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Diffstat (limited to '6515/libsensors_iio/MPLSensor.h')
| -rw-r--r-- | 6515/libsensors_iio/MPLSensor.h | 557 |
1 files changed, 557 insertions, 0 deletions
diff --git a/6515/libsensors_iio/MPLSensor.h b/6515/libsensors_iio/MPLSensor.h new file mode 100644 index 0000000..65e3b23 --- /dev/null +++ b/6515/libsensors_iio/MPLSensor.h @@ -0,0 +1,557 @@ +/* +* Copyright (C) 2012 Invensense, Inc. +* +* Licensed under the Apache License, Version 2.0 (the "License"); +* you may not use this file except in compliance with the License. +* You may obtain a copy of the License at +* +* http://www.apache.org/licenses/LICENSE-2.0 +* +* Unless required by applicable law or agreed to in writing, software +* distributed under the License is distributed on an "AS IS" BASIS, +* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +* See the License for the specific language governing permissions and +* limitations under the License. +*/ + +#ifndef ANDROID_MPL_SENSOR_H +#define ANDROID_MPL_SENSOR_H + +#include <stdint.h> +#include <errno.h> +#include <sys/cdefs.h> +#include <sys/types.h> +#include <poll.h> +#include <time.h> +#include <utils/Vector.h> +#include <utils/KeyedVector.h> +#include <utils/String8.h> +#include "sensors.h" +#include "SensorBase.h" +#include "InputEventReader.h" + +#ifndef INVENSENSE_COMPASS_CAL +#pragma message("unified HAL for AKM") +#include "CompassSensor.AKM.h" +#endif + +#ifdef SENSOR_ON_PRIMARY_BUS +#pragma message("Sensor on Primary Bus") +#include "CompassSensor.IIO.primary.h" +#else +#pragma message("Sensor on Secondary Bus") +#include "CompassSensor.IIO.9150.h" +#endif + +class PressureSensor; + +/*****************************************************************************/ +/* Sensors Enable/Disable Mask + *****************************************************************************/ +#define MAX_CHIP_ID_LEN (20) + +#define INV_THREE_AXIS_GYRO (0x000F) +#define INV_THREE_AXIS_ACCEL (0x0070) +#define INV_THREE_AXIS_COMPASS (0x0380) +#define INV_ONE_AXIS_PRESSURE (0x0400) +#define INV_ALL_SENSORS (0x7FFF) + +#ifdef INVENSENSE_COMPASS_CAL +#define ALL_MPL_SENSORS_NP (INV_THREE_AXIS_ACCEL \ + | INV_THREE_AXIS_COMPASS \ + | INV_THREE_AXIS_GYRO) +#else +#define ALL_MPL_SENSORS_NP (INV_THREE_AXIS_ACCEL \ + | INV_THREE_AXIS_COMPASS \ + | INV_THREE_AXIS_GYRO) +#endif + +// mask of virtual sensors that require gyro + accel + compass data +#define VIRTUAL_SENSOR_9AXES_MASK ( \ + (1 << Orientation) \ + | (1 << RotationVector) \ + | (1 << LinearAccel) \ + | (1 << Gravity) \ +) +// mask of virtual sensors that require gyro + accel data (but no compass data) +#define VIRTUAL_SENSOR_GYRO_6AXES_MASK ( \ + (1 << GameRotationVector) \ +) +// mask of virtual sensors that require mag + accel data (but no gyro data) +#define VIRTUAL_SENSOR_MAG_6AXES_MASK ( \ + (1 << GeomagneticRotationVector) \ +) +// mask of all virtual sensors +#define VIRTUAL_SENSOR_ALL_MASK ( \ + VIRTUAL_SENSOR_9AXES_MASK \ + | VIRTUAL_SENSOR_GYRO_6AXES_MASK \ + | VIRTUAL_SENSOR_MAG_6AXES_MASK \ +) + +// bit mask of current MPL active features (mMplFeatureActiveMask) +#define INV_COMPASS_CAL 0x01 +#define INV_COMPASS_FIT 0x02 + +// bit mask of current DMP active features (mFeatureActiveMask) +#define INV_DMP_QUATERNION 0x001 //3 elements without real part, 32 bit each +#define INV_DMP_DISPL_ORIENTATION 0x002 //screen orientation +#define INV_DMP_SIGNIFICANT_MOTION 0x004 //significant motion +#define INV_DMP_PEDOMETER 0x008 //interrupt-based pedometer +#define INV_DMP_PEDOMETER_STEP 0x010 //timer-based pedometer +#define INV_DMP_PED_STANDALONE 0x020 //timestamps only +#define INV_DMP_6AXIS_QUATERNION 0x040 //3 elements without real part, 32 bit each +#define INV_DMP_PED_QUATERNION 0x080 //3 elements without real part, 16 bit each +#define INV_DMP_PED_INDICATOR 0x100 //tag along header with step indciator +#define INV_DMP_BATCH_MODE 0x200 //batch mode + +// bit mask of whether DMP should be turned on +#define DMP_FEATURE_MASK ( \ + (INV_DMP_QUATERNION) \ + | (INV_DMP_DISPL_ORIENTATION) \ + | (INV_DMP_SIGNIFICANT_MOTION) \ + | (INV_DMP_PEDOMETER) \ + | (INV_DMP_PEDOMETER_STEP) \ + | (INV_DMP_6AXIS_QUATERNION) \ + | (INV_DMP_PED_QUATERNION) \ + | (INV_DMP_BATCH_MODE) \ +) + +// bit mask of DMP features as sensors +#define DMP_SENSOR_MASK ( \ + (INV_DMP_DISPL_ORIENTATION) \ + | (INV_DMP_SIGNIFICANT_MOTION) \ + | (INV_DMP_PEDOMETER) \ + | (INV_DMP_PEDOMETER_STEP) \ + | (INV_DMP_6AXIS_QUATERNION) \ +) + +// data header format used by kernel driver. +#define DATA_FORMAT_STEP 0x0001 +#define DATA_FORMAT_MARKER 0x0010 +#define DATA_FORMAT_EMPTY_MARKER 0x0020 +#define DATA_FORMAT_PED_STANDALONE 0x0100 +#define DATA_FORMAT_PED_QUAT 0x0200 +#define DATA_FORMAT_6_AXIS 0x0400 +#define DATA_FORMAT_QUAT 0x0800 +#define DATA_FORMAT_COMPASS 0x1000 +#define DATA_FORMAT_GYRO 0x2000 +#define DATA_FORMAT_ACCEL 0x4000 +#define DATA_FORMAT_PRESSURE 0x8000 +#define DATA_FORMAT_MASK 0xffff + +#define BYTES_PER_SENSOR 8 +#define BYTES_PER_SENSOR_PACKET 16 +#define QUAT_ONLY_LAST_PACKET_OFFSET 16 +#define BYTES_QUAT_DATA 24 +#define MAX_READ_SIZE BYTES_QUAT_DATA +#define MAX_SUSPEND_BATCH_PACKET_SIZE 1024 +#define MAX_PACKET_SIZE 80 //8 * 4 + (2 * 24) + +/* Uncomment to enable Low Power Quaternion */ +#define ENABLE_LP_QUAT_FEAT + +/* Enable Pressure sensor support */ +#define ENABLE_PRESSURE + +/* Screen Orientation is not currently supported */ +int isDmpScreenAutoRotationEnabled() +{ +#ifdef ENABLE_DMP_SCREEN_AUTO_ROTATION + return 1; +#else + return 0; +#endif +} + +int (*m_pt2AccelCalLoadFunc)(long *bias) = NULL; +/*****************************************************************************/ +/** MPLSensor implementation which fits into the HAL example for crespo provided + * by Google. + * WARNING: there may only be one instance of MPLSensor, ever. + */ + +class MPLSensor: public SensorBase +{ + typedef int (MPLSensor::*hfunc_t)(sensors_event_t*); + +public: + + MPLSensor(CompassSensor *, int (*m_pt2AccelCalLoadFunc)(long*) = 0); + virtual ~MPLSensor(); + + virtual int setDelay(int32_t handle, int64_t ns); + virtual int enable(int32_t handle, int enabled); + virtual int batch(int handle, int flags, int64_t period_ns, int64_t timeout); + virtual int flush(int handle); + int selectAndSetQuaternion(int batchMode, int mEnabled, long long featureMask); + int checkBatchEnabled(); + int setBatch(int en, int toggleEnable); + int32_t getEnableMask() { return mEnabled; } + void getHandle(int32_t handle, int &what, android::String8 &sname); + + virtual int readEvents(sensors_event_t *data, int count); + virtual int getFd() const; + virtual int getAccelFd() const; + virtual int getCompassFd() const; + virtual int getPollTime(); + virtual int getStepCountPollTime(); + virtual