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408 lines
13 KiB
408 lines
13 KiB
/*
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* Copyright (C) 2012 Invensense, Inc.
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#define FUNC_LOG LOGV("%s", __PRETTY_FUNCTION__)
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#include <hardware/sensors.h>
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#include <fcntl.h>
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#include <errno.h>
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#include <dirent.h>
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#include <math.h>
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#include <poll.h>
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#include <pthread.h>
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#include <stdlib.h>
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#include <linux/input.h>
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#include <cutils/atomic.h>
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#include <utils/Log.h>
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#include "sensors.h"
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#include "MPLSensor.h"
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/*
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* Vendor-defined Accel Load Calibration File Method
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* @param[out] Accel bias, length 3. In HW units scaled by 2^16 in body frame
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* @return '0' for a successful load, '1' otherwise
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* example: int AccelLoadConfig(long* offset);
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* End of Vendor-defined Accel Load Cal Method
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*/
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/*****************************************************************************/
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/* The SENSORS Module */
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#ifdef ENABLE_DMP_SCREEN_AUTO_ROTATION
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#define LOCAL_SENSORS (MPLSensor::NumSensors + 1)
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#else
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#define LOCAL_SENSORS MPLSensor::NumSensors
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#endif
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static struct sensor_t sSensorList[LOCAL_SENSORS];
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static int sensors = (sizeof(sSensorList) / sizeof(sensor_t));
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static int open_sensors(const struct hw_module_t* module, const char* id,
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struct hw_device_t** device);
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static int sensors__get_sensors_list(struct sensors_module_t* module,
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struct sensor_t const** list)
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{
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*list = sSensorList;
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return sensors;
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}
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static struct hw_module_methods_t sensors_module_methods = {
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open: open_sensors
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};
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struct sensors_module_t HAL_MODULE_INFO_SYM = {
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common: {
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tag: HARDWARE_MODULE_TAG,
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version_major: 1,
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version_minor: 0,
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id: SENSORS_HARDWARE_MODULE_ID,
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name: "Invensense module",
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author: "Invensense Inc.",
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methods: &sensors_module_methods,
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dso: NULL,
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reserved: {0}
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},
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get_sensors_list: sensors__get_sensors_list,
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set_operation_mode: NULL
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};
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struct sensors_poll_context_t {
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sensors_poll_device_1_t device; // must be first
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sensors_poll_context_t();
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~sensors_poll_context_t();
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int activate(int handle, int enabled);
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int setDelay(int handle, int64_t ns);
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int pollEvents(sensors_event_t* data, int count);
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int query(int what, int *value);
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int batch(int handle, int flags, int64_t period_ns, int64_t timeout);
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int flush(int handle);
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private:
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enum {
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mpl = 0,
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compass,
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dmpOrient,
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dmpSign,
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dmpPed,
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numSensorDrivers, // wake pipe goes here
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numFds,
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};
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struct pollfd mPollFds[numFds];
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SensorBase *mSensor;
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CompassSensor *mCompassSensor;
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static const size_t wake = numSensorDrivers;
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static const char WAKE_MESSAGE = 'W';
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int mWritePipeFd;
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};
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/******************************************************************************/
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sensors_poll_context_t::sensors_poll_context_t() {
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VFUNC_LOG;
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/* TODO: Handle external pressure sensor */
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mCompassSensor = new CompassSensor();
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MPLSensor *mplSensor = new MPLSensor(mCompassSensor);
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/* For Vendor-defined Accel Calibration File Load
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* Use the Following Constructor and Pass Your Load Cal File Function
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*
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* MPLSensor *mplSensor = new MPLSensor(mCompassSensor, AccelLoadConfig);
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*/
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// setup the callback object for handing mpl callbacks
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setCallbackObject(mplSensor);
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// populate the sensor list
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sensors =
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mplSensor->populateSensorList(sSensorList, sizeof(sSensorList));
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mSensor = mplSensor;
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mPollFds[mpl].fd = mSensor->getFd();
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mPollFds[mpl].events = POLLIN;
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mPollFds[mpl].revents = 0;
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mPollFds[compass].fd = mCompassSensor->getFd();
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mPollFds[compass].events = POLLIN;
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mPollFds[compass].revents = 0;
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mPollFds[dmpOrient].fd = ((MPLSensor*) mSensor)->getDmpOrientFd();
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mPollFds[dmpOrient].events = POLLPRI;
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mPollFds[dmpOrient].revents = 0;
