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 <time.h> 26 #include <utils/Vector.h> 27 #include <utils/KeyedVector.h> 28 #include <utils/String8.h> 29 #include "sensors.h" 30 #include "SensorBase.h" 31 #include "InputEventReader.h" 32 33 #ifndef INVENSENSE_COMPASS_CAL 34 #pragma message("unified HAL for AKM") 35 #include "CompassSensor.AKM.h" 36 #endif 37 38 #ifdef SENSOR_ON_PRIMARY_BUS 39 #pragma message("Sensor on Primary Bus") 40 #include "CompassSensor.IIO.primary.h" 41 #else 42 #pragma message("Sensor on Secondary Bus") 43 #include "CompassSensor.IIO.9150.h" 44 #endif 45 46 class PressureSensor; 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_ONE_AXIS_PRESSURE (0x0400) 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 (mMplFeatureActiveMask) 70 #define INV_COMPASS_CAL 0x01 71 #define INV_COMPASS_FIT 0x02 72 // bit mask of current active features (mFeatureActiveMask) 73 #define INV_DMP_QUATERNION 0x001 //3 elements without real part, 32 bit each 74 #define INV_DMP_DISPL_ORIENTATION 0x002 75 #define INV_DMP_SIGNIFICANT_MOTION 0x004 76 #define INV_DMP_PEDOMETER 0x008 77 #define INV_DMP_PEDOMETER_STEP 0x010 78 #define INV_DMP_PED_STANDALONE 0x020 //timestamps only 79 #define INV_DMP_6AXIS_QUATERNION 0x040 //3 elements without real part, 32 bit each 80 #define INV_DMP_PED_QUATERNION 0x080 //3 elements without real part, 16 bit each 81 #define INV_DMP_PED_INDICATOR 0x100 //tag along header with step indciator 82 #define INV_DMP_BATCH_MODE 0x200 83 #define INV_DMP_ACCEL_PED (0xffff) 84 85 // bit mask of whether screen orientation is on 86 /*#define SCREEN_ORIENTATION_MASK ( \ 87 (isDmpDisplayOrientationOn() \ 88 && ((1 << INV_DMP_DISPL_ORIENTATION) \ 89 || !isDmpScreenAutoRotationEnabled())) \ 90 )*/ 91 // bit mask of whether DMP should be turned on 92 #define DMP_FEATURE_MASK ( \ 93 (INV_DMP_QUATERNION) \ 94 | (INV_DMP_DISPL_ORIENTATION) \ 95 | (INV_DMP_SIGNIFICANT_MOTION) \ 96 | (INV_DMP_PEDOMETER) \ 97 | (INV_DMP_PEDOMETER_STEP) \ 98 | (INV_DMP_6AXIS_QUATERNION) \ 99 | (INV_DMP_PED_QUATERNION) \ 100 | (INV_DMP_BATCH_MODE) \ 101 ) 102 // bit mask of DMP features as sensors 103 #define DMP_SENSOR_MASK ( \ 104 (INV_DMP_DISPL_ORIENTATION) \ 105 | (INV_DMP_SIGNIFICANT_MOTION) \ 106 | (INV_DMP_PEDOMETER) \ 107 | (INV_DMP_PEDOMETER_STEP) \ 108 | (INV_DMP_6AXIS_QUATERNION) \ 109 ) 110 // data header format used by kernel driver. 111 #define DATA_FORMAT_STEP 0x0001 112 #define DATA_FORMAT_PED_STANDALONE 0x0100 113 #define DATA_FORMAT_PED_QUAT 0x0200 114 #define DATA_FORMAT_6_AXIS 0x0400 115 #define DATA_FORMAT_QUAT 0x0800 116 #define DATA_FORMAT_COMPASS 0x1000 117 #define DATA_FORMAT_GYRO 0x2000 118 #define DATA_FORMAT_ACCEL 0x4000 119 #define DATA_FORMAT_PRESSURE 0x8000 120 #define DATA_FORMAT_MASK 0xffff 121 122 #define BYTES_PER_SENSOR 8 123 #define BYTES_PER_SENSOR_PACKET 16 124 #define QUAT_ONLY_LAST_PACKET_OFFSET 16 125 #define BYTES_QUAT_DATA 24 126 #define MAX_SUSPEND_BATCH_PACKET_SIZE 1024 127 #define MAX_PACKET_SIZE 80 //8 * 4 + (2 * 24) 128 129 /* Uncomment to enable Low Power Quaternion */ 130 #define ENABLE_LP_QUAT_FEAT 131 132 /* Uncomment to enable DMP display orientation 133 (within the HAL, see below for Java framework) */ 134 //#define ENABLE_DMP_DISPL_ORIENT_FEAT 135 136 #ifdef ENABLE_DMP_DISPL_ORIENT_FEAT 137 /* Uncomment following to expose the SENSOR_TYPE_SCREEN_ORIENTATION 138 sensor type (DMP screen orientation) to the Java framework. 