bool hasPendingEvents() const; + virtual bool hasStepCountPendingEvents(); + int populateSensorList(struct sensor_t *list, int len); + + int readAccelEvents(sensors_event_t* data, int count); + void buildCompassEvent(); + void buildMpuEvent(); + int checkValidHeader(unsigned short data_format); + + int turnOffAccelFifo(); + int turnOffGyroFifo(); + int enableDmpOrientation(int); + int dmpOrientHandler(int); + int readDmpOrientEvents(sensors_event_t* data, int count); + int getDmpOrientFd(); + int openDmpOrientFd(); + int closeDmpOrientFd(); + + int getDmpRate(int64_t *); + int checkDMPOrientation(); + + int getDmpSignificantMotionFd(); + int readDmpSignificantMotionEvents(sensors_event_t* data, int count); + int enableDmpSignificantMotion(int); + int significantMotionHandler(sensors_event_t* data); + bool checkSmdSupport(){return (mDmpSignificantMotionEnabled);}; + + int enableDmpPedometer(int, int); + int readDmpPedometerEvents(sensors_event_t* data, int count, int32_t id, int outputType); + int getDmpPedometerFd(); + bool checkPedometerSupport() {return (mDmpPedometerEnabled || mDmpStepCountEnabled);}; + bool checkOrientationSupport() {return ((isDmpDisplayOrientationOn() + && (mDmpOrientationEnabled + || !isDmpScreenAutoRotationEnabled())));}; + +protected: + CompassSensor *mCompassSensor; + PressureSensor *mPressureSensor; + + int gyroHandler(sensors_event_t *data); + int rawGyroHandler(sensors_event_t *data); + int accelHandler(sensors_event_t *data); + int compassHandler(sensors_event_t *data); + int rawCompassHandler(sensors_event_t *data); + int rvHandler(sensors_event_t *data); + int grvHandler(sensors_event_t *data); + int laHandler(sensors_event_t *data); + int gravHandler(sensors_event_t *data); + int orienHandler(sensors_event_t *data); + int smHandler(sensors_event_t *data); + int pHandler(sensors_event_t *data); + int gmHandler(sensors_event_t *data); + int psHandler(sensors_event_t *data); + int sdHandler(sensors_event_t *data); + int scHandler(sensors_event_t *data); + int metaHandler(sensors_event_t *data, int flags); + void calcOrientationSensor(float *Rx, float *Val); + virtual int update_delay(); + + void inv_set_device_properties(); + int inv_constructor_init(); + int inv_constructor_default_enable(); + int setAccelInitialState(); + int masterEnable(int en); + int enablePedStandalone(int en); + int enablePedStandaloneData(int en); + int enablePedQuaternion(int); + int enablePedQuaternionData(int); + int enable6AxisQuaternion(int); + int enable6AxisQuaternionData(int); + int enableLPQuaternion(int); + int enableQuaternionData(int); + int enableAccelPedometer(int); + int enableAccelPedData(int); + int onDmp(int); + int enableGyro(int en); + int enableLowPowerAccel(int en); + int enableAccel(int en); + int enableCompass(int en, int rawSensorOn); + int enablePressure(int en); + int enableBatch(int64_t timeout); + void computeLocalSensorMask(int enabled_sensors); + int computeBatchSensorMask(int enableSensor, int checkNewBatchSensor); + int computeBatchDataOutput(); + int enableSensors(unsigned long sensors, int en, uint32_t changed); + int inv_read_temperature(long long *data); + int inv_read_dmp_state(int fd); + int inv_read_sensor_bias(int fd, long *data); + void inv_get_sensors_orientation(void); + int inv_init_sysfs_attributes(void); + int resetCompass(void); + void setCompassDelay(int64_t