1 /* 2 * Copyright (C) 2014 The Android Open Source Project 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 #include <fcntl.h> 18 #include <errno.h> 19 #include <math.h> 20 #include <poll.h> 21 #include <unistd.h> 22 #include <dirent.h> 23 #include <sys/select.h> 24 #include <cutils/log.h> 25 #include <linux/input.h> 26 27 #include "sensor_params.h" 28 #include "MPLSupport.h" 29 30 // TODO: include corresponding header file for 3rd party compass sensor 31 #include "CompassSensor.AKM.h" 32 33 // TODO: specify this for "fillList()" API 34 #define COMPASS_NAME "AKM8963" 35 36 /*****************************************************************************/ 37 38 CompassSensor::CompassSensor() 39 : SensorBase(NULL, NULL) 40 { 41 VFUNC_LOG; 42 43 // TODO: initiate 3rd-party's class, and disable its funtionalities 44 // proper commands 45 mCompassSensor = new AkmSensor(); 46 LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)", 47 0, "/sys/class/compass/akm8963/enable_mag", getTimestamp()); 48 write_sysfs_int((char*)"/sys/class/compass/akm8963/enable_mag", 0); 49 } 50 51 CompassSensor::~CompassSensor() 52 { 53 VFUNC_LOG; 54 55 // TODO: disable 3rd-party's funtionalities and delete the object 56 LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)", 57 0, "/sys/class/compass/akm8963/enable_mag", getTimestamp()); 58 write_sysfs_int((char*)"/sys/class/compass/akm8963/enable_mag", 0); 59 delete mCompassSensor; 60 } 61 62 int CompassSensor::getFd(void) const 63 { 64 VFUNC_LOG; 65 66 // TODO: return 3rd-party's file descriptor 67 return mCompassSensor->getFd(); 68 } 69 70 /** 71 * @brief This function will enable/disable sensor. 72 * @param[in] handle which sensor to enable/disable. 73 * @param[in] en en=1 enable, en=0 disable 74 * @return if the operation is successful. 75 */ 76 int CompassSensor::enable(int32_t handle, int en) 77 { 78 VFUNC_LOG; 79 80 // TODO: called 3rd-party's "set enable/disable" function 81 return mCompassSensor->setEnable(handle, en); 82 } 83 84 int CompassSensor::setDelay(int32_t handle, int64_t ns) 85 { 86 VFUNC_LOG; 87 88 // TODO: called 3rd-party's "set delay" function 89 return mCompassSensor->setDelay(handle, ns); 90 } 91 92 /** 93 @brief This function will return the state of the sensor. 94 @return 1=enabled; 0=disabled 95 **/ 96 int CompassSensor::getEnable(int32_t handle) 97 { 98 VFUNC_LOG; 99 100 // TODO: return if 3rd-party compass is enabled 101 return mCompassSensor->getEnable(handle); 102 } 103 104 /** 105 @brief This function will return the current delay for this sensor. 106 @return delay in nanoseconds. 107 **/ 108 int64_t CompassSensor::getDelay(int32_t handle) 109 { 110 VFUNC_LOG; 111 112 // TODO: return 3rd-party's delay time (should be in ns) 113 return mCompassSensor->getDelay(handle); 114 } 115 116 /** 117 @brief Integrators need to implement this function per 3rd-party solution 118 @param[out] data sensor data is stored in this variable. Scaled such that 119 1 uT = 2^16 120 @para[in] timestamp data's timestamp 121 @return 1, if 1 sample read, 0, if not, negative if error 122 **/ 123 int CompassSensor::readSample(long *data, int64_t *timestamp) 124 { 125 VFUNC_LOG; 126 127 // TODO: need to implement "readSample()" for MPL in 3rd-party's .cpp file 128 return mCompassSensor->readSample(data, timestamp); 129 } 130 131 /** 132 @brief Integrators need to implement this function per 3rd-party solution 133 @param[out] data sensor data is stored in this variable. Scaled such that 134 1 uT = 2^16 135 @para[in] timestamp data's timestamp 136 @return 1, if 1 sample read, 0, if not, negative if error 137 **/ 138 int CompassSensor::readRawSample(float *data, int64_t *timestamp) 139 { 140 VFUNC_LOG; 141 long ldata[3]; 142 143 int res = mCompassSensor->readSample(ldata, timestamp); 144 for(int i=0; i<3; i++) { 145 data[i] = (float)ldata[i]; 146 } 147 return res; 148 } 149 150 void CompassSensor::fillList(struct sensor_t *list) 151 { 152 VFUNC_LOG; 153 154 const char *compass = COMPASS_NAME; 155 156 if (compass) { 157 if (!strcmp(compass, "AKM8963")) { 158 list->maxRange = COMPASS_AKM8963_RANGE; 159 list->resolution = COMPASS_AKM8963_RESOLUTION; 160 list->power = COMPASS_AKM8963_POWER; 161 list->minDelay = COMPASS_AKM8963_MINDELAY; 162 return; 163 } 164 if (!strcmp(compass, "AKM8975")) { 165 list->maxRange = COMPASS_AKM8975_RANGE; 166 list->resolution = COMPASS_AKM8975_RESOLUTION; 167 list->power = COMPASS_AKM8975_POWER; 168 list->minDelay = COMPASS_AKM8975_MINDELAY; 169 LOGW("HAL:support for AKM8975 is incomplete"); 170 } 171 } 172 173 LOGE("HAL:unsupported compass id %s -- " 174 "this implementation only supports AKM compasses", compass); 175 list->maxRange = COMPASS_AKM8975_RANGE; 176 list->resolution = COMPASS_AKM8975_RESOLUTION; 177 list->power = COMPASS_AKM8975_POWER; 178 list->minDelay = COMPASS_AKM8975_MINDELAY; 179 } 180 181 // TODO: specify compass sensor's mounting matrix for MPL 182 void CompassSensor::getOrientationMatrix(signed char *orient) 183 { 184 VFUNC_LOG; 185 186 orient[0] = 1; 187 orient[1] = 0; 188 orient[2] = 0; 189 orient[3] = 0; 190 orient[4] = 1; 191 orient[5] = 0; 192 orient[6] = 0; 193 orient[7] = 0; 194 orient[8] = 1; 195 } 196 197 int CompassSensor::getAccuracy(void) 198 { 199 VFUNC_LOG; 200 201 // TODO: need to implement "getAccuracy()" for MPL in 3rd-party's .cpp file 202 return mCompassSensor->getAccuracy(); 203 } 204