139 NOTE: 140 need Invensense customized 141 'hardware/libhardware/include/hardware/sensors.h' to compile correctly. 142 NOTE: 143 need Invensense java framework changes to: 144 'frameworks/base/core/java/android/view/WindowOrientationListener.java' 145 'frameworks/base/core/java/android/hardware/Sensor.java' 146 'frameworks/base/core/java/android/hardware/SensorEvent.java' 147 for the 'Auto-rotate screen' to use this feature. 148 */ 149 #define ENABLE_DMP_SCREEN_AUTO_ROTATION 150 #pragma message("ENABLE_DMP_DISPL_ORIENT_FEAT is defined, framework changes are necessary for HAL to work properly") 151 #endif 152 153 /* Enable Pressure sensor support */ 154 #define ENABLE_PRESSURE 155 156 int isDmpScreenAutoRotationEnabled() 157 { 158 #ifdef ENABLE_DMP_SCREEN_AUTO_ROTATION 159 return 1; 160 #else 161 return 0; 162 #endif 163 } 164 165 int (*m_pt2AccelCalLoadFunc)(long *bias) = NULL; 166 /*****************************************************************************/ 167 /** MPLSensor implementation which fits into the HAL example for crespo provided 168 * by Google. 169 * WARNING: there may only be one instance of MPLSensor, ever. 170 */ 171 172 class MPLSensor: public SensorBase 173 { 174 typedef int (MPLSensor::*hfunc_t)(sensors_event_t*); 175 176 public: 177 178 enum { 179 Gyro = 0, 180 RawGyro, 181 Accelerometer, 182 MagneticField, 183 RawMagneticField, 184 Pressure, 185 Orientation, 186 RotationVector, 187 GameRotationVector, 188 LinearAccel, 189 Gravity, 190 SignificantMotion, 191 StepDetector, 192 StepCounter, 193 GeomagneticRotationVector, 194 NumSensors 195 }; 196 197 MPLSensor(CompassSensor *, int (*m_pt2AccelCalLoadFunc)(long*) = 0); 198 virtual ~MPLSensor(); 199 200 virtual int setDelay(int32_t handle, int64_t ns); 201 virtual int enable(int32_t handle, int enabled); 202 virtual int batch(int handle, int flags, int64_t period_ns, int64_t timeout); 203 int setBatch(int en, int toggleEnable); 204 int32_t getEnableMask() { return mEnabled; } 205 void getHandle(int32_t handle, int &what, android::String8 &sname); 206 207 virtual int readEvents(sensors_event_t *data, int count); 208 virtual int getFd() const; 209 virtual int getAccelFd() const; 210 virtual int getCompassFd() const; 211 virtual int getPollTime(); 212 virtual int getStepCountPollTime(); 213 virtual bool hasPendingEvents() const; 214 virtual bool hasStepCountPendingEvents(); 215 virtual void sleepEvent(); 216 virtual void wakeEvent(); 217 int populateSensorList(struct sensor_t *list, int len); 218 void cbProcData(); 219 220 //static pointer to the object that will handle callbacks 221 static MPLSensor* gMPLSensor; 222 223 int readAccelEvents(sensors_event_t* data, int count); 224 void buildCompassEvent(); 225 void buildMpuEvent(); 226 227 int turnOffAccelFifo(); 228 int turnOffGyroFifo(); 229 int enableDmpOrientation(int); 230 int dmpOrientHandler(int); 231 int readDmpOrientEvents(sensors_event_t* data, int count); 232 int getDmpOrientFd(); 233 int openDmpOrientFd(); 234 int closeDmpOrientFd(); 235 236 int getDmpRate(int64_t *); 237 int checkDMPOrientation(); 238 239 int