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586 lines
18 KiB
586 lines
18 KiB
/*
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* Copyright (C) 2014 The Android Open Source Project
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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 LOG_NDEBUG 0
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#include <fcntl.h>
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#include <errno.h>
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#include <math.h>
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#include <unistd.h>
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#include <dirent.h>
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#include <sys/select.h>
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#include <cutils/log.h>
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#include <linux/input.h>
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#include <string.h>
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#include "CompassSensor.IIO.primary.h"
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#include "sensors.h"
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#include "MPLSupport.h"
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#include "sensor_params.h"
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#include "ml_sysfs_helper.h"
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#define COMPASS_MAX_SYSFS_ATTRB sizeof(compassSysFs) / sizeof(char*)
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#define COMPASS_NAME "USE_SYSFS"
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#if defined COMPASS_AK8975
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#pragma message("HAL:build Invensense compass cal with AK8975 on primary bus")
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#define USE_MPL_COMPASS_HAL (1)
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#define COMPASS_NAME "INV_AK8975"
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#endif
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/******************************************************************************/
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CompassSensor::CompassSensor()
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: SensorBase(COMPASS_NAME, NULL),
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mCompassTimestamp(0),
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mCompassInputReader(8),
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mCoilsResetFd(0)
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{
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FILE *fptr;
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VFUNC_LOG;
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mYasCompass = false;
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if(!strcmp(dev_name, "USE_SYSFS")) {
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char sensor_name[20];
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find_name_by_sensor_type("in_magn_x_raw", "iio:device", sensor_name);
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strncpy(dev_full_name, sensor_name,
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sizeof(dev_full_name) / sizeof(dev_full_name[0]));
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if(!strncmp(dev_full_name, "yas", 3)) {
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mYasCompass = true;
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}
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} else {
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#ifdef COMPASS_YAS53x
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/* for YAS53x compasses, dev_name is just a prefix,
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we need to find the actual name */
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if (fill_dev_full_name_by_prefix(dev_name,
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dev_full_name, sizeof(dev_full_name) / sizeof(dev_full_name[0]))) {
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LOGE("Cannot find Yamaha device with prefix name '%s' - "
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"magnetometer will likely not work.", dev_name);
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} else {
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mYasCompass = true;
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}
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#else
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strncpy(dev_full_name, dev_name,
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sizeof(dev_full_name) / sizeof(dev_full_name[0]));
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#endif
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}
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if (inv_init_sysfs_attributes()) {
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LOGE("Error Instantiating Compass\n");
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return;
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}
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if (!strcmp(dev_full_name, "INV_COMPASS")) {
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mI2CBus = COMPASS_BUS_SECONDARY;
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} else {
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mI2CBus = COMPASS_BUS_PRIMARY;
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}
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memset(mCachedCompassData, 0, sizeof(mCachedCompassData));
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if (!isIntegrated()) {
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enable(ID_M, 0);
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}
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LOGV_IF(SYSFS_VERBOSE, "HAL:compass name: %s", dev_full_name);
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enable_iio_sysfs();
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LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:cat %s (%lld)",
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compassSysFs.compass_orient, getTimestamp());
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fptr = fopen(compassSysFs.compass_orient, "r");
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if (fptr != NULL) {
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int om[9];
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if (fscanf(fptr, "%d,%d,%d,%d,%d,%d,%d,%d,%d",
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&om[0], &om[1], &om[2], &om[3], &om[4], &om[5],
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&om[6], &om[7], &om[8]) < 0 || fclose(fptr)) {
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LOGE("HAL:could not read compass mounting matrix");
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} else {
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LOGV_IF(EXTRA_VERBOSE,
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"HAL:compass mounting matrix: "
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"%+d %+d %+d %+d %+d %+d %+d %+d %+d",
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om[0], om[1], om[2], om[3], om[4], om[5], om[6], om[7], om[8]);
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mCompassOrientation[0] = om[0];
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mCompassOrientation[1] = om[1];
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mCompassOrientation[2] = om[2];
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mCompassOrientation[3] = om[3];
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mCompassOrientation[4] = om[4];
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mCompassOrientation[5] = om[5];
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mCompassOrientation[6] = om[6];
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mCompassOrientation[7] = om[7];
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mCompassOrientation[8] = om[8];
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}
