sensor----HAL分析
sensor----framework（一）的后面，我们跟进到了mSensorDevice->activate
，下面我们就来具体看看这个怎么样链接到HAL,DRIVER里面去的。如何使能一个SENOSR的。
step 1:
\frameworks\native\services\sensorservice\SensorDevice.cpp
SensorDevice::SensorDevice()
: mSensorDevice(0),
mSensorModule(0)
{
/*
从HAL层的SENSOR MODULE中获取mSensorModule
*/
status_t err =hw_get_module(SENSORS_HARDWARE_MODULE_ID,
(hw_module_tconst**)&mSensorModule);
ALOGE_IF(err, "couldn't load %s module (%s)",
SENSORS_HARDWARE_MODULE_ID, strerror(-err));
if (mSensorModule) {
err = sensors_open_1(&mSensorModule->common,&mSensorDevice);
ALOGE_IF(err, "couldn't open device for module %s (%s)",
SENSORS_HARDWARE_MODULE_ID,strerror(-err));
if (mSensorDevice) {
if (mSensorDevice->common.version == SENSORS_DEVICE_API_VERSION_1_1||
mSensorDevice->common.version == SENSORS_DEVICE_API_VERSION_1_2) {
ALOGE(">>>>WARNING <<< Upgrade sensor HAL to version 1_3");
}
sensor_t const* list;
ssize_t count =mSensorModule->get_sensors_list(mSensorModule, &list);
mActivationCount.setCapacity(count);
Info model;
for (size_t i=0 ; i mActivationCount.add(list[i].handle, model); mSensorDevice->activate( reinterpret_cast list[i].handle, 0); } } } } STEP 2： \vendor\mediatek\proprietary\hardware\sensor\sensors.c struct sensors_module_t HAL_MODULE_INFO_SYM= { .common = { .tag = HARDWARE_MODULE_TAG, .version_major = 1, .version_minor = 0, .id = SENSORS_HARDWARE_MODULE_ID, .name = "MTK SENSORS Module", .author = "Mediatek", .methods = &sensors_module_methods, }, .get_sensors_list = sensors__get_sensors_list, }; step 3: hardware\libhardware\include\hardware\ sensors.h static inline int sensors_open_1(conststruct hw_module_t* module, sensors_poll_device_1_t** device) { return module->methods->open(module, SENSORS_HARDWARE_POLL, (structhw_device_t**)device); } /* 这里的module->methods->open当然对于的就是senosr.c中的open了static structhw_module_methods_t sensors_module_methods = { .open = open_sensors }; */ step 4: \vendor\mediatek\proprietary\hardware\sensor\sensors.c static int open_sensors(const structhw_module_t* module, const char* name, struct hw_device_t** device) { ALOGD("%s: name: %s! fwq debug\r\n", __func__, name); return init_nusensors(module, device); } step 5： \vendor\mediatek\proprietary\hardware\sensor\nusensors.cpp int init_nusensors(hw_module_t const*module, hw_device_t** device) { int status = -EINVAL; dev = new sensors_poll_context_t(); /* new 这个sensors_poll_context_t的时候，会初始化各个类型的senosr.还有其对于的FD，后续就是通过这个FD来访问DRIVER的ENABLE的。 sensors_poll_context_t::sensors_poll_context_t() { memset(&device, 0, sizeof(device)); mSensors[hwmsen] = new Hwmsen(); mPollFds[hwmsen].fd = ((Hwmsen*)mSensors[hwmsen])->mdata_fd; mPollFds[hwmsen].events = POLLIN; mPollFds[hwmsen].revents = 0; mSensors[accel] = new AccelerationSensor(); mPollFds[accel].fd =((AccelerationSensor*)mSensors[accel])->mdata_fd; mPollFds[accel].events = POLLIN; mPollFds[accel].revents = 0; mSensors[magnetic] = new MagneticSensor(); mPollFds[magnetic].fd =((MagneticSensor*)mSensors[magnetic])->mdata_fd; mPollFds[magnetic].events = POLLIN; mPollFds[magnetic].revents = 0; mSensors[proximity] = new ProximitySensor(); mPollFds[proximity].fd =((ProximitySensor*)mSensors[proximity])->mdata_fd; mPollFds[proximity].events = POLLIN; mPollFds[proximity].revents = 0; mSensors[light] = new AmbiLightSensor(); mPollFds[light].fd =((AmbiLightSensor*)mSensors[light])->mdata_fd; mPollFds[light].events = POLLIN; mPollFds[light].revents = 0; mSensors[gyro] = new GyroscopeSensor(); mPollFds[gyro].fd =((GyroscopeSensor*)mSensors[gyro])->mdata_fd; mPollFds[gyro].events = POLLIN; mPollFds[gyro].revents = 0; mSensors[pressure] = new PressureSensor(); mPollFds[pressure].fd =((PressureSensor*)mSensors[pressure])->mdata_fd; mPollFds[pressure].events = POLLIN; mPollFds[pressure].revents = 0; mSensors[temperature] = newTempratureSensor(); mPollFds[temperature].fd =((TempratureSensor*)mSensors[temperature])->mdata_fd; mPollFds[temperature].events = POLLIN; mPollFds[temperature].revents = 0; mSensors[humidity] = new HumiditySensor(); mPollFds[humidity].fd =((HumiditySensor*)mSensors[humidity])->mdata_fd; mPollFds[humidity].events = POLLIN; mPollFds[humidity].revents = 0; mSensors[stepcounter] = newStepCounterSensor(); mPollFds[stepcounter].fd =((StepCounterSensor*)mSensors[stepcounter])->mdata_fd; mPollFds[stepcounter].events = POLLIN; mPollFds[stepcounter].revents = 0; mSensors[batchsensor] = new BatchSensor(); mPollFds[batchsensor].fd =((BatchSensor*)mSensors[batchsensor])->mdata_fd; mPollFds[batchsensor].events = POLLIN; mPollFds[batchsensor].revents = 0; mSensors[pedometer] = newPedometerSensor(); mPollFds[pedometer].fd =((PedometerSensor*)mSensors[pedometer])->mdata_fd; mPollFds[pedometer].events = POLLIN; mPollFds[pedometer].revents = 0; mSensors[activity] = newActivitySensor(); mPollFds[activity].fd =((ActivitySensor*)mSensors[activity])->mdata_fd; mPollFds[activity].events = POLLIN; mPollFds[activity].revents = 0; mSensors[in_pocket] = newInPocketSensor(); mPollFds[in_pocket].fd =((InPocketSensor*)mSensors[in_pocket])->mdata_fd; mPollFds[in_pocket].events = POLLIN; mPollFds[in_pocket].revents = 0; mSensors[pick_up] = new PickUpSensor(); mPollFds[pick_up].fd = ((PickUpSensor*)mSensors[pick_up])->mdata_fd; mPollFds[pick_up].events = POLLIN; mPollFds[pick_up].revents = 0; mSensors[face_down] = newFaceDownSensor(); mPollFds[face_down].fd =((FaceDownSensor*)mSensors[face_down])->mdata_fd; mPollFds[face_down].events = POLLIN; mPollFds[face_down].revents = 0; mSensors[shake] = new ShakeSensor(); mPollFds[shake].fd =((ShakeSensor*)mSensors[shake])->mdata_fd; mPollFds[shake].events = POLLIN; mPollFds[shake].revents = 0; mSensors[heartrate] = newHeartRateSensor(); mPollFds[heartrate].fd =((HeartRateSensor*)mSensors[heartrate])->mdata_fd; mPollFds[heartrate].events = POLLIN; mPollFds[heartrate].revents = 0; mSensors[tilt] = new TiltSensor(); mPollFds[tilt].fd =((TiltSensor*)mSensors[tilt])->mdata_fd; mPollFds[tilt].events = POLLIN; mPollFds[tilt].revents = 0; mSensors[wake_gesture] = newWakeGestureSensor(); mPollFds[wake_gesture].fd =((WakeGestureSensor*)mSensors[wake_gesture])->mdata_fd; mPollFds[wake_gesture].events = POLLIN; mPollFds[wake_gesture].revents = 0; mSensors[glance_gesture] = newGlanceGestureSensor(); mPollFds[glance_gesture].fd =((GlanceGestureSensor*)mSensors[glance_gesture])->mdata_fd; mPollFds[glance_gesture].events = POLLIN; mPollFds[glance_gesture].revents = 0; mSensors[linear_acceleration] = newLinearaccelSensor(); mPollFds[linear_acceleration].fd =((LinearaccelSensor*)mSensors[linear_acceleration])->mdata_fd; mPollFds[linear_acceleration].events =POLLIN; mPollFds[linear_acceleration].revents = 0; mSensors[rotation_vector] = newRotationVectorSensor(); mPollFds[rotation_vector].fd =((RotationVectorSensor*)mSensors[rotation_vector])->mdata_fd; mPollFds[rotation_vector].events = POLLIN; mPollFds[rotation_vector].revents = 0; mSensors[game_rotation_vector] = newGameRotationVectorSensor(); mPollFds[game_rotation_vector].fd =((GameRotationVectorSensor*)mSensors[game_rotation_vector])->mdata_fd; mPollFds[game_rotation_vector].events =POLLIN; mPollFds[game_rotation_vector].revents = 0; mSensors[gravity] = new GravitySensor(); mPollFds[gravity].fd =((GravitySensor*)mSensors[gravity])->mdata_fd; mPollFds[gravity].events = POLLIN; mPollFds[gravity].revents = 0; mSensors[geomagnetic_rotation_vector] = newGeomagneticRotationVectorSensor(); mPollFds[geomagnetic_rotation_vector].fd =((GeomagneticRotationVectorSensor*)mSensors[geomagnetic_rotation_vector])->mdata_fd; mPollFds[geomagnetic_rotation_vector].events = POLLIN; mPollFds[geomagnetic_rotation_vector].revents = 0; mSensors[bringtosee] = newBringtoseeSensor(); mPollFds[bringtosee].fd =((BringtoseeSensor*)mSensors[bringtosee])->mdata_fd; mPollFds[bringtosee].events = POLLIN; mPollFds[bringtosee].revents = 0; int wakeFds[2]; int result = pipe(wakeFds); if (result < 0) { ALOGE_IF(result < 0, "errorcreating wake pipe (%s)", strerror(errno)); mWritePipeFd = -1; } else { result = fcntl(wakeFds[0], F_SETFL,O_NONBLOCK); ALOGE_IF(result < 0,"fcntl(wakeFds[0] fail (%s)", strerror(errno)); result = fcntl(wakeFds[1], F_SETFL,O_NONBLOCK); ALOGE_IF(result < 0,"fcntl(wakeFds[1] fail (%s)", strerror(errno)); mWritePipeFd = wakeFds[1]; } mPollFds[wake].fd = wakeFds[0]; mPollFds[wake].events = POLLIN; mPollFds[wake].revents = 0; } */ memset(&dev->device, 0, sizeof(sensors_poll_device_1)); dev->device.common.tag = HARDWARE_DEVICE_TAG; #if defined(SENSOR_BATCH_SUPPORT) ||defined(CUSTOM_KERNEL_SENSORHUB) dev->device.common.version =SENSORS_DEVICE_API_VERSION_1_1; #else dev->device.common.version = SENSORS_DEVICE_API_VERSION_1_0; #endif dev->device.common.module =const_cast dev->device.common.close =poll__close; /* mSensorDevice->activate对应的就是这个poll__activate */ dev->device.activate =poll__activate; dev->device.setDelay =poll__setDelay; dev->device.poll =poll__poll; dev->device.batch =poll__batch; dev->device.flush =poll__flush; *device = &dev->device.common; status = 0; return status; } step 6: \vendor\mediatek\proprietary\hardware\sensor\nusensors.cpp static int poll__activate(structsensors_poll_device_t *dev, int handle, int enabled) { sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev; return ctx->activate(handle-ID_OFFSET,enabled); } step 7: \vendor\mediatek\proprietary\hardware\sensor\nusensors.cpp int sensors_poll_context_t::activate(inthandle, int enabled) { ALOGD( "activate handle =%d, enable = %d",handle, enabled ); int err=0; int index = handleToDriver(handle); /* 这里只是做一个映射： int handleToDriver(int handle) const { ALOGE("handleToDriverhandle(%d)\n",handle); switch (handle) { case ID_ACCELEROMETER: return accel; case ID_MAGNETIC: case ID_ORIENTATION: return magnetic; case ID_PROXIMITY: return proximity; case ID_LIGHT: return light; case ID_GYROSCOPE: return gyro; case ID_PRESSURE: return pressure; case ID_TEMPRERATURE: return temperature; case ID_HUMIDITY: return humidity; case ID_STEP_COUNTER: case ID_STEP_DETECTOR: case ID_SIGNIFICANT_MOTION: return stepcounter; case ID_PEDOMETER: return pedometer; case ID_IN_POCKET: return in_pocket; case ID_ACTIVITY: return activity; case ID_PICK_UP_GESTURE: return pick_up; case ID_FACE_DOWN: return face_down; case ID_SHAKE: return shake; case ID_HEART_RATE: return heartrate; case ID_TILT_DETECTOR: return tilt; case ID_WAKE_GESTURE: return wake_gesture; case ID_GLANCE_GESTURE: return glance_gesture; case ID_LINEAR_ACCELERATION: return linear_acceleration; case ID_ROTATION_VECTOR: return rotation_vector; case ID_GAME_ROTATION_VECTOR: return game_rotation_vector; case ID_GRAVITY: return gravity; caseID_GEOMAGNETIC_ROTATION_VECTOR: returngeomagnetic_rotation_vector; case ID_BRINGTOSEE: return bringtosee; default: break; //return pressure; } return -EINVAL; } */ // if(ID_ORIENTATION == handle) { //ALOGD( "fwq1111" ); ((AccelerationSensor*)(mSensors[accel]))->enableNoHALDataAcc(enabled); ((Hwmsen*)(mSensors[hwmsen]))->enableNoHALDataAcc(enabled); } if( (index >= numSensorDrivers) || (index < 0) ) { ALOGD("activate error index=%d\n", index); return 0; } if(NULL != mSensors[index]) { ALOGD( "use new sensor index=%d, mSensors[index](%x)", index,mSensors[index]); if(this->device.common.version >= SENSORS_DEVICE_API_VERSION_1_1) { ALOGD("support batch active\n" ); mSensors[batchsensor]->enable(handle,enabled); } /* 重点是下面的函数，我们已MSENSOR为例往下面看看他的enable. case ID_MAGNETIC: case ID_ORIENTATION: return magnetic; */ err= mSensors[index]->enable(handle,enabled); } if(err || index<0 ) { ALOGD("use old sensor err(%d),index(%d) go to oldhwmsen\n",err,index); // notify to hwmsen sensor to support old architecture err = mSensors[hwmsen]->enable(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; } step 8: \vendor\mediatek\proprietary\hardware\sensor\Magnetic.cpp int MagneticSensor::enable(int32_t handle,int en) { int fd=-1; int flags = en ? 1 : 0; int err=0; char buf[2]={0}; int index=0; ALOGD("fwq enable: handle:%d, en:%d \r\n",handle,en); if(ID_ORIENTATION == handle) { strcpy(&input_sysfs_path[input_sysfs_path_len],"magoactive"); index = Orientation; } if(ID_MAGNETIC== handle) { /* input_sysfs_path在MagneticSensor的构造函数中定义，被赋值：/sys/class/misc/m_mag_misc/ ，然后在strcpy magactive就得到了节点的完整路径。 