getDmpSignificantMotionFd(); 240 int readDmpSignificantMotionEvents(sensors_event_t* data, int count); 241 int enableDmpSignificantMotion(int); 242 int significantMotionHandler(sensors_event_t* data); 243 bool checkSmdSupport(){return (mDmpSignificantMotionEnabled);}; 244 245 int enableDmpPedometer(int, int); 246 int readDmpPedometerEvents(sensors_event_t* data, int count, int32_t id, int32_t type, int outputType); 247 int getDmpPedometerFd(); 248 bool checkPedometerSupport() {return (mDmpPedometerEnabled || mDmpStepCountEnabled);}; 249 bool checkOrientationSupport() {return ((isDmpDisplayOrientationOn() 250 && (mDmpOrientationEnabled 251 || !isDmpScreenAutoRotationEnabled())));}; 252 253 protected: 254 CompassSensor *mCompassSensor; 255 PressureSensor *mPressureSensor; 256 257 int gyroHandler(sensors_event_t *data); 258 int rawGyroHandler(sensors_event_t *data); 259 int accelHandler(sensors_event_t *data); 260 int compassHandler(sensors_event_t *data); 261 int rawCompassHandler(sensors_event_t *data); 262 int rvHandler(sensors_event_t *data); 263 int grvHandler(sensors_event_t *data); 264 int laHandler(sensors_event_t *data); 265 int gravHandler(sensors_event_t *data); 266 int orienHandler(sensors_event_t *data); 267 int smHandler(sensors_event_t *data); 268 int pHandler(sensors_event_t *data); 269 int scHandler(sensors_event_t *data); 270 int gmHandler(sensors_event_t *data); 271 int psHandler(sensors_event_t *data); 272 void calcOrientationSensor(float *Rx, float *Val); 273 virtual int update_delay(); 274 275 void inv_set_device_properties(); 276 int inv_constructor_init(); 277 int inv_constructor_default_enable(); 278 int setGyroInitialState(); 279 int setAccelInitialState(); 280 int masterEnable(int en); 281 int enablePedStandalone(int en); 282 int enablePedStandaloneData(int en); 283 int enablePedQuaternion(int); 284 int enablePedQuaternionData(int); 285 int enable6AxisQuaternion(int); 286 int enable6AxisQuaternionData(int); 287 int enableLPQuaternion(int); 288 int enableQuaternionData(int); 289 int enableAccelPedometer(int); 290 int enableAccelPedData(int); 291 int onDmp(int); 292 int enableGyro(int en); 293 int enableAccel(int en); 294 int enableCompass(int en, int rawSensorOn); 295 int enablePressure(int en); 296 int enableBatch(int64_t timeout); 297 void computeLocalSensorMask(int enabled_sensors); 298 int computeBatchSensorMask(int enableSensor, int checkNewBatchSensor); 299 int computeBatchDataOutput(); 300 int enableSensors(unsigned long sensors, int en, uint32_t changed); 301 int inv_read_gyro_buffer(int fd, short *data, long long *timestamp); 302 int inv_float_to_q16(float *fdata, long *ldata); 303 int inv_long_to_q16(long *fdata, long *ldata); 304 int inv_float_to_round(float *fdata, long *ldata); 305 int inv_float_to_round2(float *fdata, short *sdata); 306 int inv_long_to_float(long *ldata, float *fdata); 307 int inv_read_temperature(long long *data); 308 int inv_read_dmp_state(int fd); 309 int inv_read_sensor_bias(int fd, long *data); 310 void inv_get_sensors_orientation(void); 311 int inv_init_sysfs_attributes(void); 312 int resetCompass(void); 313 void setCompassDelay(int64_t ns); 314 void enable_iio_sysfs(void); 315 int enablePedometer(int); 316 int enablePedIndicator(int en); 317 int