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_YAS53x 34 #warning "unified HAL for YAS53x" 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 53 #define INV_THREE_AXIS_GYRO (0x000F) 54 #define INV_THREE_AXIS_ACCEL (0x0070) 55 #define INV_THREE_AXIS_COMPASS (0x0380) 56 #define INV_ALL_SENSORS (0x7FFF) 57 58 #ifdef INVENSENSE_COMPASS_CAL 59 #define ALL_MPL_SENSORS_NP (INV_THREE_AXIS_ACCEL \ 60 | INV_THREE_AXIS_COMPASS \ 61 | INV_THREE_AXIS_GYRO) 62 #else 63 #define ALL_MPL_SENSORS_NP (INV_THREE_AXIS_ACCEL \ 64 | INV_THREE_AXIS_COMPASS \ 65 | INV_THREE_AXIS_GYRO) 66 #endif 67 68 // bit mask of current active features (mFeatureActiveMask) 69 #define INV_COMPASS_CAL 0x01 70 #define INV_COMPASS_FIT 0x02 71 #define INV_DMP_QUATERNION 0x04 72 #define INV_DMP_DISPL_ORIENTATION 0x08 73 74 /* Uncomment to enable Low Power Quaternion */ 75 #define ENABLE_LP_QUAT_FEAT 76 77 /* Uncomment to enable DMP display orientation 78 (within the HAL, see below for Java framework) */ 79 // #define ENABLE_DMP_DISPL_ORIENT_FEAT 80 81 #ifdef ENABLE_DMP_DISPL_ORIENT_FEAT 82 /* Uncomment following to expose the SENSOR_TYPE_SCREEN_ORIENTATION 83 sensor type (DMP screen orientation) to the Java framework. 84 NOTE: 85 need Invensense customized 86 'hardware/libhardware/include/hardware/sensors.h' to compile correctly. 87 NOTE: 88 need Invensense java framework changes to: 89 'frameworks/base/core/java/android/view/WindowOrientationListener.java' 90 'frameworks/base/core/java/android/hardware/Sensor.java' 91 'frameworks/base/core/java/android/hardware/SensorEvent.java' 92 for the 'Auto-rotate screen' to use this feature. 93 */ 94 #define ENABLE_DMP_SCREEN_AUTO_ROTATION 95 #warning "ENABLE_DMP_DISPL_ORIENT_FEAT is defined, framework changes are necessary for HAL to work properly" 96 #endif 97 98 int isDmpScreenAutoRotationEnabled() 99 { 100 #ifdef ENABLE_DMP_SCREEN_AUTO_ROTATION 101 return 1; 102 #else 103 return 0; 104 #endif 105 } 106 107 int (*m_pt2AccelCalLoadFunc)(long *bias) = NULL; 108 /*****************************************************************************/ 109 /** MPLSensor implementation which fits into the HAL example for crespo provided 110 * by Google. 111 * WARNING: there may only be one instance of MPLSensor, ever. 112 */ 113 114 class MPLSensor: public SensorBase 115 { 116 typedef int (MPLSensor::*hfunc_t)(sensors_event_t*); 117 118 public: 119 120 enum { 121 Gyro = 0, 122 RawGyro, 123 Accelerometer, 124 MagneticField, 125 Orientation, 126 RotationVector, 127 LinearAccel, 128 Gravity, 129 numSensors 130 }; 131 132 MPLSensor(CompassSensor *, int (*m_pt2AccelCalLoadFunc)(long*) = 0); 133 virtual ~MPLSensor(); 134 135 virtual int setDelay(int32_t handle, int64_t ns); 136 virtual int enable(int32_t handle, int enabled); 137 int32_t getEnableMask() { return mEnabled; } 138 139 virtual int readEvents(sensors_event_t *data, int count); 140 virtual int getFd() const; 141 virtual int getAccelFd() const; 142 virtual int getCompassFd() const; 143 virtual int getPollTime(); 144 virtual bool hasPendingEvents() const; 145 virtual void sleepEvent(); 146 virtual void wakeEvent(); 147 int populateSensorList(struct sensor_t *list, int len); 148 void cbProcData(); 149 150 //static pointer to the object that will handle callbacks 151 static MPLSensor* gMPLSensor; 152 153 //AKM HAL Integration 154 //void set_compass(long ready, long x, long y, long z, long accuracy); 155 int executeOnData(sensors_event_t* data, int count); 156 int readAccelEvents(sensors_event_t* data, int count); 157 int readCompassEvents(sensors_event_t* data, int count); 158 159 int turnOffAccelFifo(); 160 int enableDmpOrientation(int); 161 int dmpOrientHandler(int); 162 int readDmpOrientEvents(sensors_event_t* data, int count); 163 int getDmpOrientFd(); 164 int openDmpOrientFd(); 165 int closeDmpOrientFd(); 166 167 int getDmpRate(int64_t *); 168 int checkDMPOrientation(); 169 170 protected: 171 CompassSensor *mCompassSensor; 172 173 int gyroHandler(sensors_event_t *data); 174 int rawGyroHandler(sensors_event_t *data); 175 int accelHandler(sensors_event_t *data); 176 int compassHandler(sensors_event_t *data); 177 int rvHandler(sensors_event_t *data); 178 int laHandler(sensors_event_t *data); 179 int gravHandler(sensors_event_t *data); 180 int orienHandler(sensors_event_t *data); 181 void calcOrientationSensor(float *Rx, float *Val); 182 virtual int update_delay(); 183 184 void inv_set_device_properties(); 185 int inv_constructor_init(); 186 int inv_constructor_default_enable(); 187 int setGyroInitialState(); 188 int