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/taggedPtr.h> 24 #include <variant/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 SensorRateChangeEvent { 132 uint32_t sensorHandle; 133 uint32_t newRate; 134 uint64_t newLatency; 135 }; 136 137 struct SensorPowerEvent { 138 void *callData; 139 bool on; 140 }; 141 142 struct SensorSetRateEvent { 143 void *callData; 144 uint32_t rate; 145 uint64_t latency; 146 }; 147 148 struct SensorCfgDataEvent { 149 void *callData; 150 void *data; 151 }; 152 153 struct SensorSendDirectEventEvent { 154 void *callData; 155 uint32_t tid; 156 }; 157 158 struct SensorMarshallUserEventEvent { 159 void *callData; 160 uint32_t origEvtType; 161 void *origEvtData; 162 TaggedPtr evtFreeingInfo; 163 }; 164 165 166 167 168 struct SensorOps { 169 bool (*sensorPower)(bool on, void *); /* -> SENSOR_INTERNAL_EVT_POWER_STATE_CHG (success) */ 170 bool (*sensorFirmwareUpload)(void *); /* -> SENSOR_INTERNAL_EVT_FW_STATE_CHG (rate or 0 if fail) */ 171 bool (*sensorSetRate)(uint32_t rate, uint64_t latency, void *); 172 /* -> SENSOR_INTERNAL_EVT_RATE_CHG (rate) */ 173 bool (*sensorFlush)(void *); //trigger a measurement for ondemand sensors (if supported) 174 bool (*sensorTriggerOndemand)(void *); 175 bool (*sensorCalibrate)(void *); 176 bool (*sensorCfgData)(void *cfgData, void *); 177 178 bool (*sensorSendOneDirectEvt)(void *, uint32_t tid); //resend last state (if known), only for onchange-supporting sensors, to bring on a new client 179 180 // Marshall yourEvt for sending to host. Send a EVT_MARSHALLED_SENSOR_DATA event with marshalled data. 181 // Always send event, even on error, free the passed-in event using osFreeRetainedEvent 182 bool (*sensorMarshallData)(uint32_t yourEvtType, const void *yourEvtData, TaggedPtr *evtFreeingInfoP, void *); 183 bool (*sensorSelfTest)(void *); 184 }; 185 186 enum SensorInfoFlags1 { 187 SENSOR_INFO_FLAGS1_BIAS = (1 << 0), 188 SENSOR_INFO_FLAGS1_RAW = (1 << 1), 189 190 // Indicates that this sensor's events are for local consumption within the 191 // hub only, i.e. they should not be transmitted to the host 192 SENSOR_INFO_FLAGS1_LOCAL_ONLY = (1 << 2), 193 }; 194 195 struct SensorInfo { 196 const char *sensorName; /* sensors.c code does not use this */ 197 198 /* Specify a list of rates supported in sensorSetRate, using a 0 to mark the 199 end of the list. 200 201 If SENSOR_RATE_ONCHANGE is included in this list, then sensor events 202 should only be sent on data changes, regardless of any underlying 203 sampling rate. In this case, the sensorSendOneDirectEvt callback will be 204 invoked on each call to sensorRequest() to send new clients initial data. 205 206 If SENSOR_RATE_ONDEMAND is included in this list, then the 207 sensorTriggerOndemand callback must be implemented. 208 209 If this list contains only explicit rates in Hz, then sensorRequests with 210 SENSOR_RATE_ONCHANGE or ONDEMAND will be rejected. 211 212 If NULL, the expectation is that rate is not applicable/configurable, and 213 only SENSOR_RATE_ONCHANGE or SENSOR_RATE_ONDEMAND will be accepted, but 214 neither on-change semantics or on-demand support is implied. */ 215 const uint32_t *supportedRates; 216 217 uint8_t sensorType; 218 uint8_t numAxis; /* enum NumAxis */ 219 uint8_t interrupt; /* interrupt to generate to AP */ 220 uint8_t flags1; /* enum SensorInfoFlags1 */ 221 uint16_t minSamples; /* minimum host fifo size (in # of samples) */ 222 uint8_t biasType; 223 uint8_t rawType; 224 float rawScale; 225 }; 226 227 228 /* 229 * Sensor rate is encoded as a 32-bit integer as number of samples it can 230 * provide per 1024 seconds, allowing representations of all useful values 231 * well. This define is to be used for static values only please, as GCC 232 * will convert it into a const int at compile time. Do not use this at 233 * runtime please. A few Magic values exist at both ends of the range 234 * 0 is used as a list sentinel and high numbers for special abilities. 