checkPedStandaloneEnabled(void); 318 int checkPedQuatEnabled(); 319 int check6AxisQuatEnabled(); 320 int checkLPQuaternion(); 321 int checkAccelPed(); 322 int writeSignificantMotionParams(bool toggleEnable, 323 uint32_t delayThreshold1, uint32_t delayThreshold2, 324 uint32_t motionThreshold); 325 326 int mNewData; // flag indicating that the MPL calculated new output values 327 int mDmpStarted; 328 long mMasterSensorMask; 329 long mLocalSensorMask; 330 int mPollTime; 331 int mStepCountPollTime; 332 bool mHaveGoodMpuCal; // flag indicating that the cal file can be written 333 int mGyroAccuracy; // value indicating the quality of the gyro calibr. 334 int mAccelAccuracy; // value indicating the quality of the accel calibr. 335 int mCompassAccuracy; // value indicating the quality of the compass calibr. 336 struct pollfd mPollFds[5]; 337 int mSampleCount; 338 pthread_mutex_t mMplMutex; 339 pthread_mutex_t mHALMutex; 340 341 char mIIOBuffer[(16 + 8 * 3 + 8) * IIO_BUFFER_LENGTH]; 342 343 int iio_fd; 344 int accel_fd; 345 int mpufifo_fd; 346 int gyro_temperature_fd; 347 int accel_x_offset_fd; 348 int accel_y_offset_fd; 349 int accel_z_offset_fd; 350 351 int accel_x_dmp_bias_fd; 352 int accel_y_dmp_bias_fd; 353 int accel_z_dmp_bias_fd; 354 355 int gyro_x_offset_fd; 356 int gyro_y_offset_fd; 357 int gyro_z_offset_fd; 358 359 int gyro_x_dmp_bias_fd; 360 int gyro_y_dmp_bias_fd; 361 int gyro_z_dmp_bias_fd; 362 363 int dmp_orient_fd; 364 int mDmpOrientationEnabled; 365 366 int dmp_sign_motion_fd; 367 int mDmpSignificantMotionEnabled; 368 369 int dmp_pedometer_fd; 370 int mDmpPedometerEnabled; 371 int mDmpStepCountEnabled; 372 373 uint32_t mEnabled; 374 uint32_t mBatchEnabled; 375 int64_t mBatchTimeoutInMs; 376 sensors_event_t mPendingEvents[NumSensors]; 377 int64_t mDelays[NumSensors]; 378 int64_t mBatchDelays[NumSensors]; 379 int64_t mBatchTimeouts[NumSensors]; 380 hfunc_t mHandlers[NumSensors]; 381 short mCachedGyroData[3]; 382 long mCachedAccelData[3]; 383 long mCachedCompassData[3]; 384 long mCachedQuaternionData[3]; 385 long mCached6AxisQuaternionData[3]; 386 long mCachedPedQuaternionData[3]; 387 long mCachedPressureData; 388 android::KeyedVector<int, int> mIrqFds; 389 390 InputEventCircularReader mAccelInputReader; 391 InputEventCircularReader mGyroInputReader; 392 393 bool mFirstRead; 394 short mTempScale; 395 short mTempOffset; 396 int64_t mTempCurrentTime; 397 int mAccelScale; 398 long mGyroScale; 399 long mGyroSelfTestScale; 400 long mCompassScale; 401 float mCompassBias[3]; 402 bool mFactoryGyroBiasAvailable; 403 long mFactoryGyroBias[3]; 404 bool mGyroBiasAvailable; 405 bool mGyroBiasApplied; 406 float mGyroBias[3]; //in body frame 407 long mGyroChipBias[3]; //in chip frame 408 bool mFactoryAccelBiasAvailable; 409 long mFactoryAccelBias[3]; 410 bool mAccelBiasAvailable; 411 bool mAccelBiasApplied; 412 long mAccelBias[3]; //in chip frame 413 414 uint32_t mPendingMask; 415 unsigned long mSensorMask; 416 417 char chip_ID[MAX_CHIP_ID_LEN]; 418 char mSysfsPath[MAX_SYSFS_NAME_LEN]; 419 420 signed char mGyroOrientation[9]; 421 signed char mAccelOrientation[9]; 422 423 int64_t mSensorTimestamp; 424 int64_t mCompassTimestamp; 425 int64_t mPressureTimestamp; 426 427 struct sysfs_attrbs { 428 char *chip_enable; 429 char *power_state; 430 