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}
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if(mYasCompass) {
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mCoilsResetFd = fopen(compassSysFs.compass_attr_1, "r+");
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if (fptr == NULL) {
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LOGE("HAL:Could not open compass overunderflow");
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}
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}
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}
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void CompassSensor::enable_iio_sysfs()
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{
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VFUNC_LOG;
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int tempFd = 0;
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char iio_device_node[MAX_CHIP_ID_LEN];
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FILE *tempFp = NULL;
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const char* compass = dev_full_name;
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LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
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1, compassSysFs.in_timestamp_en, getTimestamp());
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write_sysfs_int(compassSysFs.in_timestamp_en, 1);
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LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
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IIO_BUFFER_LENGTH, compassSysFs.buffer_length, getTimestamp());
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tempFp = fopen(compassSysFs.buffer_length, "w");
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if (tempFp == NULL) {
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LOGE("HAL:could not open buffer length");
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} else {
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if (fprintf(tempFp, "%d", IIO_BUFFER_LENGTH) < 0 || fclose(tempFp) < 0) {
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LOGE("HAL:could not write buffer length");
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}
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}
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sprintf(iio_device_node, "%s%d", "/dev/iio:device",
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find_type_by_name(compass, "iio:device"));
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compass_fd = open(iio_device_node, O_RDONLY);
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int res = errno;
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if (compass_fd < 0) {
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LOGE("HAL:could not open '%s' iio device node in path '%s' - "
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"error '%s' (%d)",
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compass, iio_device_node, strerror(res), res);
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} else {
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LOGV_IF(EXTRA_VERBOSE,
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"HAL:iio %s, compass_fd opened : %d", compass, compass_fd);
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}
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/* TODO: need further tests for optimization to reduce context-switch
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LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo 1 > %s (%lld)",
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compassSysFs.compass_x_fifo_enable, getTimestamp());
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tempFd = open(compassSysFs.compass_x_fifo_enable, O_RDWR);
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res = errno;
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if (tempFd > 0) {
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res = enable_sysfs_sensor(tempFd, 1);
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} else {
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LOGE("HAL:open of %s failed with '%s' (%d)",
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compassSysFs.compass_x_fifo_enable, strerror(res), res);
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}
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LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo 1 > %s (%lld)",
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compassSysFs.compass_y_fifo_enable, getTimestamp());
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tempFd = open(compassSysFs.compass_y_fifo_enable, O_RDWR);
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res = errno;
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if (tempFd > 0) {
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res = enable_sysfs_sensor(tempFd, 1);
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} else {
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LOGE("HAL:open of %s failed with '%s' (%d)",
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compassSysFs.compass_y_fifo_enable, strerror(res), res);
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}
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LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo 1 > %s (%lld)",
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compassSysFs.compass_z_fifo_enable, getTimestamp());
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tempFd = open(compassSysFs.compass_z_fifo_enable, O_RDWR);
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res = errno;
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if (tempFd > 0) {
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res = enable_sysfs_sensor(tempFd, 1);
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} else {
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LOGE("HAL:open of %s failed with '%s' (%d)",
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compassSysFs.compass_z_fifo_enable, strerror(res), res);
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}
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*/
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}
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CompassSensor::~CompassSensor()
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{
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VFUNC_LOG;
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free(pathP);
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if( compass_fd > 0)
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close(compass_fd);
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if(mYasCompass) {
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if( mCoilsResetFd != NULL )
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fclose(mCoilsResetFd);
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}
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}
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int CompassSensor::getFd(void) const
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{
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VHANDLER_LOG;
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LOGI_IF(0, "HAL:compass_fd=%d", compass_fd);
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return compass_fd;
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}
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/**
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* @brief This function will enable/disable sensor.
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* @param[in] handle
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* which sensor to enable/disable.
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* @param[in] en
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* en=1, enable;
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* en=0, disable
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* @return if the operation is successful.