ns); + void enable_iio_sysfs(void); + int setDmpFeature(int en); + int computeAndSetDmpState(void); + int enablePedometer(int); + int enablePedIndicator(int en); + int checkPedStandaloneEnabled(void); + int checkPedQuatEnabled(); + int check6AxisQuatEnabled(); + int checkLPQRateSupported(); + int checkLPQuaternion(); + int checkAccelPed(); + void setInitial6QuatValue(); + int writeSignificantMotionParams(bool toggleEnable, + uint32_t delayThreshold1, uint32_t delayThreshold2, + uint32_t motionThreshold); + long mMasterSensorMask; + long mLocalSensorMask; + int mPollTime; + int64_t mStepCountPollTime; + bool mHaveGoodMpuCal; // flag indicating that the cal file can be written + int mGyroAccuracy; // value indicating the quality of the gyro calibr. + int mAccelAccuracy; // value indicating the quality of the accel calibr. + int mCompassAccuracy; // value indicating the quality of the compass calibr. + struct pollfd mPollFds[5]; + pthread_mutex_t mMplMutex; + pthread_mutex_t mHALMutex; + + char mIIOBuffer[(16 + 8 * 3 + 8) * IIO_BUFFER_LENGTH]; + + int iio_fd; + int accel_fd; + int mpufifo_fd; + int gyro_temperature_fd; + int accel_x_offset_fd; + int accel_y_offset_fd; + int accel_z_offset_fd; + + int accel_x_dmp_bias_fd; + int accel_y_dmp_bias_fd; + int accel_z_dmp_bias_fd; + + int gyro_x_offset_fd; + int gyro_y_offset_fd; + int gyro_z_offset_fd; + + int gyro_x_dmp_bias_fd; + int gyro_y_dmp_bias_fd; + int gyro_z_dmp_bias_fd; + + int dmp_orient_fd; + int mDmpOrientationEnabled; + + int dmp_sign_motion_fd; + int mDmpSignificantMotionEnabled; + + int dmp_pedometer_fd; + int mDmpPedometerEnabled; + int mDmpStepCountEnabled; + + uint32_t mEnabled; + uint32_t mBatchEnabled; + int32_t mFlushSensorEnabled; + uint32_t mOldBatchEnabledMask; + int64_t mBatchTimeoutInMs; + sensors_event_t mPendingEvents[NumSensors]; + sensors_event_t mSmEvents; + sensors_event_t mSdEvents; + sensors_event_t mScEvents; + int64_t mDelays[NumSensors]; + int64_t mBatchDelays[NumSensors]; + int64_t mBatchTimeouts[NumSensors]; + hfunc_t mHandlers[NumSensors]; + short mCachedGyroData[3]; + long mCachedAccelData[3]; + long mCachedCompassData[3]; + long mCachedQuaternionData[3]; + long mCached6AxisQuaternionData[3]; + long mCachedPedQuaternionData[3]; + long mCachedPressureData; + android::KeyedVector<int, int> mIrqFds; + + InputEventCircularReader mAccelInputReader; + InputEventCircularReader mGyroInputReader; + + bool mFirstRead; + short mTempScale; + short mTempOffset; + int64_t mTempCurrentTime; + int mAccelScale; + long mAccelSelfTestScale; + long mGyroScale; + long mGyroSelfTestScale; + long mCompassScale; + float mCompassBias[3]; + bool mFactoryGyroBiasAvailable; + long mFactoryGyroBias[3]; + bool mGyroBiasAvailable; + bool mGyroBiasApplied; + float mGyroBias[3]; //in body frame + long mGyroChipBias[3]; //in chip frame + bool mFactoryAccelBiasAvailable; + long mFactoryAccelBias[3]; + bool mAccelBiasAvailable; + bool mAccelBiasApplied; + long mAccelBias[3]; //in chip frame + + uint32_t mPendingMask; + unsigned long mSensorMask; + + char chip_ID[MAX_CHIP_ID_LEN]; + char mSysfsPath[MAX_SYSFS_NAME_LEN]; + + signed char mGyroOrientation[9]; + signed char mAccelOrientation[9]; + + int64_t mSensorTimestamp; + int64_t mCompassTimestamp; + int64_t mPressureTimestamp; + + struct sysfs_attrbs { + char *chip_enable; + char *power_state; + char *master_enable; + char *dmp_firmware; + char *firmware_loaded; + char *dmp_on; + char *dmp_int_on; + char *dmp_event_int_on; + char *tap_on; + char *key; + char *self_test; + char *temperature; + + char *gyro_enable; + char *gyro_fifo_rate; + char *gyro_fsr; + char *gyro_orient; + char *gyro_fifo_enable; + char *gyro_rate; + + char *accel_enable; + char *accel_fifo_rate; + char *accel_fsr; + char *accel_bias; + char *accel_orient; + char *accel_fifo_enable; + char *accel_rate; + + char *three_axis_q_on; //formerly quaternion_on + char *three_axis_q_rate; + + char *six_axis_q_on; + char *six_axis_q_rate; + + char *six_axis_q_value; + + char *ped_q_on; + char *ped_q_rate; + + char *step_detector_on; + char *step_indicator_on; + + char *in_timestamp_en; + char *in_timestamp_index; + char *in_timestamp_type; + + char *buffer_length; + + char *display_orientation_on; + char *event_display_orientation; + + char *in_accel_x_offset; + char *in_accel_y_offset; + char *in_accel_z_offset; + char *in_accel_self_test_scale; + + char *in_accel_x_dmp_bias; + char *in_accel_y_dmp_bias; + char *in_accel_z_dmp_bias; + + char *in_gyro_x_offset; + char *in_gyro_y_offset; + char *in_gyro_z_offset; + char *in_gyro_self_test_scale; + + char *in_gyro_x_dmp_bias; + char *in_gyro_y_dmp_bias; + char *in_gyro_z_dmp_bias; + + char *event_smd; + char *smd_enable; + char *smd_delay_threshold; + char *smd_delay_threshold2; + char *smd_threshold; + char *batchmode_timeout; + char *batchmode_wake_fifo_full_on; + char *flush_batch; + + char *pedometer_on; + char *pedometer_int_on; + char *event_pedometer; + char *pedometer_steps; + char *pedometer_counter; + + char *motion_lpa_on; + } mpu; + + char *sysfs_names_ptr; + int mMplFeatureActiveMask; + uint64_t mFeatureActiveMask; + bool mDmpOn; + int mPedUpdate; + int mPressureUpdate; + int64_t mQuatSensorTimestamp; + int64_t mStepSensorTimestamp; + uint64_t mLastStepCount; + int mLeftOverBufferSize; + char mLeftOverBuffer[1024]; + bool mInitial6QuatValueAvailable; + long mInitial6QuatValue[4]; + bool mFlushBatchSet; + uint32_t mSkipReadEvents; + bool mDataMarkerDetected; + bool mEmptyDataMarkerDetected; + +private: + /* added for dynamic get sensor list */ + void fillAccel(const char* accel, struct sensor_t *list); + void fillGyro(const char* gyro, struct sensor_t *list); + void fillRV(struct sensor_t *list); + void fillGMRV(struct sensor_t *list); + void fillGRV(struct sensor_t *list); + void fillOrientation(struct sensor_t *list); + void fillGravity(struct sensor_t *list); + void fillLinearAccel(struct sensor_t *list); + void fillSignificantMotion(struct sensor_t *list); +#ifdef ENABLE_DMP_SCREEN_AUTO_ROTATION + void fillScreenOrientation(struct sensor_t *list); +#endif + void storeCalibration(); + void loadDMP(); + bool isMpuNonDmp(); + int isLowPowerQuatEnabled(); + int isDmpDisplayOrientationOn(); + void getCompassBias(); + void getFactoryGyroBias(); + void setFactoryGyroBias(); + void getGyroBias(); + void setGyroZeroBias(); + void setGyroBias(); + void getFactoryAccelBias(); + void setFactoryAccelBias(); + void getAccelBias(); + void setAccelBias(); + int isCompassDisabled(); + int setBatchDataRates(); + int resetDataRates(); + void initBias(); + void resetMplStates(); + void sys_dump(bool fileMode); +}; + +extern "C" { + void setCallbackObject(MPLSensor*); + MPLSensor *getCallbackObject(); +} + +#endif // ANDROID_MPL_SENSOR_H |