235 */ 236 #define SENSOR_RATE_ONDEMAND 0xFFFFFF00UL 237 #define SENSOR_RATE_ONCHANGE 0xFFFFFF01UL 238 #define SENSOR_RATE_ONESHOT 0xFFFFFF02UL 239 #define SENSOR_HZ(_hz) ((uint32_t)((_hz) * 1024.0f)) 240 241 /* 242 * Sensor latency is a 64-bit integer specifying the allowable delay in ns 243 * that data can be buffered. 244 */ 245 #define SENSOR_LATENCY_NODATA 0xFFFFFFFFFFFFFF00ULL 246 247 /* 248 * sensors module api 249 */ 250 bool sensorsInit(void); 251 252 /* 253 * Api for sensor drivers 254 */ 255 #define SENSOR_INTERNAL_EVT_POWER_STATE_CHG 0 256 #define SENSOR_INTERNAL_EVT_FW_STATE_CHG 1 257 #define SENSOR_INTERNAL_EVT_RATE_CHG 2 258 259 uint32_t sensorRegister(const struct SensorInfo *si, const struct SensorOps *ops, void *callData, bool initComplete); /* returns handle, copy is not made */ 260 uint32_t sensorRegisterAsApp(const struct SensorInfo *si, uint32_t tid, void *callData, bool initComplete); /* returns handle, copy is not made */ 261 bool sensorRegisterInitComplete(uint32_t handle); 262 bool sensorUnregister(uint32_t handle); /* your job to be sure it is off already */ 263 bool sensorSignalInternalEvt(uint32_t handle, uint32_t intEvtNum, uint32_t value1, uint64_t value2); 264 265 #define sensorGetMyEventType(_sensorType) (EVT_NO_FIRST_SENSOR_EVENT + (_sensorType)) 266 #define sensorGetMyCfgEventType(_sensorType) (EVT_NO_SENSOR_CONFIG_EVENT + (_sensorType)) 267 268 269 /* 270 * 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) 271 */ 272 const struct SensorInfo* sensorFind(uint32_t sensorType, uint32_t idx, uint32_t *handleP); //enumerate all sensors of a type 273 bool sensorRequest(uint32_t clientTid, uint32_t sensorHandle, uint32_t rate, uint64_t latency); 274 bool sensorRequestRateChange(uint32_t clientTid, uint32_t sensorHandle, uint32_t newRate, uint64_t newLatency); 275 bool sensorRelease(uint32_t clientTid, uint32_t sensorHandle); 276 uint32_t sensorFreeAll(uint32_t clientTid); 277 bool sensorTriggerOndemand(uint32_t clientTid, uint32_t sensorHandle); 278 bool sensorFlush(uint32_t sensorHandle); 279 bool sensorCalibrate(uint32_t sensorHandle); 280 bool sensorSelfTest(uint32_t sensorHandle); 281 bool sensorCfgData(uint32_t sensorHandle, void* cfgData); 282 uint32_t sensorGetCurRate(uint32_t sensorHandle); 283 uint64_t sensorGetCurLatency(uint32_t sensorHandle); 284 uint32_t sensorGetHwRate(uint32_t sensorHandle); 285 uint64_t sensorGetHwLatency(uint32_t sensorHandle); 286 uint32_t sensorGetReqRate(uint32_t sensorHandle); 287 uint64_t sensorGetReqLatency(uint32_t sensorHandle); 288 uint64_t sensorGetTime(void); 289 bool sensorGetInitComplete(uint32_t sensorHandle); // DO NOT poll on this value 290 bool sensorMarshallEvent(uint32_t sensorHandle, uint32_t evtType, void *evtData, TaggedPtr *evtFreeingInfoP); 291 292 /* 293 * convenience funcs 294 */ 295 static inline uint64_t sensorTimerLookupCommon(const uint32_t *supportedRates, const uint64_t *timerVals, uint32_t wantedRate) 296 { 297 uint32_t rate; 298 299 while ((rate = *supportedRates++) != 0) { 300 if (rate == wantedRate) 301 return *timerVals; 302 timerVals++; 303 } 304 305 return 0; 306 } 307 308 309 #ifdef __cplusplus 310 } 311 #endif 312 313 #endif 314
