diff --git a/i9100.mk b/i9100.mk index 700002b..edab9c3 100644 --- a/i9100.mk +++ b/i9100.mk @@ -34,6 +34,10 @@ PRODUCT_PROPERTY_OVERRIDES += \ PRODUCT_PACKAGES += \ GalaxyS2Settings +# Sensors +PRODUCT_PACKAGES += \ + sensors.exynos4 + # Keylayout PRODUCT_COPY_FILES += \ $(LOCAL_PATH)/usr/keylayout/AVRCP.kl:system/usr/keylayout/AVRCP.kl \ diff --git a/libsensors/AkmSensor.cpp b/libsensors/AkmSensor.cpp new file mode 100644 index 0000000..aca232c --- /dev/null +++ b/libsensors/AkmSensor.cpp @@ -0,0 +1,331 @@ +/* + * Copyright (C) 2008 The Android Open Source Project + * + * 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. + */ + +#include +#include +#include +#include +#include +#include +#include +#include + +#include "ak8973b.h" + +#include +#include "AkmSensor.h" + +//#define ALOG_NDEBUG 0 + +/*****************************************************************************/ + +int (*akm_is_sensor_enabled)(uint32_t sensor_type); +int (*akm_enable_sensor)(uint32_t sensor_type); +int (*akm_disable_sensor)(uint32_t sensor_type); +int (*akm_set_delay)(uint32_t sensor_type, uint64_t delay); + +int stub_is_sensor_enabled(uint32_t sensor_type) { + return 0; +} + +int stub_enable_disable_sensor(uint32_t sensor_type) { + return -ENODEV; +} + +int stub_set_delay(uint32_t sensor_type, uint64_t delay) { + return -ENODEV; +} + +AkmSensor::AkmSensor() +: SensorBase(NULL, NULL), + mEnabled(0), + mPendingMask(0), + mInputReader(32) +{ + /* Open the library before opening the input device. The library + * creates a uinput device. + */ + if (loadAKMLibrary() == 0) { + data_name = "compass_sensor"; + data_fd = openInput("compass_sensor"); + } + + memset(mPendingEvents, 0, sizeof(mPendingEvents)); + + mPendingEvents[Accelerometer].version = sizeof(sensors_event_t); + mPendingEvents[Accelerometer].sensor = ID_A; + mPendingEvents[Accelerometer].type = SENSOR_TYPE_ACCELEROMETER; + mPendingEvents[Accelerometer].acceleration.status = SENSOR_STATUS_ACCURACY_HIGH; + + mPendingEvents[MagneticField].version = sizeof(sensors_event_t); + mPendingEvents[MagneticField].sensor = ID_M; + mPendingEvents[MagneticField].type = SENSOR_TYPE_MAGNETIC_FIELD; + mPendingEvents[MagneticField].magnetic.status = SENSOR_STATUS_ACCURACY_HIGH; + + mPendingEvents[Orientation ].version = sizeof(sensors_event_t); + mPendingEvents[Orientation ].sensor = ID_O; + mPendingEvents[Orientation ].type = SENSOR_TYPE_ORIENTATION; + mPendingEvents[Orientation ].orientation.status = SENSOR_STATUS_ACCURACY_HIGH; + + // read the actual value of all sensors if they're enabled already + struct input_absinfo absinfo; + short flags = 0; + + if (akm_is_sensor_enabled(SENSOR_TYPE_ACCELEROMETER)) { + mEnabled |= 1<= numSensors) + return -EINVAL; + + int newState = en ? 1 : 0; + int err = 0; + + if ((uint32_t(newState)<type; + if (type == EV_REL) { + processEvent(event->code, event->value); + mInputReader.next(); + } else if (type == EV_SYN) { + int64_t time = timevalToNano(event->time); + for (int j=0 ; count && mPendingMask && jcode); + mInputReader.next(); + } + } + return numEventReceived; +} + +void AkmSensor::processEvent(int code, int value) +{ + switch (code) { + case EVENT_TYPE_ACCEL_X: + mPendingMask |= 1< +#include +#include +#include + + +#include "sensors.h" +#include "SensorBase.h" +#include "InputEventReader.h" + +/*****************************************************************************/ + +struct input_event; + +class AkmSensor : public SensorBase { +public: + AkmSensor(); + virtual ~AkmSensor(); + + enum { + Accelerometer = 0, + MagneticField = 1, + Orientation = 2, + numSensors + }; + + virtual int setDelay(int32_t handle, int64_t ns); + virtual int enable(int32_t handle, int enabled); + virtual int readEvents(sensors_event_t* data, int count); + void processEvent(int code, int value); + +private: + int loadAKMLibrary(); + int update_delay(); + void *mLibAKM; + uint32_t mEnabled; + uint32_t mPendingMask; + InputEventCircularReader mInputReader; + sensors_event_t mPendingEvents[numSensors]; + uint64_t mDelays[numSensors]; +}; + +/*****************************************************************************/ + +#endif // ANDROID_AKM_SENSOR_H diff --git a/libsensors/Android.mk b/libsensors/Android.mk new file mode 100644 index 0000000..f42c057 --- /dev/null +++ b/libsensors/Android.mk @@ -0,0 +1,45 @@ +# Copyright (C) 2008 The Android Open Source Project +# +# 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. + + +LOCAL_PATH := $(call my-dir) + +ifneq ($(TARGET_SIMULATOR),true) + +# HAL module implemenation, not prelinked, and stored in +# hw/..so +include $(CLEAR_VARS) + +LOCAL_MODULE := sensors.