setAccelInitialState(); 189 int masterEnable(int en); 190 int onPower(int en); 191 int enableLPQuaternion(int); 192 int enableQuaternionData(int); 193 int onDMP(int); 194 int enableOneSensor(int en, const char *name, int (MPLSensor::*enabler)(int)); 195 int enableGyro(int en); 196 int enableAccel(int en); 197 int enableCompass(int en); 198 void computeLocalSensorMask(int enabled_sensors); 199 int enableSensors(unsigned long sensors, int en, uint32_t changed); 200 int inv_read_gyro_buffer(int fd, short *data, long long *timestamp); 201 int inv_float_to_q16(float *fdata, long *ldata); 202 int inv_long_to_q16(long *fdata, long *ldata); 203 int inv_float_to_round(float *fdata, long *ldata); 204 int inv_float_to_round2(float *fdata, short *sdata); 205 int inv_read_temperature(long long *data); 206 int inv_read_dmp_state(int fd); 207 int inv_read_sensor_bias(int fd, long *data); 208 void inv_get_sensors_orientation(void); 209 int inv_init_sysfs_attributes(void); 210 #ifdef COMPASS_YAS53x 211 int resetCompass(void); 212 #endif 213 void setCompassDelay(int64_t ns); 214 void enable_iio_sysfs(void); 215 int enableTap(int); 216 int enableFlick(int); 217 int enablePedometer(int); 218 int checkLPQuaternion(); 219 220 int mNewData; // flag indicating that the MPL calculated new output values 221 int mDmpStarted; 222 long mMasterSensorMask; 223 long mLocalSensorMask; 224 int mPollTime; 225 bool mHaveGoodMpuCal; // flag indicating that the cal file can be written 226 int mGyroAccuracy; // value indicating the quality of the gyro calibr. 227 int mAccelAccuracy; // value indicating the quality of the accel calibr. 228 int mCompassAccuracy; // value indicating the quality of the compass calibr. 229 struct pollfd mPollFds[5]; 230 int mSampleCount; 231 pthread_mutex_t mMplMutex; 232 pthread_mutex_t mHALMutex; 233 234 char mIIOBuffer[(16 + 8 * 3 + 8) * IIO_BUFFER_LENGTH]; 235 236 int iio_fd; 237 int accel_fd; 238 int mpufifo_fd; 239 int gyro_temperature_fd; 240 int dmp_orient_fd; 241 242 int mDmpOrientationEnabled; 243 244 245 uint32_t mEnabled; 246 uint32_t mOldEnabledMask; 247 sensors_event_t mPendingEvents[numSensors]; 248 int64_t mDelays[numSensors]; 249 hfunc_t mHandlers[numSensors]; 250 short mCachedGyroData[3]; 251 long mCachedAccelData[3]; 252 long mCachedCompassData[3]; 253 long mCachedQuaternionData[4]; 254 android::KeyedVector<int, int> mIrqFds; 255 256 InputEventCircularReader mAccelInputReader; 257 InputEventCircularReader mGyroInputReader; 258 259 bool mFirstRead; 260 short mTempScale; 261 short mTempOffset; 262 int64_t mTempCurrentTime; 263 int mAccelScale; 264 265 uint32_t mPendingMask; 266 unsigned long mSensorMask; 267 268 char chip_ID[MAX_CHIP_ID_LEN]; 269 270 signed char mGyroOrientation[9]; 271 signed char mAccelOrientation[9]; 272 273 int64_t mSensorTimestamp; 274 int64_t mCompassTimestamp; 275 276 struct sysfs_attrbs { 277 char *chip_enable; 278 char *power_state; 279 char *dmp_firmware; 280 char *firmware_loaded; 281 char *dmp_on; 282 char *dmp_int_on; 283 char *dmp_event_int_on; 284 char *dmp_output_rate; 285 char *tap_on; 286 char *key; 287 char *self_test; 288 char *temperature; 289 290 char *gyro_enable; 291 char *gyro_fifo_rate; 292 char *gyro_orient; 293 char *gyro_x_fifo_enable; 294 char *gyro_y_fifo_enable; 295 char *gyro_z_fifo_enable; 296 297 char *accel_enable; 298 char *accel_fifo_rate; 299 char *accel_fsr; 300 char *accel_bias; 301 char *accel_orient; 302 char *accel_x_fifo_enable; 303 char *accel_y_fifo_enable; 304 char *accel_z_fifo_enable; 305 306 char *quaternion_on; 307 char *in_quat_r_en; 308 char *in_quat_x_en; 309 char *in_quat_y_en; 310 char *in_quat_z_en; 311 312 char *in_timestamp_en; 313 char *trigger_name; 314 char *current_trigger; 315 char *buffer_length; 316 317 char *display_orientation_on; 318 char *event_display_orientation; 319 } mpu; 320 321 char *sysfs_names_ptr; 322 int mFeatureActiveMask; 323 324 private: 325 /* added for dynamic get sensor list */ 326 void fillAccel(const char* accel, struct sensor_t *list); 327 void fillGyro(const char* gyro, struct sensor_t *list); 328 void fillRV(struct sensor_t *list); 329 void fillOrientation(struct sensor_t *list); 330 void fillGravity(struct sensor_t *list); 331 void fillLinearAccel(struct sensor_t *list); 332 void storeCalibration(); 333 void loadDMP(); 334 bool isMpu3050(); 335 int isLowPowerQuatEnabled(); 336 int isDmpDisplayOrientationOn(); 337 338 339 }; 340 341 extern "C" { 342 void setCallbackObject(MPLSensor*); 343 MPLSensor *getCallbackObject(); 344 } 345 346 #endif // ANDROID_MPL_SENSOR_H 347
