1 /* 2 * Copyright (C) 2016 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 #ifndef _SENSORS_H_ 18 #define _SENSORS_H_ 19 20 #ifdef __cplusplus 21 extern "C" { 22 #endif 23 #include <plat/inc/taggedPtr.h> 24 #include <variant/inc/variant.h> 25 #include <eventnums.h> 26 #include <sensType.h> 27 #include <stdbool.h> 28 #include <stdint.h> 29 #include "toolchain.h" 30 31 // Specify the maximum number of sensors that can be registered. Allow it to be 32 // overriden on a per-device basis. 33 #ifndef MAX_REGISTERED_SENSORS 34 #define MAX_REGISTERED_SENSORS 32 35 #endif // MAX_REGISTERED_SENSORS 36 37 #define MAX_MIN_SAMPLES 3000 38 39 enum NumAxis { 40 NUM_AXIS_EMBEDDED = 0, // data = (uint32_t)evtData 41 NUM_AXIS_ONE = 1, // data is in struct SingleAxisDataEvent format 42 NUM_AXIS_THREE = 3, // data is in struct TripleAxisDataEvent format 43 }; 44 45 struct SensorFirstSample 46 { 47 uint8_t numSamples; 48 uint8_t numFlushes; 49 uint8_t biasCurrent : 1; 50 uint8_t biasPresent : 1; 51 uint8_t biasSample : 6; 52 uint8_t interrupt; 53 }; 54 55 // NUM_AXIS_EMBEDDED data format 56 union EmbeddedDataPoint { 57 uint32_t idata; 58 float fdata; 59 void *vptr; 60 }; 61 62 // NUM_AXIS_ONE data format 63 SET_PACKED_STRUCT_MODE_ON 64 struct SingleAxisDataPoint { 65 union { 66 uint32_t deltaTime; //delta since last sample, for 0th sample this is firstSample 67 struct SensorFirstSample firstSample; 68 }; 69 union { 70 float fdata; 71 int32_t idata; 72 }; 73 } ATTRIBUTE_PACKED; 74 SET_PACKED_STRUCT_MODE_OFF 75 76 struct SingleAxisDataEvent { 77 uint64_t referenceTime; 78 struct SingleAxisDataPoint samples[]; 79 }; 80 81 // NUM_AXIS_THREE data format 82 SET_PACKED_STRUCT_MODE_ON 83 struct TripleAxisDataPoint { 84 union { 85 uint32_t deltaTime; //delta since last sample, for 0th sample this is firstSample 86 struct SensorFirstSample firstSample; 87 }; 88 union { 89 float x; 90 int32_t ix; 91 }; 92 union { 93 float y; 94 int32_t iy; 95 }; 96 union { 97 float z; 98 int32_t iz; 99 }; 100 } ATTRIBUTE_PACKED; 101 SET_PACKED_STRUCT_MODE_OFF 102 103 struct TripleAxisDataEvent { 104 uint64_t referenceTime; 105 struct TripleAxisDataPoint samples[]; 106 }; 107 108 SET_PACKED_STRUCT_MODE_ON 109 struct RawTripleAxisDataPoint { 110 union { 111 uint32_t deltaTime; //delta since last sample, for 0th sample this is firstSample 112 struct SensorFirstSample firstSample; 113 }; 114 int16_t ix; 115 int16_t iy; 116 int16_t iz; 117 } ATTRIBUTE_PACKED; 118 SET_PACKED_STRUCT_MODE_OFF 119 120 struct RawTripleAxisDataEvent { 121 uint64_t referenceTime; 122 struct RawTripleAxisDataPoint samples[]; 123 }; 124 125 struct UserSensorEventHdr { //all user sensor events start with this struct 126 TaggedPtr marshallCbk; 127 }; 128 129 #define SENSOR_DATA_EVENT_FLUSH (void *)0xFFFFFFFF // flush for all data 130 131 struct SensorPowerEvent { 132 void *callData; 133 bool on; 134 }; 135 136 struct SensorSetRateEvent { 137 void *callData; 138 uint32_t rate; 139 uint64_t latency; 140 }; 141 142 struct SensorCfgDataEvent { 143 void *callData; 144 void *data; 145 }; 146 147 struct SensorSendDirectEventEvent { 148 void *callData; 149 uint32_t tid; 150 }; 151 