$(TARGET_BOARD_PLATFORM) + +LOCAL_MODULE_PATH := $(TARGET_OUT_SHARED_LIBRARIES)/hw + +LOCAL_MODULE_TAGS := optional + +LOCAL_CFLAGS := -DALOG_TAG=\"Sensors\" +LOCAL_SRC_FILES := \ + sensors.cpp \ + SensorBase.cpp \ + LightSensor.cpp \ + ProximitySensor.cpp \ + AkmSensor.cpp \ + GyroSensor.cpp \ + InputEventReader.cpp + +LOCAL_SHARED_LIBRARIES := liblog libcutils libdl +LOCAL_PRELINK_MODULE := false + +include $(BUILD_SHARED_LIBRARY) + +endif # !TARGET_SIMULATOR diff --git a/libsensors/GyroSensor.cpp b/libsensors/GyroSensor.cpp new file mode 100644 index 0000000..0b0a438 --- /dev/null +++ b/libsensors/GyroSensor.cpp @@ -0,0 +1,185 @@ +/* + * Copyright (C) 2008 The Android Open Source Project + * + * 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. + */ + +#include +#include +#include +#include +#include +#include +#include +#include + +#include "GyroSensor.h" + +#define FETCH_FULL_EVENT_BEFORE_RETURN 1 +#define IGNORE_EVENT_TIME 350000000 +/*****************************************************************************/ + +GyroSensor::GyroSensor() + : SensorBase(NULL, "gyro_sensor"), + mEnabled(0), + mInputReader(4), + mHasPendingEvent(false), + mEnabledTime(0) +{ + mPendingEvent.version = sizeof(sensors_event_t); + mPendingEvent.sensor = ID_GY; + mPendingEvent.type = SENSOR_TYPE_GYROSCOPE; + memset(mPendingEvent.data, 0, sizeof(mPendingEvent.data)); + + if (data_fd) { + strcpy(input_sysfs_path, "/sys/class/input/"); + strcat(input_sysfs_path, input_name); + strcat(input_sysfs_path, "/device/"); + input_sysfs_path_len = strlen(input_sysfs_path); + enable(0, 1); + } +} + +GyroSensor::~GyroSensor() { + if (mEnabled) { + enable(0, 0); + } +} + +int GyroSensor::setInitialState() { + struct input_absinfo absinfo_x; + struct input_absinfo absinfo_y; + struct input_absinfo absinfo_z; + float value; + if (!ioctl(data_fd, EVIOCGABS(EVENT_TYPE_GYRO_X), &absinfo_x) && + !ioctl(data_fd, EVIOCGABS(EVENT_TYPE_GYRO_X), &absinfo_y) && + !ioctl(data_fd, EVIOCGABS(EVENT_TYPE_GYRO_X), &absinfo_z)) { + value = absinfo_x.value; + mPendingEvent.data[0] = value * CONVERT_GYRO_X; + value = absinfo_x.value; + mPendingEvent.data[1] = value * CONVERT_GYRO_Y; + value = absinfo_x.value; + mPendingEvent.data[2] = value * CONVERT_GYRO_Z; + mHasPendingEvent = true; + } + return 0; +} + +int GyroSensor::enable(int32_t, int en) { + int flags = en ? 1 : 0; + if (flags != mEnabled) { + int fd; + strcpy(&input_sysfs_path[input_sysfs_path_len], "enable"); + fd = open(input_sysfs_path, O_RDWR); + if (fd >= 0) { + char buf[2]; + int err; + buf[1] = 0; + if (flags) { + buf[0] = '1'; + mEnabledTime = getTimestamp() + IGNORE_EVENT_TIME; + } else { + buf[0] = '0'; + } + err = write(fd, buf, sizeof(buf)); + close(fd); + mEnabled = flags; + setInitialState(); + return 0; + } + return -1; + } + return 0; +} + +bool GyroSensor::hasPendingEvents() const { + return mHasPendingEvent; +} + +int GyroSensor::setDelay(int32_t handle, int64_t delay_ns) +{ + int fd; + strcpy(&input_sysfs_path[input_sysfs_path_len], "poll_delay"); + fd = open(input_sysfs_path, O_RDWR); + if (fd >= 0) { + char buf[80]; + sprintf(buf, "%lld", delay_ns); + write(fd, buf, strlen(buf)+1); + close(fd); + return 0; + } + return -1; +} + +int GyroSensor::readEvents(sensors_event_t* data, int count) +{ + if (count < 1) + return -EINVAL; + + if (mHasPendingEvent) { + mHasPendingEvent = false; + mPendingEvent.timestamp = getTimestamp(); + *data = mPendingEvent; + return mEnabled ? 1 : 0; + } + + ssize_t n = mInputReader.fill(data_fd); + if (n < 0) + return n; + + int numEventReceived = 0; + input_event const* event; + +#if FETCH_FULL_EVENT_BEFORE_RETURN +again: +#endif + while (count && mInputReader.readEvent(&event)) { + int type = event->type; + if (type == EV_REL) { + float value = event->value; + if (event->code == EVENT_TYPE_GYRO_X) { + mPendingEvent.data[0] = value * CONVERT_GYRO_X; + } else if (event->code == EVENT_TYPE_GYRO_Y) { + mPendingEvent.data[1] = value * CONVERT_GYRO_Y; + } else if (event->code == EVENT_TYPE_GYRO_Z) { + mPendingEvent.data[2] = value * CONVERT_GYRO_Z; + } + } else if (type == EV_SYN) { + mPendingEvent.timestamp = timevalToNano(event->time); + if (mEnabled) { + if (mPendingEvent.timestamp >= mEnabledTime) { + *data++ = mPendingEvent; + numEventReceived++; + } + count--; + } + } else { + ALOGE("GyroSensor: unknown event (type=%d, code=%d)", + type, event->code); + } + mInputReader.next(); + } + +#if FETCH_FULL_EVENT_BEFORE_RETURN + /* if we didn't read a complete event, see if we can fill and + try again instead of returning with nothing and redoing poll. */ + if (numEventReceived == 0 && mEnabled == 1) { + n = mInputReader.fill(data_fd); + if (n) + goto again; + } +#endif + + return numEventReceived; +} + diff --git a/libsensors/GyroSensor.h b/libsensors/GyroSensor.h new file mode 100644 index 0000000..e8997de --- /dev/null +++ b/libsensors/GyroSensor.h @@ -0,0 +1,55 @@ +/* + * Copyright (C) 2008 The Android Open Source Project + * + * 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_GYRO_SENSOR_H +#define ANDROID_GYRO_SENSOR_H + +#include +#include +#include +#include + +#include "sensors.h" +#include "SensorBase.h" +#include "InputEventReader.h" + +/*****************************************************************************/ + +struct input_event; + +class GyroSensor : public SensorBase { + int mEnabled; + InputEventCircularReader mInputReader; + sensors_event_t mPendingEvent; + bool mHasPendingEvent; + char input_sysfs_path[PATH_MAX]; + int input_sysfs_path_len; + int64_t mEnabledTime; + + int setInitialState(); + +public: + GyroSensor(); + virtual ~GyroSensor(); + virtual int readEvents(sensors_event_t* data, int count); + virtual bool hasPendingEvents() const; + virtual int setDelay(int32_t handle, int64_t ns); + virtual int enable(int32_t handle, int enabled); +}; + +/*****************************************************************************/ + +#endif // ANDROID_GYRO_SENSOR_H diff --git a/libsensors/InputEventReader.cpp b/libsensors/InputEventReader.cpp new file mode 100644 index 0000000..1014f29 --- /dev/null +++ b/libsensors/InputEventReader.cpp @@ -0,0 +1,88 @@ +/* + * Copyright (C) 2008 The Android Open Source Project + * + * 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. + */ + +#include +#include +#include +#include + +#include +#include + +#include + +#include + +#include "InputEventReader.h" + +/*****************************************************************************/ + +struct input_event; + +InputEventCircularReader::InputEventCircularReader(size_t numEvents) + : mBuffer(new input_event[numEvents * 2]), + mBufferEnd(mBuffer + numEvents), + mHead(mBuffer), + mCurr(mBuffer), + mFreeSpace(numEvents) +{ +} + +InputEventCircularReader::~InputEventCircularReader() +{ + delete [] mBuffer; +} + +ssize_t InputEventCircularReader::fill(int fd) +{ + size_t numEventsRead = 0; + if (mFreeSpace) { + const ssize_t nread = read(fd, mHead, mFreeSpace * sizeof(input_event)); + if (nread<0 || nread % sizeof(input_event)) { + // we got a partial event!! + return nread<0 ? -errno : -EINVAL; + } + + numEventsRead = nread / sizeof(input_event); + if (numEventsRead) { + mHead += numEventsRead; + mFreeSpace -= numEventsRead; + if (mHead > mBufferEnd) { + size_t s = mHead - mBufferEnd; + memcpy(mBuffer, mBufferEnd, s * sizeof(input_event)); + mHead = mBuffer + s; + } + } + } + + return numEventsRead; +} + +ssize_t InputEventCircularReader::readEvent(input_event const** events) +{ + *events = mCurr; + ssize_t available = (mBufferEnd - mBuffer) - mFreeSpace; + return available ? 1 : 0; +} + +void InputEventCircularReader::next() +{ + mCurr++; + mFreeSpace++; + if (mCurr >= mBufferEnd) { + mCurr = mBuffer; + } +} diff --git a/libsensors/InputEventReader.h b/libsensors/InputEventReader.h new file mode 100644 index 0000000..180aade --- /dev/null +++ b/libsensors/InputEventReader.h @@ -0,0 +1,47 @@ +/* + * Copyright (C) 2008 The Android Open Source Project + * + * 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_INPUT_EVENT_READER_H +#define ANDROID_INPUT_EVENT_READER_H + +#include +#include +#include +#include + +/*****************************************************************************/ + +struct input_event; + +class InputEventCircularReader +{ + struct input_event* const mBuffer; + struct input_event* const mBufferEnd; + struct input_event* mHead; + struct input_event* mCurr; + ssize_t mFreeSpace; + +public: + InputEventCircularReader(size_t numEvents); + ~InputEventCircularReader(); + ssize_t fill(int fd); + ssize_t readEvent(input_event const** events); + void next(); +}; + +/*****************************************************************************/ + +#endif // ANDROID_INPUT_EVENT_READER_H diff --git a/libsensors/LightSensor.cpp b/libsensors/LightSensor.cpp new file mode 100644 index 0000000..2320053 --- /dev/null +++ b/libsensors/LightSensor.cpp @@ -0,0 +1,160 @@ +/* + * Copyright (C) 2008 The Android Open Source Project + * + * 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. + */ + +#include +#include +#include +#include +#include +#include +#include + +#include + +#include + +#include "LightSensor.h" + +// #define ALOG_NDEBUG 0 + +/*****************************************************************************/ + +LightSensor::LightSensor() + : SensorBase(NULL, "light_sensor"), + mEnabled(0), + mInputReader(4), + mHasPendingEvent(false) +{ + mPendingEvent.version = sizeof(sensors_event_t); + mPendingEvent.sensor = ID_L; + mPendingEvent.type = SENSOR_TYPE_LIGHT; + memset(mPendingEvent.data, 0, sizeof(mPendingEvent.data)); + + if (data_fd) { + strcpy(input_sysfs_path, "/sys/class/input/"); + strcat(input_sysfs_path, input_name); + strcat(input_sysfs_path, "/device/"); + input_sysfs_path_len = strlen(input_sysfs_path); + enable(0, 1); + } +} + +LightSensor::~LightSensor() { + if (mEnabled) { + enable(0, 0); + } +} + +int LightSensor::setInitialState() { + struct input_absinfo absinfo; + if (!ioctl(data_fd, EVIOCGABS(EVENT_TYPE_LIGHT), &absinfo)) { + // make sure to report an event immediately + mHasPendingEvent = true; + mPendingEvent.light = absinfo.value; + } + return 0; +} + +int LightSensor::setDelay(int32_t handle, int64_t ns) +{ + int fd; + strcpy(&input_sysfs_path[input_sysfs_path_len], "poll_delay"); + fd = open(input_sysfs_path, O_RDWR); + if (fd >= 0) { + char buf[80]; + sprintf(buf, "%lld", ns); + write(fd, buf, strlen(buf)+1); + close(fd); + return 0; + } + return -1; +} + +int LightSensor::enable(int32_t handle, int en) +{ + int flags = en ? 1 : 0; + if (flags != mEnabled) { + int fd; + strcpy(&input_sysfs_path[input_sysfs_path_len], "enable"); + fd = open(input_sysfs_path, O_RDWR); + if (fd >= 0) { + char buf[2]; + int err; + buf[1] = 0; + if (flags) { + buf[0] = '1'; + } else { + buf[0] = '0'; + } + err = write(fd, buf, sizeof(buf)); + close(fd); + mEnabled = flags; + return 0; + } + return -1; + } + return 0; +} + +bool LightSensor::hasPendingEvents() const { + return mHasPendingEvent; +} + +int LightSensor::readEvents(sensors_event_t* data, int count) +{ + if (count < 1) + return -EINVAL; + + if (mHasPendingEvent) { + mHasPendingEvent = false; + mPendingEvent.timestamp = getTimestamp(); + *data = mPendingEvent; + return mEnabled ? 1 : 0; + } + + ssize_t n = mInputReader.fill(data_fd); + if (n < 0) + return n; + + int numEventReceived = 0; + input_event const* event; + + while (count && mInputReader.readEvent(&event)) { + int type = event->type; + if (type == EV_ABS) { + if (event->code == EVENT_TYPE_LIGHT) { + if (event->value != -1) { + ALOGV("LightSensor: event (value=%d)", event->value); + // FIXME: not sure why we're getting -1 sometimes + mPendingEvent.light = event->value; + } + } + } else if (type == EV_SYN) { + mPendingEvent.timestamp = timevalToNano(event->time); + if (mEnabled) { + *data++ = mPendingEvent; + count--; + numEventReceived++; + } + } else { + ALOGE("LightSensor: unknown event (type=%d, code=%d)", + type, event->code); + } + mInputReader.next(); + } + + return numEventReceived; +} diff --git a/libsensors/LightSensor.h b/libsensors/LightSensor.h new file mode 100644 index 0000000..85e65d9 --- /dev/null +++ b/libsensors/LightSensor.h @@ -0,0 +1,55 @@ +/* + * Copyright (C) 2008 The Android Open Source Project + * + * 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_LIGHT_SENSOR_H +#define ANDROID_LIGHT_SENSOR_H + +#include +#include +#include +#include + +#include "sensors.h" +#include "SensorBase.h" +#include "InputEventReader.h" + +/*****************************************************************************/ + +struct input_event; + +class LightSensor : public SensorBase { + int mEnabled; + InputEventCircularReader mInputReader; + sensors_event_t mPendingEvent; + bool mHasPendingEvent; + char input_sysfs_path[PATH_MAX]; + int input_sysfs_path_len; + + float indexToValue(size_t index) const; + int setInitialState(); + +public: + LightSensor(); + virtual ~LightSensor(); + virtual int readEvents(sensors_event_t* data, int count); + virtual bool hasPendingEvents() const; + virtual int setDelay(int32_t handle, int64_t ns); + virtual int enable(int32_t handle, int enabled); +}; + +/*****************************************************************************/ + +#endif // ANDROID_LIGHT_SENSOR_H diff --git a/libsensors/MODULE_LICENSE_APACHE2 b/libsensors/MODULE_LICENSE_APACHE2 new file mode 100644 index 0000000..e69de29 diff --git a/libsensors/ProximitySensor.cpp b/libsensors/ProximitySensor.cpp new file mode 100644 index 0000000..5ebaabc --- /dev/null +++ b/libsensors/ProximitySensor.cpp @@ -0,0 +1,144 @@ +/* + * Copyright (C) 2008 The Android Open Source Project + * + * 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. + */ + +#include +#include +#include +#include +#include +#include +#include + +#include + +#include + +#include "ProximitySensor.h" + +/*****************************************************************************/ + +ProximitySensor::ProximitySensor() + : SensorBase(NULL, "proximity_sensor"), + mEnabled(0), + mInputReader(4), + mHasPendingEvent(false) +{ + mPendingEvent.version = sizeof(sensors_event_t); + mPendingEvent.sensor = ID_P; + mPendingEvent.type = SENSOR_TYPE_PROXIMITY; + memset(mPendingEvent.data, 0, sizeof(mPendingEvent.data)); + + if (data_fd) { + strcpy(input_sysfs_path, "/sys/class/input/"); + strcat(input_sysfs_path, input_name); + strcat(input_sysfs_path, "/device/"); + input_sysfs_path_len = strlen(input_sysfs_path); + enable(0, 1); + } +} + +ProximitySensor::~ProximitySensor() { + if (mEnabled) { + enable(0, 0); + } +} + +int ProximitySensor::setInitialState() { + struct input_absinfo absinfo; + if (!ioctl(data_fd, EVIOCGABS(EVENT_TYPE_PROXIMITY), &absinfo)) { + // make sure to report an event immediately + mHasPendingEvent = true; + mPendingEvent.distance = indexToValue(absinfo.value); + } + return 0; +} + +int ProximitySensor::enable(int32_t, int en) { + int flags = en ? 1 : 0; + if (flags != mEnabled) { + int fd; + strcpy(&input_sysfs_path[input_sysfs_path_len], "enable"); + fd = open(input_sysfs_path, O_RDWR); + if (fd >= 0) { + char buf[2]; + buf[1] = 0; + if (flags) { + buf[0] = '1'; + } else { + buf[0] = '0'; + } + write(fd, buf, sizeof(buf)); + close(fd); + mEnabled = flags; + setInitialState(); + return 0; + } + return -1; + } + return 0; +} + +bool ProximitySensor::hasPendingEvents() const { + return mHasPendingEvent; +} + +int ProximitySensor::readEvents(sensors_event_t* data, int count) +{ + if (count < 1) + return -EINVAL; + + if (mHasPendingEvent) { + mHasPendingEvent = false; + mPendingEvent.timestamp = getTimestamp(); + *data = mPendingEvent; + return mEnabled ? 1 : 0; + } + + ssize_t n = mInputReader.fill(data_fd); + if (n < 0) + return n; + + int numEventReceived = 0; + input_event const* event; + + while (count && mInputReader.readEvent(&event)) { + int type = event->type; + if (type == EV_ABS) { + if (event->code == EVENT_TYPE_PROXIMITY) { + mPendingEvent.distance = indexToValue(event->value); + } + } else if (type == EV_SYN) { + mPendingEvent.timestamp = timevalToNano(event->time); + if (mEnabled) { + *data++ = mPendingEvent; + count--; + numEventReceived++; + } + } else { + ALOGE("ProximitySensor: unknown event (type=%d, code=%d)", + type, event->code); + } + mInputReader.next(); + } + + return numEventReceived; +} + +float ProximitySensor::indexToValue(size_t index) const +{ + ALOGV("ProximitySensor: Index = %zu", index); + return index * PROXIMITY_THRESHOLD_CM; +} diff --git a/libsensors/ProximitySensor.h b/libsensors/ProximitySensor.h new file mode 100644 index 0000000..08ea49c --- /dev/null +++ b/libsensors/ProximitySensor.h @@ -0,0 +1,54 @@ +/* + * Copyright (C) 2008 The Android Open Source Project + * + * 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_PROXIMITY_SENSOR_H +#define ANDROID_PROXIMITY_SENSOR_H + +#include +#include +#include +#include + +#include "sensors.h" +#include "SensorBase.h" +#include "InputEventReader.h" + +/*****************************************************************************/ + +struct input_event; + +class ProximitySensor : public SensorBase { + int mEnabled; + InputEventCircularReader mInputReader; + sensors_event_t mPendingEvent; + bool mHasPendingEvent; + char input_sysfs_path[PATH_MAX]; + int input_sysfs_path_len; + + int setInitialState(); + float indexToValue(size_t index) const; + +public: + ProximitySensor(); + virtual ~ProximitySensor(); + virtual int readEvents(sensors_event_t* data, int count); + virtual bool hasPendingEvents() const; + virtual int enable(int32_t handle, int enabled); +}; + +/*****************************************************************************/ + +#endif // ANDROID_PROXIMITY_SENSOR_H diff --git a/libsensors/SensorBase.cpp b/libsensors/SensorBase.cpp new file mode 100644 index 0000000..79b1ee2 --- /dev/null +++ b/libsensors/SensorBase.cpp @@ -0,0 +1,128 @@ +/* + * Copyright (C) 2008 The Android Open Source Project + * + * 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. + */ + +#include +#include +#include +#include +#include +#include +#include + +#include + +#include + +#include "SensorBase.h" + +/*****************************************************************************/ + +SensorBase::SensorBase( + const char* dev_name, + const char* data_name) + : dev_name(dev_name), data_name(data_name), + dev_fd(-1), data_fd(-1) +{ + if (data_name) { + data_fd = openInput(data_name); + } +} + +SensorBase::~SensorBase() { + if (data_fd >= 0) { + close(data_fd); + } + if (dev_fd >= 0) { + close(dev_fd); + } +} + +int SensorBase::open_device() { + if (dev_fd<0 && dev_name) { + dev_fd = open(dev_name, O_RDONLY); + ALOGE_IF(dev_fd<0, "Couldn't