1 /* 2 * Copyright (C) 2012 Invensense, Inc. 3 * 4 * Licensed under the Apache License, Version 2.0 (the "License"); 5 * you may not use this file except in compliance with the License. 6 * You may obtain a copy of the License at 7 * 8 * http://www.apache.org/licenses/LICENSE-2.0 9 * 10 * Unless required by applicable law or agreed to in writing, software 11 * distributed under the License is distributed on an "AS IS" BASIS, 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 * See the License for the specific language governing permissions and 14 * limitations under the License. 15 */ 16 17 #ifndef ANDROID_MPL_SENSOR_H 18 #define ANDROID_MPL_SENSOR_H 19 20 #include <stdint.h> 21 #include <errno.h> 22 #include <sys/cdefs.h> 23 #include <sys/types.h> 24 #include <poll.h> 25 #include <utils/Vector.h> 26 #include <utils/KeyedVector.h> 27 #include "sensors.h" 28 #include "SensorBase.h" 29 #include "InputEventReader.h" 30 31 #ifdef INVENSENSE_COMPASS_CAL 32 33 #ifdef COMPASS_YAS530 34 #warning "unified HAL for YAS530" 35 #include "CompassSensor.IIO.primary.h" 36 #elif COMPASS_AMI306 37 #warning "unified HAL for AMI306" 38 #include "CompassSensor.IIO.primary.h" 39 #else 40 #warning "unified HAL for MPU9150" 41 #include "CompassSensor.IIO.9150.h" 42 #endif 43 #else 44 #warning "unified HAL for AKM" 45 #include "CompassSensor.AKM.h" 46 #endif 47 48 /*****************************************************************************/ 49 /* Sensors Enable/Disable Mask 50 *****************************************************************************/ 51 #define MAX_CHIP_ID_LEN (20) 52 #define IIO_BUFFER_LENGTH (100 * 2) 53 54 #define INV_THREE_AXIS_GYRO (0x000F) 55 #define INV_THREE_AXIS_ACCEL (0x0070) 56 #define INV_THREE_AXIS_COMPASS (0x0380) 57 #define INV_ALL_SENSORS (0x7FFF) 58 59 #ifdef INVENSENSE_COMPASS_CAL 60 #define ALL_MPL_SENSORS_NP (INV_THREE_AXIS_ACCEL \ 61 | INV_THREE_AXIS_COMPASS \ 62 | INV_THREE_AXIS_GYRO) 63 #else 64 #define ALL_MPL_SENSORS_NP (INV_THREE_AXIS_ACCEL \ 65 | INV_THREE_AXIS_COMPASS \ 66 | INV_THREE_AXIS_GYRO) 67 #endif 68 69 // bit mask of current active features (mFeatureActiveMask) 70 #define INV_COMPASS_CAL 0x01 71 #define INV_COMPASS_FIT 0x02 72 #define INV_DMP_QUATERNION 0x04 73 #define INV_DMP_DISPL_ORIENTATION 0x08 74 75 // #define ENABLE_LP_QUAT_FEAT /* Uncomment to enable Low Power Quaternion */ 76 // #define ENABLE_DMP_DISPL_ORIENT_FEAT /* Uncomment to enable DMP display orientation */ 77 78 #ifdef ENABLE_DMP_DISPL_ORIENT_FEAT 79 /* Uncomment followings to enable screen auto-rotation by DMP (need the latest Android source tree update) */ 80 // #define ENABLE_DMP_SCREEN_AUTO_ROTATION 81 #endif 82 83 int isLowPowerQuatEnabled() { 84 #ifdef ENABLE_LP_QUAT_FEAT 85 return 1; 86 #else 87 return 0; 88 #endif 89 } 90 91 int isDmpDisplayOrientationOn() { 92 #ifdef ENABLE_DMP_DISPL_ORIENT_FEAT 93 return 1; 94 #else 95 return 0; 96 #endif 97 } 98 99 int isDmpScreenAutoRotationOn() { 100 #ifdef ENABLE_DMP_SCREEN_AUTO_ROTATION 101 return 1; 102 #else 103 return 0; 104 #endif 105 } 106 107 /*****************************************************************************/ 108 /** MPLSensor implementation which fits into the HAL example for crespo provided 109 * by Google. 