MagneticSensor::MagneticSensor() : SensorBase(NULL,"m_mag_input"),//ACC_INPUTDEV_NAME mEnabled(0), mOrientationEnabled(0), mInputReader(32), mPendingMask(0) { input_sysfs_path_len = 0; memset(input_sysfs_path, 0, PATH_MAX); mPendingEvent[0].version =sizeof(sensors_event_t); mPendingEvent[0].sensor = ID_MAGNETIC; mPendingEvent[0].type =SENSOR_TYPE_MAGNETIC_FIELD; mPendingEvent[0].magnetic.status =SENSOR_STATUS_ACCURACY_HIGH; memset(mPendingEvent[0].data, 0x00,sizeof(mPendingEvent[0].data)); mPendingEvent[1].version =sizeof(sensors_event_t); mPendingEvent[1].sensor = ID_ORIENTATION; mPendingEvent[1].type =SENSOR_TYPE_ORIENTATION; mPendingEvent[1].magnetic.status =SENSOR_STATUS_ACCURACY_HIGH; memset(mPendingEvent[1].data, 0x00,sizeof(mPendingEvent[1].data)); mDataDiv_M = 1; mDataDiv_O = 1; mEnabledTime = 0; mMagSensorDebug = NULL; chardatapath1[64]={"/sys/class/misc/m_mag_misc/magactive"}; int fd_m = -1; charbuf_m[64]={0}; int len_m; mdata_fd = FindDataFd(); if (mdata_fd >= 0) { strcpy(input_sysfs_path,"/sys/class/misc/m_mag_misc/"); input_sysfs_path_len =strlen(input_sysfs_path); } else { ALOGE("couldn't find input device"); return; } ALOGD("mag misc path =%s",input_sysfs_path); fd_m = open(datapath1, O_RDWR); if (fd_m >= 0) { len_m =read(fd_m,buf_m,sizeof(buf_m)-1); if (len_m <= 0) { ALOGD("read div err, len_m =%d", len_m); } else { buf_m[len_m] = '\0'; sscanf(buf_m, "%d",&mDataDiv_M); ALOGD("read div buf(%s),mdiv_M %d",datapath1,mDataDiv_M); } close(fd_m); } else { ALOGE("open mag misc path %s fail", datapath1); } chardatapath2[64]={"/sys/class/misc/m_mag_misc/magoactive"}; int fd_o = open(datapath2, O_RDWR); char buf_o[64]={0}; int len_o=0; if (fd_o >= 0) { len_o =read(fd_o,buf_o,sizeof(buf_o)-1); if (len_o <= 0) { ALOGD("read div err, len_o =%d", len_o); } else { buf_o[len_o] = '\0'; sscanf(buf_o, "%d",&mDataDiv_O); ALOGD("read div buf(%s),mdiv_O %d",datapath2,mDataDiv_O); } close(fd_o); } else { ALOGE("open mag_o misc path %s fail", datapath2); } //{@input value 2 stands for MagneticFieldsensor,please refer to nusensor.cpp //enmu in sensors_poll_context_t to seeother sensors,this is for sensor debug log //mMagSensorDebug = newSensorDebugObject((SensorBase*)this, 2); //@} } */ strcpy(&input_sysfs_path[input_sysfs_path_len],"magactive"); index = MagneticField; } ALOGD("handle(%d),path:%s \r\n",handle,input_sysfs_path); fd = open(input_sysfs_path, O_RDWR); if(fd<0) { ALOGD("no magntic enable attr \r\n"); return -1; } if(0== en ) { mEnabled &= ~(1< buf[1] = 0; buf[0] = '0'; } if(1== en) { mEnabled |= (1< buf[1] = 0; buf[0] = '1'; } /* 向/sys/class/misc/m_mag_misc/magactive写值，就像我们用ADB的时候，ECHO一个值到节点是一样的。而这个节点是我们在kernel里面所创建的。 */ write(fd, buf,sizeof(buf)); close(fd); ALOGD("mag(%d) mEnabled(0x%x) ----\r\n",handle,mEnabled); return 0; } step 9: /* 进入到KERNEL里面了，后面的另外有过介绍了。 DEVICE_ATTR(magactive, S_IWUSR | S_IRUGO, mag_show_active,mag_store_active); */ kernel-3.18\drivers\misc\mediatek\magnetometer\mag.c static ssize_t mag_store_active(structdevice *dev, struct device_attribute *attr, const char *buf, size_t count) { structmag_context *cxt = NULL; MAG_LOG("mag_store_activebuf=%s\n", buf); mutex_lock(&mag_context_obj->mag_op_mutex); cxt= mag_context_obj; if(NULL == cxt->mag_ctl.m_enable) { mutex_unlock(&mag_context_obj->mag_op_mutex); MAG_LOG("mag_ctlpath is NULL\n"); returncount; } if (!strncmp(buf, "1", 1)) mag_enable_data(ID_M_V_MAGNETIC, 1); else if (!strncmp(buf, "0", 1)) mag_enable_data(ID_M_V_MAGNETIC, 0); else MAG_ERR("mag_store_active error !!\n"); mutex_unlock(&mag_context_obj->mag_op_mutex); MAG_LOG("mag_store_active done\n"); returncount; }