENSOR_H
+#define ANDROID_AKM_SENSOR_H
+
+#include <stdint.h>
+#include <errno.h>
+#include <sys/cdefs.h>
+#include <sys/types.h>
+
+
+#include "sensors.h"
+#include "SensorBase.h"
+#include "InputEventReader.h"
+
+/*****************************************************************************/
+
+struct input_event;
+
+class AkmSensor : public SensorBase {
+public:
+            AkmSensor();
+    virtual ~AkmSensor();
+
+    enum {
+        MagneticField   = 1,
+        Orientation     = 2,
+        numSensors
+    };
+
+    virtual int setDelay(int32_t handle, int64_t ns);
+    virtual int enable(int32_t handle, int enabled);
+    virtual int readEvents(sensors_event_t* data, int count);
+    void processEvent(int code, int value);
+
+private:
+    int loadAKMLibrary();
+    int update_delay();
+    void *mLibAKM;
+    uint32_t mEnabled;
+    uint32_t mPendingMask;
+    InputEventCircularReader mInputReader;
+    sensors_event_t mPendingEvents[numSensors];
+    uint64_t mDelays[numSensors];
+};
+
+/*****************************************************************************/
+
+#endif  // ANDROID_AKM_SENSOR_H