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mPollFds[dmpSign].fd = ((MPLSensor*) mSensor)->getDmpSignificantMotionFd();
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mPollFds[dmpSign].events = POLLPRI;
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mPollFds[dmpSign].revents = 0;
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mPollFds[dmpPed].fd = ((MPLSensor*) mSensor)->getDmpPedometerFd();
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mPollFds[dmpPed].events = POLLPRI;
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mPollFds[dmpPed].revents = 0;
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/* Timer based sensor initialization */
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int wakeFds[2];
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int result = pipe(wakeFds);
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LOGE_IF(result<0, "error creating wake pipe (%s)", strerror(errno));
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fcntl(wakeFds[0], F_SETFL, O_NONBLOCK);
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fcntl(wakeFds[1], F_SETFL, O_NONBLOCK);
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mWritePipeFd = wakeFds[1];
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mPollFds[numSensorDrivers].fd = wakeFds[0];
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mPollFds[numSensorDrivers].events = POLLIN;
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mPollFds[numSensorDrivers].revents = 0;
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}
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sensors_poll_context_t::~sensors_poll_context_t() {
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FUNC_LOG;
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delete mSensor;
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delete mCompassSensor;
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for (int i = 0; i < numSensorDrivers; i++) {
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close(mPollFds[i].fd);
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}
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close(mWritePipeFd);
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}
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int sensors_poll_context_t::activate(int handle, int enabled) {
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FUNC_LOG;
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int err;
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err = mSensor->enable(handle, enabled);
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if (!err) {
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const char wakeMessage(WAKE_MESSAGE);
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int result = write(mWritePipeFd, &wakeMessage, 1);
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LOGE_IF(result < 0,
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"error sending wake message (%s)", strerror(errno));
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}
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return err;
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}
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int sensors_poll_context_t::setDelay(int handle, int64_t ns)
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{
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FUNC_LOG;
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return mSensor->setDelay(handle, ns);
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}
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int sensors_poll_context_t::pollEvents(sensors_event_t *data, int count)
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{
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VHANDLER_LOG;
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int nbEvents = 0;
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int nb, polltime = -1;
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polltime = ((MPLSensor*) mSensor)->getStepCountPollTime();
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// look for new events
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nb = poll(mPollFds, numSensorDrivers, polltime);
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LOGI_IF(0, "poll nb=%d, count=%d, pt=%d", nb, count, polltime);
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if (nb > 0) {
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for (int i = 0; count && i < numSensorDrivers; i++) {
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if (mPollFds[i].revents & (POLLIN | POLLPRI)) {
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nb = 0;
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if (i == mpl) {
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((MPLSensor*) mSensor)->buildMpuEvent();
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mPollFds[i].revents = 0;
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} else if (i == compass) {
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((MPLSensor*) mSensor)->buildCompassEvent();
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mPollFds[i].revents = 0;
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} else if (i == dmpOrient) {
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nb = ((MPLSensor*)mSensor)->
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readDmpOrientEvents(data, count);
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mPollFds[dmpOrient].revents= 0;
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if (isDmpScreenAutoRotationEnabled() && nb > 0) {
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count -= nb;
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nbEvents += nb;
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data += nb;
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}
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} else if (i == dmpSign) {
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LOGI("HAL: dmpSign interrupt");
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nb = ((MPLSensor*) mSensor)->
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readDmpSignificantMotionEvents(data, count);
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mPollFds[i].revents = 0;
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count -= nb;
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nbEvents += nb;
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data += nb;
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} else if (i == dmpPed) {
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LOGI("HAL: dmpPed interrupt");
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nb = ((MPLSensor*) mSensor)->readDmpPedometerEvents(
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data, count, ID_P, SENSOR_TYPE_STEP_DETECTOR, 0);
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mPollFds[i].revents = 0;
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count -= nb;
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nbEvents += nb;
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data += nb;
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}
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#if 1
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if(nb == 0) {
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nb = ((MPLSensor*) mSensor)->readEvents(data, count);
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LOGI_IF(0, "sensors_mpl:readEvents() - "
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"i=%d, nb=%d, count=%d, nbEvents=%d, "
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"data->timestamp=%lld, data->data[0]=%f,",
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i, nb, count, nbEvents, data->timestamp,
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data->data[0]);
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if (nb > 0) {
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count -= nb;
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nbEvents += nb;
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data += nb;
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}
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}
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#endif
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}
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}
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/* to see if any step counter events */
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if(((MPLSensor*) mSensor)->hasStepCountPendingEvents() == true) {
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nb = 0;
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nb = ((MPLSensor*) mSensor)->readDmpPedometerEvents(
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data, count, ID_SC, SENSOR_TYPE_STEP_COUNTER, 0);
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LOGI_IF(SensorBase::HANDLER_DATA, "sensors_mpl:readStepCount() - "
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"nb=%d, count=%d, nbEvents=%d, data->timestamp=%lld, "
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"data->data[0]=%f,",