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*/
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int CompassSensor::enable(int32_t handle, int en)
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{
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VFUNC_LOG;
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mEnable = en;
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int tempFd;
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int res = 0;
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/* reset master enable */
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res = masterEnable(0);
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if (res < 0) {
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return res;
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}
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if (en) {
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LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
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en, compassSysFs.compass_x_fifo_enable, getTimestamp());
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res = write_sysfs_int(compassSysFs.compass_x_fifo_enable, en);
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LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
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en, compassSysFs.compass_y_fifo_enable, getTimestamp());
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res += write_sysfs_int(compassSysFs.compass_y_fifo_enable, en);
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LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
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en, compassSysFs.compass_z_fifo_enable, getTimestamp());
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res += write_sysfs_int(compassSysFs.compass_z_fifo_enable, en);
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res = masterEnable(en);
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if (res < en) {
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return res;
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}
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}
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return res;
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}
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int CompassSensor::masterEnable(int en)
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{
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VFUNC_LOG;
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LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
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en, compassSysFs.chip_enable, getTimestamp());
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return write_sysfs_int(compassSysFs.chip_enable, en);
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}
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int CompassSensor::setDelay(int32_t handle, int64_t ns)
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{
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VFUNC_LOG;
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int tempFd;
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int res;
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mDelay = ns;
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if (ns == 0)
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return -1;
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tempFd = open(compassSysFs.compass_rate, O_RDWR);
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LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %.0f > %s (%lld)",
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1000000000.f / ns, compassSysFs.compass_rate, getTimestamp());
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res = write_attribute_sensor(tempFd, 1000000000.f / ns);
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if(res < 0) {
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LOGE("HAL:Compass update delay error");
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}
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return res;
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}
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/**
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@brief This function will return the state of the sensor.
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@return 1=enabled; 0=disabled
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**/
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int CompassSensor::getEnable(int32_t handle)
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{
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VFUNC_LOG;
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return mEnable;
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}
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/* use for Invensense compass calibration */
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#define COMPASS_EVENT_DEBUG (0)
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void CompassSensor::processCompassEvent(const input_event *event)
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{
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VHANDLER_LOG;
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switch (event->code) {
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case EVENT_TYPE_ICOMPASS_X:
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LOGV_IF(COMPASS_EVENT_DEBUG, "EVENT_TYPE_ICOMPASS_X\n");
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mCachedCompassData[0] = event->value;
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break;
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case EVENT_TYPE_ICOMPASS_Y:
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LOGV_IF(COMPASS_EVENT_DEBUG, "EVENT_TYPE_ICOMPASS_Y\n");
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mCachedCompassData[1] = event->value;
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break;
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case EVENT_TYPE_ICOMPASS_Z:
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LOGV_IF(COMPASS_EVENT_DEBUG, "EVENT_TYPE_ICOMPASS_Z\n");
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mCachedCompassData[2] = event->value;
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break;
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}
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mCompassTimestamp =
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(int64_t)event->time.tv_sec * 1000000000L + event->time.tv_usec * 1000L;
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}
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void CompassSensor::getOrientationMatrix(signed char *orient)
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{
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VFUNC_LOG;
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memcpy(orient, mCompassOrientation, sizeof(mCompassOrientation));
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}
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long CompassSensor::getSensitivity()
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{
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VFUNC_LOG;
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long sensitivity;
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LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:cat %s (%lld)",
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compassSysFs.compass_scale, getTimestamp());
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inv_read_data(compassSysFs.compass_scale, &sensitivity);
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return sensitivity;
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}
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/**
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@brief This function is called by sensors_mpl.cpp
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to read sensor data from the driver.
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@param[out] data sensor data is stored in this variable. Scaled such that
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1 uT = 2^16
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@para[in] timestamp data's timestamp
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@return 1, if 1 sample read, 0, if not, negative if error
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*/
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int CompassSensor::readSample(long *data, int64_t *timestamp) {
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VFUNC_LOG;
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int i;
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char *rdata = mIIOBuffer;
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size_t rsize = read(compass_fd, rdata, (8 * mEnable + 8) * 1);
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if (!mEnable) {
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rsize = read(compass_fd, rdata, (8 + 8) * IIO_BUFFER_LENGTH);
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// LOGI("clear buffer with size: %d", rsize);
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}
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/*
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LOGI("get one sample of AMI IIO data with size: %d", rsize);
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LOGI_IF(mEnable, "compass x/y/z: %d/%d/%d", *((short *) (rdata + 0)),
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*((short *) (rdata + 2)), *((short *) (rdata + 4)));
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*/
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if (mEnable) {
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for (i = 0; i < 3; i++) {
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data[i] = *((short *) (rdata + i * 2));
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}
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*timestamp = *((long long *) (rdata + 8 * mEnable));
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}
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return mEnable;
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}
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/**
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* @brief This function will return the current delay for this sensor.
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* @return delay in nanoseconds.