152 struct SensorMarshallUserEventEvent { 153 void *callData; 154 uint32_t origEvtType; 155 void *origEvtData; 156 TaggedPtr evtFreeingInfo; 157 }; 158 159 160 161 162 struct SensorOps { 163 bool (*sensorPower)(bool on, void *); /* -> SENSOR_INTERNAL_EVT_POWER_STATE_CHG (success) */ 164 bool (*sensorFirmwareUpload)(void *); /* -> SENSOR_INTERNAL_EVT_FW_STATE_CHG (rate or 0 if fail) */ 165 bool (*sensorSetRate)(uint32_t rate, uint64_t latency, void *); 166 /* -> SENSOR_INTERNAL_EVT_RATE_CHG (rate) */ 167 bool (*sensorFlush)(void *); //trigger a measurement for ondemand sensors (if supported) 168 bool (*sensorTriggerOndemand)(void *); 169 bool (*sensorCalibrate)(void *); 170 bool (*sensorCfgData)(void *cfgData, void *); 171 172 bool (*sensorSendOneDirectEvt)(void *, uint32_t tid); //resend last state (if known), only for onchange-supporting sensors, to bring on a new client 173 174 // Marshall yourEvt for sending to host. Send a EVT_MARSHALLED_SENSOR_DATA event with marshalled data. 175 // Always send event, even on error, free the passed-in event using osFreeRetainedEvent 176 bool (*sensorMarshallData)(uint32_t yourEvtType, const void *yourEvtData, TaggedPtr *evtFreeingInfoP, void *); 177 bool (*sensorSelfTest)(void *); 178 }; 179 180 enum SensorInfoFlags1 { 181 SENSOR_INFO_FLAGS1_BIAS = (1 << 0), 182 SENSOR_INFO_FLAGS1_RAW = (1 << 1), 183 184 // Indicates that this sensor's events are for local consumption within the 185 // hub only, i.e. they should not be transmitted to the host 186 SENSOR_INFO_FLAGS1_LOCAL_ONLY = (1 << 2), 187 }; 188 189 struct SensorInfo { 190 const char *sensorName; /* sensors.c code does not use this */ 191 192 /* Specify a list of rates supported in sensorSetRate, using a 0 to mark the 193 end of the list. 194 195 If SENSOR_RATE_ONCHANGE is included in this list, then sensor events 196 should only be sent on data changes, regardless of any underlying 197 sampling rate. In this case, the sensorSendOneDirectEvt callback will be 198 invoked on each call to sensorRequest() to send new clients initial data. 199 200 If SENSOR_RATE_ONDEMAND is included in this list, then the 201 sensorTriggerOndemand callback must be implemented. 202 203 If this list contains only explicit rates in Hz, then sensorRequests with 204 SENSOR_RATE_ONCHANGE or ONDEMAND will be rejected. 205 206 If NULL, the expectation is that rate is not applicable/configurable, and 207 only SENSOR_RATE_ONCHANGE or SENSOR_RATE_ONDEMAND will be accepted, but 208 neither on-change semantics or on-demand support is implied. */ 209 const uint32_t *supportedRates; 210 211 uint8_t sensorType; 212 uint8_t numAxis; /* enum NumAxis */ 213 uint8_t interrupt; /* interrupt to generate to AP */ 214 uint8_t flags1; /* enum SensorInfoFlags1 */ 215 uint16_t minSamples; /* minimum host fifo size (in # of samples) */ 216 uint8_t biasType; 217 uint8_t rawType; 218 float rawScale; 219 }; 220 221 222 /* 223 * Sensor rate is encoded as a 32-bit integer as number of samples it can 224 * provide per 1024 seconds, allowing representations of all useful values 225 * well. This define is to be used for static values only please, as GCC 226 * will convert it into a const int at compile time. Do not use this at 227 * runtime please. A few Magic values exist at both ends of the range 228 * 0 is used as a list sentinel and high numbers for special abilities. 