char *dmp_firmware; 431 char *firmware_loaded; 432 char *dmp_on; 433 char *dmp_int_on; 434 char *dmp_event_int_on; 435 char *tap_on; 436 char *key; 437 char *self_test; 438 char *temperature; 439 440 char *gyro_enable; 441 char *gyro_fifo_rate; 442 char *gyro_fsr; 443 char *gyro_orient; 444 char *gyro_fifo_enable; 445 char *gyro_rate; 446 447 char *accel_enable; 448 char *accel_fifo_rate; 449 char *accel_fsr; 450 char *accel_bias; 451 char *accel_orient; 452 char *accel_fifo_enable; 453 char *accel_rate; 454 455 char *three_axis_q_on; //formerly quaternion_on 456 char *three_axis_q_rate; 457 458 char *six_axis_q_on; 459 char *six_axis_q_rate; 460 461 char *ped_q_on; 462 char *ped_q_rate; 463 464 char *step_detector_on; 465 char *step_indicator_on; 466 467 char *in_timestamp_en; 468 char *in_timestamp_index; 469 char *in_timestamp_type; 470 471 char *buffer_length; 472 473 char *display_orientation_on; 474 char *event_display_orientation; 475 476 char *in_accel_x_offset; 477 char *in_accel_y_offset; 478 char *in_accel_z_offset; 479 480 char *in_accel_x_dmp_bias; 481 char *in_accel_y_dmp_bias; 482 char *in_accel_z_dmp_bias; 483 484 char *in_gyro_x_offset; 485 char *in_gyro_y_offset; 486 char *in_gyro_z_offset; 487 char *in_gyro_self_test_scale; 488 489 char *in_gyro_x_dmp_bias; 490 char *in_gyro_y_dmp_bias; 491 char *in_gyro_z_dmp_bias; 492 493 char *event_smd; 494 char *smd_enable; 495 char *smd_delay_threshold; 496 char *smd_delay_threshold2; 497 char *smd_threshold; 498 char *batchmode_timeout; 499 char *batchmode_wake_fifo_full_on; 500 501 char *pedometer_on; 502 char *pedometer_int_on; 503 char *event_pedometer; 504 char *pedometer_steps; 505 } mpu; 506 507 char *sysfs_names_ptr; 508 int mMplFeatureActiveMask; 509 uint64_t mFeatureActiveMask; 510 bool mDmpOn; 511 int mPedUpdate; 512 int64_t mQuatSensorTimestamp; 513 int64_t mStepSensorTimestamp; 514 uint64_t mLastStepCount; 515 int mLeftOverBufferSize; 516 char mLeftOverBuffer[24]; 517 518 private: 519 /* added for dynamic get sensor list */ 520 void fillAccel(const char* accel, struct sensor_t *list); 521 void fillGyro(const char* gyro, struct sensor_t *list); 522 void fillRV(struct sensor_t *list); 523 void fillGMRV(struct sensor_t *list); 524 void fillGRV(struct sensor_t *list); 525 void fillOrientation(struct sensor_t *list); 526 void fillGravity(struct sensor_t *list); 527 void fillLinearAccel(struct sensor_t *list); 528 void fillSignificantMotion(struct sensor_t *list); 529 #ifdef ENABLE_DMP_SCREEN_AUTO_ROTATION 530 void fillScreenOrientation(struct sensor_t *list); 531 #endif 532 void storeCalibration(); 533 void loadDMP(); 534 bool isMpuNonDmp(); 535 int isLowPowerQuatEnabled(); 536 int isDmpDisplayOrientationOn(); 537 void getCompassBias(); 538 void getFactoryGyroBias(); 539 void setFactoryGyroBias(); 540 void getGyroBias(); 541 void setGyroBias(); 542 void getFactoryAccelBias(); 543 void setFactoryAccelBias(); 544 void getAccelBias(); 545 void setAccelBias(); 546 int isCompassDisabled(); 547 int setBatchDataRates(); 548 int resetDataRates(); 549 void initBias(); 550 void sys_dump(bool fileMode); 551 }; 552 553 extern "C" { 554 void setCallbackObject(MPLSensor*); 555 MPLSensor *getCallbackObject(); 556 } 557 558 #endif // ANDROID_MPL_SENSOR_H 559