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nb, count, nbEvents, data->timestamp, data->data[0]);
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if (nb > 0) {
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count -= nb;
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nbEvents += nb;
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data += nb;
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}
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}
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} else if(nb == 0) {
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/* to see if any step counter events */
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if(((MPLSensor*) mSensor)->hasStepCountPendingEvents() == true) {
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nb = 0;
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nb = ((MPLSensor*) mSensor)->readDmpPedometerEvents(
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data, count, ID_SC, SENSOR_TYPE_STEP_COUNTER, 0);
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LOGI_IF(SensorBase::HANDLER_DATA, "sensors_mpl:readStepCount() - "
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"nb=%d, count=%d, nbEvents=%d, data->timestamp=%lld, "
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"data->data[0]=%f,",
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nb, count, nbEvents, data->timestamp, data->data[0]);
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if (nb > 0) {
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count -= nb;
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nbEvents += nb;
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data += nb;
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}
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}
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if (mPollFds[numSensorDrivers].revents & POLLIN) {
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char msg;
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int result = read(mPollFds[numSensorDrivers].fd, &msg, 1);
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LOGE_IF(result < 0,
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"error reading from wake pipe (%s)", strerror(errno));
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mPollFds[numSensorDrivers].revents = 0;
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}
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}
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return nbEvents;
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}
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int sensors_poll_context_t::query(int what, int* value)
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{
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FUNC_LOG;
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return mSensor->query(what, value);
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}
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int sensors_poll_context_t::batch(int handle, int flags, int64_t period_ns,
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int64_t timeout)
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{
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FUNC_LOG;
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return mSensor->batch(handle, flags, period_ns, timeout);
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}
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int sensors_poll_context_t::flush(int handle)
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{
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FUNC_LOG;
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return mSensor->flush(handle);
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}
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/******************************************************************************/
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static int poll__close(struct hw_device_t *dev)
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{
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FUNC_LOG;
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sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev;
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if (ctx) {
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delete ctx;
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}
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return 0;
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}
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static int poll__activate(struct sensors_poll_device_t *dev,
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int handle, int enabled)
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{
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sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev;
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return ctx->activate(handle, enabled);
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}
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static int poll__setDelay(struct sensors_poll_device_t *dev,
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int handle, int64_t ns)
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{
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sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev;
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int s= ctx->setDelay(handle, ns);
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return s;
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}
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static int poll__poll(struct sensors_poll_device_t *dev,
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sensors_event_t* data, int count)
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{
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sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev;
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return ctx->pollEvents(data, count);
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}
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static int poll__batch(struct sensors_poll_device_1 *dev,
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int handle, int flags, int64_t period_ns, int64_t timeout)
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{
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sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev;
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return ctx->batch(handle, flags, period_ns, timeout);
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}
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static int poll__flush(struct sensors_poll_device_1 *dev,
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int handle)
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{
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sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev;
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return ctx->flush(handle);
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}
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/******************************************************************************/
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/** Open a new instance of a sensor device using name */
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static int open_sensors(const struct hw_module_t* module, const char* id,
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struct hw_device_t** device)
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{
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FUNC_LOG;
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int status = -EINVAL;
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sensors_poll_context_t *dev = new sensors_poll_context_t();
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memset(&dev->device, 0, sizeof(sensors_poll_device_1));
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dev->device.common.tag = HARDWARE_DEVICE_TAG;
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dev->device.common.version = SENSORS_DEVICE_API_VERSION_1_0;
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dev->device.common.module = const_cast<hw_module_t*>(module);
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dev->device.common.close = poll__close;
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dev->device.activate = poll__activate;
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dev->device.setDelay = poll__setDelay;
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dev->device.poll = poll__poll;
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/* Batch processing */
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dev->device.batch = poll__batch;
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dev->device.flush = poll__flush;
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*device = &dev->device.common;
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status = 0;
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return status;
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}
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