open %s (%s)", dev_name, strerror(errno)); + } + return 0; +} + +int SensorBase::close_device() { + if (dev_fd >= 0) { + close(dev_fd); + dev_fd = -1; + } + return 0; +} + +int SensorBase::getFd() const { + if (!data_name) { + return dev_fd; + } + return data_fd; +} + +int SensorBase::setDelay(int32_t handle, int64_t ns) { + return 0; +} + +bool SensorBase::hasPendingEvents() const { + return false; +} + +int64_t SensorBase::getTimestamp() { + struct timespec t; + t.tv_sec = t.tv_nsec = 0; + clock_gettime(CLOCK_MONOTONIC, &t); + return int64_t(t.tv_sec)*1000000000LL + t.tv_nsec; +} + +int SensorBase::openInput(const char* inputName) { + int fd = -1; + const char *dirname = "/dev/input"; + char devname[PATH_MAX]; + char *filename; + DIR *dir; + struct dirent *de; + dir = opendir(dirname); + if(dir == NULL) + return -1; + strcpy(devname, dirname); + filename = devname + strlen(devname); + *filename++ = '/'; + while((de = readdir(dir))) { + if(de->d_name[0] == '.' && + (de->d_name[1] == '\0' || + (de->d_name[1] == '.' && de->d_name[2] == '\0'))) + continue; + strcpy(filename, de->d_name); + fd = open(devname, O_RDONLY); + if (fd>=0) { + char name[80]; + if (ioctl(fd, EVIOCGNAME(sizeof(name) - 1), &name) < 1) { + name[0] = '\0'; + } + if (!strcmp(name, inputName)) { + strcpy(input_name, filename); + break; + } else { + close(fd); + fd = -1; + } + } + } + closedir(dir); + ALOGE_IF(fd<0, "couldn't find '%s' input device", inputName); + return fd; +} diff --git a/libsensors/SensorBase.h b/libsensors/SensorBase.h new file mode 100644 index 0000000..bb4d055 --- /dev/null +++ b/libsensors/SensorBase.h @@ -0,0 +1,65 @@ +/* + * Copyright (C) 2008 The Android Open Source Project + * + * 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_SENSOR_BASE_H +#define ANDROID_SENSOR_BASE_H + +#include +#include +#include +#include + + +/*****************************************************************************/ + +struct sensors_event_t; + +class SensorBase { +protected: + const char* dev_name; + const char* data_name; + char input_name[PATH_MAX]; + int dev_fd; + int data_fd; + + int openInput(const char* inputName); + static int64_t getTimestamp(); + + + static int64_t timevalToNano(timeval const& t) { + return t.tv_sec*1000000000LL + t.tv_usec*1000; + } + + int open_device(); + int close_device(); + +public: + SensorBase( + const char* dev_name, + const char* data_name); + + virtual ~SensorBase(); + + virtual int readEvents(sensors_event_t* data, int count) = 0; + virtual bool hasPendingEvents() const; + virtual int getFd() const; + virtual int setDelay(int32_t handle, int64_t ns); + virtual int enable(int32_t handle, int enabled) = 0; +}; + +/*****************************************************************************/ + +#endif // ANDROID_SENSOR_BASE_H diff --git a/libsensors/ak8973b.h b/libsensors/ak8973b.h new file mode 100644 index 0000000..9b7ab60 --- /dev/null +++ b/libsensors/ak8973b.h @@ -0,0 +1,51 @@ +/* + * Definitions for akm8973 compass chip. + */ +#ifndef AKM8973_H +#define AKM8973_H + +#include + +#define AKM8973_I2C_NAME "ak8973b" + +#define AKMIO 0xA1 + +/* IOCTLs for AKM library */ +#define ECS_IOCTL_WRITE _IOW(AKMIO, 0x01, char*) +#define ECS_IOCTL_READ _IOWR(AKMIO, 0x02, char*) +#define ECS_IOCTL_RESET _IO(AKMIO, 0x03) +#define ECS_IOCTL_SET_MODE _IOW(AKMIO, 0x04, short) +#define ECS_IOCTL_GETDATA _IOR(AKMIO, 0x05, char[SENSOR_DATA_SIZE]) +#define ECS_IOCTL_SET_YPR _IOW(AKMIO, 0x06, short[12]) +#define ECS_IOCTL_GET_OPEN_STATUS _IOR(AKMIO, 0x07, int) +#define ECS_IOCTL_GET_CLOSE_STATUS _IOR(AKMIO, 0x08, int) +#define ECS_IOCTL_GET_DELAY _IOR(AKMIO, 0x30, int64_t) +#define ECS_IOCTL_GET_PROJECT_NAME _IOR(AKMIO, 0x0D, char[64]) +#define ECS_IOCTL_GET_MATRIX _IOR(AKMIO, 0x0E, short [4][3][3]) + +/* IOCTLs for APPs */ +#define ECS_IOCTL_APP_SET_MODE _IOW(AKMIO, 0x10, short) +#define ECS_IOCTL_APP_SET_MFLAG _IOW(AKMIO, 0x11, short) +#define ECS_IOCTL_APP_GET_MFLAG _IOW(AKMIO, 0x12, short) +#define ECS_IOCTL_APP_SET_AFLAG _IOW(AKMIO, 0x13, short) +#define ECS_IOCTL_APP_GET_AFLAG _IOR(AKMIO, 0x14, short) +#define ECS_IOCTL_APP_SET_TFLAG _IOR(AKMIO, 0x15, short) +#define ECS_IOCTL_APP_GET_TFLAG _IOR(AKMIO, 0x16, short) +#define ECS_IOCTL_APP_RESET_PEDOMETER _IO(AKMIO, 0x17) +#define ECS_IOCTL_APP_SET_DELAY _IOW(AKMIO, 0x18, int64_t) +#define ECS_IOCTL_APP_GET_DELAY ECS_IOCTL_GET_DELAY + +/* Set raw magnetic vector flag */ +#define ECS_IOCTL_APP_SET_MVFLAG _IOW(AKMIO, 0x19, short) + +/* Get raw magnetic vector flag */ +#define ECS_IOCTL_APP_GET_MVFLAG _IOR(AKMIO, 0x1A, short) + +struct akm8973_platform_data { + short layouts[4][3][3]; + char project_name[64]; + int gpio_RST; + int