110 * WARNING: there may only be one instance of MPLSensor, ever. 111 */ 112 113 class MPLSensor: public SensorBase 114 { 115 typedef int (MPLSensor::*hfunc_t)(sensors_event_t*); 116 117 public: 118 enum { 119 Gyro = 0, 120 RawGyro, 121 Accelerometer, 122 MagneticField, 123 Orientation, 124 RotationVector, 125 LinearAccel, 126 Gravity, 127 numSensors 128 }; 129 130 MPLSensor(CompassSensor *); 131 virtual ~MPLSensor(); 132 133 virtual int setDelay(int32_t handle, int64_t ns); 134 virtual int enable(int32_t handle, int enabled); 135 int32_t getEnableMask() { return mEnabled; } 136 137 virtual int readEvents(sensors_event_t *data, int count); 138 virtual int getFd() const; 139 virtual int getAccelFd() const; 140 virtual int getCompassFd() const; 141 virtual int getPollTime(); 142 virtual bool hasPendingEvents() const; 143 virtual void sleepEvent(); 144 virtual void wakeEvent(); 145 int populateSensorList(struct sensor_t *list, int len); 146 void cbProcData(); 147 148 // Do not work with this object unless it is initialized 149 bool isValid() { return mMplSensorInitialized; }; 150 151 //static pointer to the object that will handle callbacks 152 static MPLSensor* gMPLSensor; 153 154 //AKM HAL Integration 155 //void set_compass(long ready, long x, long y, long z, long accuracy); 156 int executeOnData(sensors_event_t* data, int count); 157 int readAccelEvents(sensors_event_t* data, int count); 158 int readCompassEvents(sensors_event_t* data, int count); 159 160 int turnOffAccelFifo(); 161 int enableDmpOrientation(int); 162 int dmpOrientHandler(int); 163 int readDmpOrientEvents(sensors_event_t* data, int count); 164 int getDmpOrientFd(); 165 int openDmpOrientFd(); 166 int closeDmpOrientFd(); 167 168 int getDmpRate(int64_t *); 169 int checkDMPOrientation(); 170 171 protected: 172 // Lets us know if the constructor was actually able to finish its job. 173 // E.g. false if init sysfs failed. 174 bool mMplSensorInitialized; 175 CompassSensor *mCompassSensor; 176 177 int gyroHandler(sensors_event_t *data); 178 int rawGyroHandler(sensors_event_t *data); 179 int accelHandler(sensors_event_t *data); 180 int compassHandler(sensors_event_t *data); 181 int rvHandler(sensors_event_t *data); 182 int laHandler(sensors_event_t *data); 183 int gravHandler(sensors_event_t *data); 184 int orienHandler(sensors_event_t *data); 185 void calcOrientationSensor(float *Rx, float *Val); 186 virtual int update_delay(); 187 188 void inv_set_device_properties(); 189 int inv_constructor_init(); 190 int inv_constructor_default_enable(); 191 int setGyroInitialState(); 192 int setAccelInitialState(); 193 int masterEnable(int en); 194 int onPower(int en); 195 int enableLPQuaternion(int); 196 int enableQuaternionData(int); 197 int onDMP(int); 198 int enableGyro(int en); 199 int enableAccel(int en); 200 int enableCompass(int en); 201 void computeLocalSensorMask(int enabled_sensors); 202 int enableSensors(unsigned long sensors, int en, uint32_t changed); 203 int inv_read_gyro_buffer(int fd, short *data, long long *timestamp); 204 int inv_float_to_q16(float *fdata, long *ldata); 205 int inv_long_to_q16(long *fdata, long *ldata); 206 int inv_float_to_round(float *fdata, long *ldata); 207 int inv_float_to_round2(float *fdata, short *sdata); 208 int inv_read_temperature(long long *data); 209 int inv_read_dmp_state(int fd); 210 int inv_read_sensor_bias(int fd, long *data); 211 void inv_get_sensors_orientation(void); 212 int inv_init_sysfs_attributes(void); 213 #ifdef COMPASS_YAS530 214 int