229 */ 230 #define SENSOR_RATE_ONDEMAND 0xFFFFFF00UL 231 #define SENSOR_RATE_ONCHANGE 0xFFFFFF01UL 232 #define SENSOR_RATE_ONESHOT 0xFFFFFF02UL 233 #define SENSOR_HZ(_hz) ((uint32_t)((_hz) * 1024.0f)) 234 235 /* 236 * Sensor latency is a 64-bit integer specifying the allowable delay in ns 237 * that data can be buffered. 238 */ 239 #define SENSOR_LATENCY_NODATA 0xFFFFFFFFFFFFFF00ULL 240 241 /* 242 * sensors module api 243 */ 244 bool sensorsInit(void); 245 246 /* 247 * Api for sensor drivers 248 */ 249 #define SENSOR_INTERNAL_EVT_POWER_STATE_CHG 0 250 #define SENSOR_INTERNAL_EVT_FW_STATE_CHG 1 251 #define SENSOR_INTERNAL_EVT_RATE_CHG 2 252 253 uint32_t sensorRegister(const struct SensorInfo *si, const struct SensorOps *ops, void *callData, bool initComplete); /* returns handle, copy is not made */ 254 uint32_t sensorRegisterAsApp(const struct SensorInfo *si, uint32_t tid, void *callData, bool initComplete); /* returns handle, copy is not made */ 255 bool sensorRegisterInitComplete(uint32_t handle); 256 bool sensorUnregister(uint32_t handle); /* your job to be sure it is off already */ 257 bool sensorSignalInternalEvt(uint32_t handle, uint32_t intEvtNum, uint32_t value1, uint64_t value2); 258 259 #define sensorGetMyEventType(_sensorType) (EVT_NO_FIRST_SENSOR_EVENT + (_sensorType)) 260 261 262 /* 263 * api for using sensors (enum is not synced with sensor sub/unsub, this is ok since we do not expect a lot of dynamic sub/unsub) 264 */ 265 const struct SensorInfo* sensorFind(uint32_t sensorType, uint32_t idx, uint32_t *handleP); //enumerate all sensors of a type 266 bool sensorRequest(uint32_t clientTid, uint32_t sensorHandle, uint32_t rate, uint64_t latency); 267 bool sensorRequestRateChange(uint32_t clientTid, uint32_t sensorHandle, uint32_t newRate, uint64_t newLatency); 268 bool sensorRelease(uint32_t clientTid, uint32_t sensorHandle); 269 bool sensorTriggerOndemand(uint32_t clientTid, uint32_t sensorHandle); 270 bool sensorFlush(uint32_t sensorHandle); 271 bool sensorCalibrate(uint32_t sensorHandle); 272 bool sensorSelfTest(uint32_t sensorHandle); 273 bool sensorCfgData(uint32_t sensorHandle, void* cfgData); 274 uint32_t sensorGetCurRate(uint32_t sensorHandle); 275 uint64_t sensorGetCurLatency(uint32_t sensorHandle); 276 uint64_t sensorGetTime(void); 277 bool sensorGetInitComplete(uint32_t sensorHandle); // DO NOT poll on this value 278 bool sensorMarshallEvent(uint32_t sensorHandle, uint32_t evtType, void *evtData, TaggedPtr *evtFreeingInfoP); 279 int sensorUnregisterAll(uint32_t tid); 280 281 /* 282 * convenience funcs 283 */ 284 static inline uint64_t sensorTimerLookupCommon(const uint32_t *supportedRates, const uint64_t *timerVals, uint32_t wantedRate) 285 { 286 uint32_t rate; 287 288 while ((rate = *supportedRates++) != 0) { 289 if (rate == wantedRate) 290 return *timerVals; 291 timerVals++; 292 } 293 294 return 0; 295 } 296 297 298 #ifdef __cplusplus 299 } 300 #endif 301 302 #endif 303