gpio_INT; +}; + +#endif diff --git a/libsensors/sensors.cpp b/libsensors/sensors.cpp new file mode 100644 index 0000000..c048a14 --- /dev/null +++ b/libsensors/sensors.cpp @@ -0,0 +1,326 @@ +/* + * Copyright (C) 2008 The Android Open Source Project + * + * 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. + */ + +#define ALOG_TAG "Sensors" + +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +#include +#include + +#include "sensors.h" + +#include "LightSensor.h" +#include "ProximitySensor.h" +#include "AkmSensor.h" +#include "GyroSensor.h" + +/*****************************************************************************/ + +#define DELAY_OUT_TIME 0x7FFFFFFF + +#define LIGHT_SENSOR_POLLTIME 2000000000 + + +#define SENSORS_ACCELERATION (1<getFd(); + mPollFds[light].events = POLLIN; + mPollFds[light].revents = 0; + + mSensors[proximity] = new ProximitySensor(); + mPollFds[proximity].fd = mSensors[proximity]->getFd(); + mPollFds[proximity].events = POLLIN; + mPollFds[proximity].revents = 0; + + mSensors[akm] = new AkmSensor(); + mPollFds[akm].fd = mSensors[akm]->getFd(); + mPollFds[akm].events = POLLIN; + mPollFds[akm].revents = 0; + + mSensors[gyro] = new GyroSensor(); + mPollFds[gyro].fd = mSensors[gyro]->getFd(); + mPollFds[gyro].events = POLLIN; + mPollFds[gyro].revents = 0; + + int wakeFds[2]; + int result = pipe(wakeFds); + ALOGE_IF(result<0, "error creating wake pipe (%s)", strerror(errno)); + fcntl(wakeFds[0], F_SETFL, O_NONBLOCK); + fcntl(wakeFds[1], F_SETFL, O_NONBLOCK); + mWritePipeFd = wakeFds[1]; + + mPollFds[wake].fd = wakeFds[0]; + mPollFds[wake].events = POLLIN; + mPollFds[wake].revents = 0; +} + +sensors_poll_context_t::~sensors_poll_context_t() { + for (int i=0 ; ienable(handle, enabled); + if (enabled && !err) { + const char wakeMessage(WAKE_MESSAGE); + int result = write(mWritePipeFd, &wakeMessage, 1); + ALOGE_IF(result<0, "error sending wake message (%s)", strerror(errno)); + } + return err; +} + +int sensors_poll_context_t::setDelay(int handle, int64_t ns) { + + int index = handleToDriver(handle); + if (index < 0) return index; + return mSensors[index]->setDelay(handle, ns); +} + +int sensors_poll_context_t::pollEvents(sensors_event_t* data, int count) +{ + int nbEvents = 0; + int n = 0; + + do { + // see if we have some leftover from the last poll() + for (int i=0 ; count && ihasPendingEvents())) { + int nb = sensor->readEvents(data, count); + if (nb < count) { + // no more data for this sensor + mPollFds[i].revents = 0; + } + count -= nb; + nbEvents += nb; + data += nb; + } + } + + if (count) { + // we still have some room, so try to see if we can get + // some events immediately or just wait if we don't have + // anything to return + n = poll(mPollFds, numFds, nbEvents ? 0 : -1); + if (n<0) { + ALOGE("poll() failed (%s)", strerror(errno)); + return -errno; + } + if (mPollFds[wake].revents & POLLIN) { + char msg; + int result = read(mPollFds[wake].fd, &msg, 1); + ALOGE_IF(result<0, "error reading from wake pipe (%s)", strerror(errno)); + ALOGE_IF(msg != WAKE_MESSAGE, "unknown message on wake queue (0x%02x)", int(msg)); + mPollFds[wake].revents = 0; + } + } + // if we have events and space, go read them + } while (n && count); + + return nbEvents; +} + +/*****************************************************************************/ + +static int poll__close(struct hw_device_t *dev) +{ + sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev; + if (ctx) { + delete ctx; + } + return 0; +} + +static int poll__activate(struct sensors_poll_device_t *dev, + int handle, int enabled) { + sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev; + return ctx->activate(handle, enabled); +} + +static int poll__setDelay(struct sensors_poll_device_t *dev, + int handle, int64_t ns) { + sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev; + return ctx->setDelay(handle, ns); +} + +static int poll__poll(struct sensors_poll_device_t *dev, + sensors_event_t* data, int count) { + sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev; + return ctx->pollEvents(data, count); +} + +/*****************************************************************************/ + +/** Open a new instance of a sensor device using name */ +static int open_sensors(const struct hw_module_t* module, const char* id, + struct hw_device_t** device) +{ + int status = -EINVAL; + sensors_poll_context_t *dev = new sensors_poll_context_t(); + + memset(&dev->device, 0, sizeof(sensors_poll_device_t)); + + dev->device.common.tag = HARDWARE_DEVICE_TAG; + dev->device.common.version = 0; + dev->device.common.module = const_cast(module); + dev->device.common.close = poll__close; + dev->device.activate = poll__activate; + dev->device.setDelay = poll__setDelay; + dev->device.poll = poll__poll; + + *device = &dev->device.common; + status = 0; + + return status; +} + diff --git a/libsensors/sensors.h b/libsensors/sensors.h new file mode 100644 index 0000000..3c846fe --- /dev/null +++ b/libsensors/sensors.h @@ -0,0 +1,144 @@ +/* + * Copyright (C) 2008 The Android Open Source Project + * + * 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_SENSORS_H +#define ANDROID_SENSORS_H + +#include +#include +#include +#include + +#include + +#include +#include + +__BEGIN_DECLS + +/*****************************************************************************/ + +#define ARRAY_SIZE(a) (sizeof(a) / sizeof(a[0])) + +#define ID_A (0) +#define ID_M (1) +#define ID_O (2) +#define ID_L (3) +#define ID_P (4) +#define ID_GY (5) + +/*****************************************************************************/ + +/* + * The SENSORS Module + */ + +/* the CM3663 is a binary proximity sensor that triggers around 6 cm on + * this hardware */ +#define PROXIMITY_THRESHOLD_CM 6.0f + +/*****************************************************************************/ + +#define AKM_DEVICE_NAME "/dev/akm8975" +#define CM_DEVICE_NAME "/dev/i2c11" // FIXME Proximity +#define LS_DEVICE_NAME "/dev/i2c11" // FIXME Lig + +/* + E/Sensors ( 2656): AkmSensor: processing event (type=0, code=0) + E/Sensors ( 2656): AkmSensor: processing event (type=2, code=8) + E/Sensors ( 2656): AkmSensor: processing event (type=2, code=3) + E/Sensors ( 2656): AkmSensor: processing event (type=2, code=4) + E/Sensors ( 2656): AkmSensor: processing event (type=2, code=5) + E/Sensors ( 2656): AkmSensor: processing event (type=2, code=0) + E/Sensors ( 2656): AkmSensor: processing event (type=2, code=1) + E/Sensors ( 2656): AkmSensor: processing event (type=2, code=2) + E/Sensors ( 2656): AkmSensor: processing event (type=2, code=6) + E/Sensors ( 2656): AkmSensor: processing event (type=2, code=7) + E/Sensors ( 2656): AkmSensor: processing event (type=2, code=9) + E/Sensors ( 2656): AkmSensor: processing event (type=0, code=0) + E/Sensors ( 2656): AkmSensor: processing event (type=2, code=8) + E/Sensors ( 2656): AkmSensor: processing event (type=2, code=3) + E/Sensors ( 2656): AkmSensor: processing event (type=2, code=4) + E/Sensors ( 2656): AkmSensor: processing event (type=2, code=5) + E/Sensors ( 2656): AkmSensor: processing event (type=2, code=0) + E/Sensors ( 2656): AkmSensor: processing event (type=2, code=1) + E/Sensors ( 2656): AkmSensor: processing event (type=2, code=2) + E/Sensors ( 2656): AkmSensor: processing event (type=2, code=6) + E/Sensors ( 2656): AkmSensor: processing event (type=2, code=7) + E/Sensors ( 2656): AkmSensor: processing event (type=2, code=9) +*/ + +// for akm8975 +#define EVENT_TYPE_ACCEL_X ABS_Y //1 +#define EVENT_TYPE_ACCEL_Y ABS_X //0 +#define EVENT_TYPE_ACCEL_Z ABS_Z //2 +//#define EVENT_TYPE_ACCEL_STATUS ABS_WHEEL //8 + +#define EVENT_TYPE_YAW ABS_RX //3 +#define EVENT_TYPE_PITCH ABS_RY //4 +#define EVENT_TYPE_ROLL ABS_RZ //5 +#define EVENT_TYPE_ORIENT_STATUS ABS_WHEEL //8 + +#define EVENT_TYPE_MAGV_X ABS_RUDDER // 6 +#define EVENT_TYPE_MAGV_Y ABS_THROTTLE // 7 +#define EVENT_TYPE_MAGV_Z ABS_GAS // 9 + +#define EVENT_TYPE_TEMPERATURE ABS_THROTTLE +#define EVENT_TYPE_STEP_COUNT ABS_GAS +#define EVENT_TYPE_PROXIMITY ABS_DISTANCE +#define EVENT_TYPE_LIGHT ABS_MISC + +#define EVENT_TYPE_GYRO_X REL_RX +#define EVENT_TYPE_GYRO_Y REL_RY +#define EVENT_TYPE_GYRO_Z REL_RZ + +// 90 LSB = 1G for KR3DM +#define LSB (90.0f) +#define NUMOFACCDATA (8.0f) + +// conversion of acceleration data to SI units (m/s^2) +#define RANGE_A (2*GRAVITY_EARTH) +#define CONVERT_A (GRAVITY_EARTH / LSB / NUMOFACCDATA) +#define CONVERT_A_X (CONVERT_A) +#define CONVERT_A_Y (-CONVERT_A) +#define CONVERT_A_Z (-CONVERT_A) + +// conversion of magnetic data to uT units +#define CONVERT_M (1.0f/16.0f) +#define CONVERT_M_X (CONVERT_M) +#define CONVERT_M_Y (-CONVERT_M) +#define CONVERT_M_Z (CONVERT_M) + +/* conversion of orientation data to degree units */ +#define CONVERT_O (1.0f/1000.0f) +#define CONVERT_O_A (CONVERT_O) +#define CONVERT_O_P (CONVERT_O) +#define CONVERT_O_R (CONVERT_O) + +// conversion of gyro data to SI units (radian/sec) +#define RANGE_GYRO (500.0f*(float)M_PI/180.0f) +#define CONVERT_GYRO ((70.0f / 4000.0f) * ((float)M_PI / 180.0f)) +#define CONVERT_GYRO_X (CONVERT_GYRO) +#define CONVERT_GYRO_Y (CONVERT_GYRO) +#define CONVERT_GYRO_Z (CONVERT_GYRO) + +#define SENSOR_STATE_MASK (0x7FFF) + +/*****************************************************************************/ + +__END_DECLS + +#endif // ANDROID_SENSORS_H