resetCompass(void); 215 #endif 216 void setCompassDelay(int64_t ns); 217 void enable_iio_sysfs(void); 218 int enableTap(int); 219 int enableFlick(int); 220 int enablePedometer(int); 221 int checkLPQuaternion(); 222 223 int mNewData; // flag indicating that the MPL calculated new output values 224 int mDmpStarted; 225 long mMasterSensorMask; 226 long mLocalSensorMask; 227 int mPollTime; 228 bool mHaveGoodMpuCal; // flag indicating that the cal file can be written 229 int mGyroAccuracy; // value indicating the quality of the gyro calibr. 230 int mAccelAccuracy; // value indicating the quality of the accel calibr. 231 struct pollfd mPollFds[5]; 232 int mSampleCount; 233 pthread_mutex_t mMplMutex; 234 pthread_mutex_t mHALMutex; 235 236 char mIIOBuffer[(16 + 8 * 3 + 8) * IIO_BUFFER_LENGTH]; 237 238 int iio_fd; 239 int accel_fd; 240 int mpufifo_fd; 241 int gyro_temperature_fd; 242 int dmp_orient_fd; 243 244 int mDmpOrientationEnabled; 245 246 uint32_t mEnabled; 247 uint32_t mOldEnabledMask; 248 sensors_event_t mPendingEvents[numSensors]; 249 int64_t mDelays[numSensors]; 250 hfunc_t mHandlers[numSensors]; 251 short mCachedGyroData[3]; 252 long mCachedAccelData[3]; 253 long mCachedCompassData[3]; 254 long mCachedQuaternionData[4]; 255 android::KeyedVector<int, int> mIrqFds; 256 257 InputEventCircularReader mAccelInputReader; 258 InputEventCircularReader mGyroInputReader; 259 260 bool mFirstRead; 261 short mTempScale; 262 short mTempOffset; 263 int64_t mTempCurrentTime; 264 int mAccelScale; 265 266 uint32_t mPendingMask; 267 unsigned long mSensorMask; 268 269 char chip_ID[MAX_CHIP_ID_LEN]; 270 271 signed char mGyroOrientation[9]; 272 signed char mAccelOrientation[9]; 273 274 int64_t mSensorTimestamp; 275 int64_t mCompassTimestamp; 276 277 struct sysfs_attrbs { 278 char *chip_enable; 279 char *power_state; 280 char *dmp_firmware; 281 char *firmware_loaded; 282 char *dmp_on; 283 char *dmp_int_on; 284 char *dmp_event_int_on; 285 char *dmp_output_rate; 286 char *tap_on; 287 char *key; 288 char *self_test; 289 char *temperature; 290 291 char *gyro_enable; 292 char *gyro_fifo_rate; 293 char *gyro_orient; 294 char *gyro_x_fifo_enable; 295 char *gyro_y_fifo_enable; 296 char *gyro_z_fifo_enable; 297 298 char *accel_enable; 299 char *accel_fifo_rate; 300 char *accel_fsr; 301 char *accel_bias; 302 char *accel_orient; 303 char *accel_x_fifo_enable; 304 char *accel_y_fifo_enable; 305 char *accel_z_fifo_enable; 306 307 char *quaternion_on; 308 char *in_quat_r_en; 309 char *in_quat_x_en; 310 char *in_quat_y_en; 311 char *in_quat_z_en; 312 313 char *in_timestamp_en; 314 char *trigger_name; 315 char *current_trigger; 316 char *buffer_length; 317 318 char *display_orientation_on; 319 char *event_display_orientation; 320 } mpu; 321 322 char *sysfs_names_ptr; 323 int mFeatureActiveMask; 324 325 private: 326 /* added for dynamic get sensor list */ 327 void fillAccel(const char* accel, struct sensor_t *list); 328 void fillGyro(const char* gyro, struct sensor_t *list); 329 void fillRV(struct sensor_t *list); 330 void fillOrientation(struct sensor_t *list); 331 void fillGravity(struct sensor_t *list); 332 void fillLinearAccel(struct sensor_t *list); 333 void storeCalibration(); 334 void loadDMP(); 335 }; 336 337 extern "C" { 338 void setCallbackObject(MPLSensor*); 339 MPLSensor *getCallbackObject(); 340 } 341 342 #endif // ANDROID_MPL_SENSOR_H 343