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*/
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int64_t CompassSensor::getDelay(int32_t handle)
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{
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VFUNC_LOG;
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return mDelay;
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}
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void CompassSensor::fillList(struct sensor_t *list)
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{
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VFUNC_LOG;
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const char *compass = dev_full_name;
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if (compass) {
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if(!strcmp(compass, "INV_COMPASS")) {
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list->maxRange = COMPASS_MPU9150_RANGE;
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list->resolution = COMPASS_MPU9150_RESOLUTION;
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list->power = COMPASS_MPU9150_POWER;
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list->minDelay = COMPASS_MPU9150_MINDELAY;
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mMinDelay = list->minDelay;
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return;
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}
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if(!strcmp(compass, "compass")
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|| !strcmp(compass, "INV_AK8975")
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|| !strcmp(compass, "AKM8975")
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|| !strcmp(compass, "akm8975")) {
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list->maxRange = COMPASS_AKM8975_RANGE;
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list->resolution = COMPASS_AKM8975_RESOLUTION;
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list->power = COMPASS_AKM8975_POWER;
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list->minDelay = COMPASS_AKM8975_MINDELAY;
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mMinDelay = list->minDelay;
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return;
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}
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if(!strcmp(compass, "compass")
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|| !strcmp(compass, "INV_AK8963")
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|| !strcmp(compass, "AKM8963")
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|| !strcmp(compass, "akm8963")) {
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list->maxRange = COMPASS_AKM8963_RANGE;
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list->resolution = COMPASS_AKM8963_RESOLUTION;
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list->power = COMPASS_AKM8963_POWER;
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list->minDelay = COMPASS_AKM8963_MINDELAY;
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mMinDelay = list->minDelay;
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return;
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}
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if(!strcmp(compass, "compass")
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|| !strcmp(compass, "INV_AK09911")
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|| !strcmp(compass, "AK09911")
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|| !strcmp(compass, "ak09911")) {
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list->maxRange = COMPASS_AKM9911_RANGE;
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list->resolution = COMPASS_AKM9911_RESOLUTION;
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list->power = COMPASS_AKM9911_POWER;
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list->minDelay = COMPASS_AKM9911_MINDELAY;
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mMinDelay = list->minDelay;
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return;
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}
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if(!strcmp(compass, "compass")
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|| !strcmp(compass, "INV_AK09912")
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|| !strcmp(compass, "AK09912")
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|| !strcmp(compass, "ak09912")) {
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list->maxRange = COMPASS_AKM9912_RANGE;
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list->resolution = COMPASS_AKM9912_RESOLUTION;
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list->power = COMPASS_AKM9912_POWER;
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list->minDelay = COMPASS_AKM9912_MINDELAY;
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mMinDelay = list->minDelay;
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return;
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}
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if(!strcmp(compass, "ami306")) {
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list->maxRange = COMPASS_AMI306_RANGE;
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list->resolution = COMPASS_AMI306_RESOLUTION;
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list->power = COMPASS_AMI306_POWER;
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list->minDelay = COMPASS_AMI306_MINDELAY;
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mMinDelay = list->minDelay;
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return;
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}
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if(!strcmp(compass, "yas530")
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|| !strcmp(compass, "yas532")
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|| !strcmp(compass, "yas533")) {
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list->maxRange = COMPASS_YAS53x_RANGE;
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list->resolution = COMPASS_YAS53x_RESOLUTION;
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list->power = COMPASS_YAS53x_POWER;
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list->minDelay = COMPASS_YAS53x_MINDELAY;
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mMinDelay = list->minDelay;
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return;
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}
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}
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|
|
LOGE("HAL:unknown compass id %s -- "
|
|
"params default to ak8975 and might be wrong.",
|
|
compass);
|
|
list->maxRange = COMPASS_AKM8975_RANGE;
|
|
list->resolution = COMPASS_AKM8975_RESOLUTION;
|
|
list->power = COMPASS_AKM8975_POWER;
|
|
list->minDelay = COMPASS_AKM8975_MINDELAY;
|
|
mMinDelay = list->minDelay;
|
|
}
|
|
|
|
/* Read sysfs entry to determine whether overflow had happend
|
|
then write to sysfs to reset to zero */
|
|
int CompassSensor::checkCoilsReset()
|
|
{
|
|
int result=-1;
|
|
VFUNC_LOG;
|
|
|
|
if(mCoilsResetFd != NULL) {
|
|
int attr;
|
|
rewind(mCoilsResetFd);
|
|
fscanf(mCoilsResetFd, "%d", &attr);
|
|
if(attr == 0)
|
|
return 0;
|
|
else {
|
|
LOGV_IF(SYSFS_VERBOSE, "HAL:overflow detected");
|
|
rewind(mCoilsResetFd);
|
|
if(fprintf(mCoilsResetFd, "%d", 0) < 0)
|
|
LOGE("HAL:could not write overunderflow");
|
|
else
|
|
return 1;
|
|
}
|
|
} else {
|
|
LOGE("HAL:could not read overunderflow");
|
|
}
|
|
return result;
|
|
}
|
|
|
|
int CompassSensor::inv_init_sysfs_attributes(void)
|
|
{
|
|
VFUNC_LOG;
|
|
|
|
unsigned char i = 0;
|
|
char sysfs_path[MAX_SYSFS_NAME_LEN], tbuf[2];
|
|
char *sptr;
|
|
char **dptr;
|
|
int num;
|
|
const char* compass = dev_full_name;
|
|
|
|
pathP = (char*)malloc(
|
|
sizeof(char[COMPASS_MAX_SYSFS_ATTRB][MAX_SYSFS_NAME_LEN]));
|
|
sptr = pathP;
|
|
dptr = (char**)&compassSysFs;
|
|
if (sptr == NULL)
|
|
return -1;
|
|
|
|
do {
|
|
*dptr++ = sptr;
|
|
sptr += sizeof(char[MAX_SYSFS_NAME_LEN]);
|
|
} while (++i < COMPASS_MAX_SYSFS_ATTRB);
|
|
|
|
// get proper (in absolute/relative) IIO path & build sysfs paths
|
|
sprintf(sysfs_path, "%s%d", "/sys/bus/iio/devices/iio:device",
|
|
find_type_by_name(compass, "iio:device"));
|
|
|
|
#if defined COMPASS_AK8975
|
|
inv_get_input_number(compass, &num);
|
|
tbuf[0] = num + 0x30;
|
|
tbuf[1] = 0;
|
|
sprintf(sysfs_path, "%s%s", "sys/class/input/input", tbuf);
|
|
strcat(sysfs_path, "/ak8975");
|
|
|
|
sprintf(compassSysFs.compass_enable, "%s%s", sysfs_path, "/enable");
|
|
sprintf(compassSysFs.compass_rate, "%s%s", sysfs_path, "/rate");
|
|
sprintf(compassSysFs.compass_scale, "%s%s", sysfs_path, "/scale");
|
|
sprintf(compassSysFs.compass_orient, "%s%s", sysfs_path, "/compass_matrix");
|
|
#else /* IIO */
|
|
sprintf(compassSysFs.chip_enable, "%s%s", sysfs_path, "/buffer/enable");
|
|
sprintf(compassSysFs.in_timestamp_en, "%s%s", sysfs_path, "/scan_elements/in_timestamp_en");
|
|
sprintf(compassSysFs.buffer_length, "%s%s", sysfs_path, "/buffer/length");
|
|
|
|
sprintf(compassSysFs.compass_x_fifo_enable, "%s%s", sysfs_path, "/scan_elements/in_magn_x_en");
|
|
sprintf(compassSysFs.compass_y_fifo_enable, "%s%s", sysfs_path, "/scan_elements/in_magn_y_en");
|
|
sprintf(compassSysFs.compass_z_fifo_enable, "%s%s", sysfs_path, "/scan_elements/in_magn_z_en");
|
|
sprintf(compassSysFs.compass_rate, "%s%s", sysfs_path, "/sampling_frequency");
|
|
sprintf(compassSysFs.compass_scale, "%s%s", sysfs_path, "/in_magn_scale");
|
|
sprintf(compassSysFs.compass_orient, "%s%s", sysfs_path, "/compass_matrix");
|
|
|
|
if(mYasCompass) {
|
|
sprintf(compassSysFs.compass_attr_1, "%s%s", sysfs_path, "/overunderflow");
|
|
}
|
|
#endif
|
|
|
|
#if 0
|
|
// test print sysfs paths
|
|
dptr = (char**)&compassSysFs;
|
|
LOGI("sysfs path base: %s", sysfs_path);
|
|
for (i = 0; i < COMPASS_MAX_SYSFS_ATTRB; i++) {
|
|
LOGE("HAL:sysfs path: %s", *dptr++);
|
|
}
|
|
#endif
|
|
return 0;
|
|
}
|
|
|
|
int CompassSensor::isYasCompass(void)
|
|
{
|
|
return mYasCompass;
|
|
}
|