Android IIO sensors HAL
http://github.com/01org/android-iio-sensors-hal
Daniel BALUTA <daniel.baluta@intel.com>
Android sensor stack
https://source.android.com/devices/sensors/sensor-stack.html
IIO architecture overview
IIO interface overview
sysfs path
buffer handling
/dev/iio:device0
/sys/bus/iio/devices/iio:device0/scan_elements
trigger setup
/sys/bus/iio/devices/iio:device0
/sys/bus/iio/triggers/trigger0
events handling
/sys/bus/iio/devices/iio:device0/events/
/dev/iio:device0
ioctl IIO_GET_EVENT_FD_IOCTL
Standard HAL structure
interface defined in hardware/libhardware/include/hardware/hardware.h
built into modules (.so) files
dynamically loaded by Android
module (hw_module_t)
module version, author and name
hw_module_methods_t
open(), initiates communication with hardware
device (hw_device_t)
abstracts the actual hardware
close()
module struct must be named HAL_MODULE_INFO_SYM
Sensors HAL interface
declared in hardware/libhardware/include/hardware/sensors.h
interface must be thread safe
main data types
sensors_module_t
sensors_poll_device_t
sensor_t
sensor_event_t
main functions
get_sensors_list()
activate()
setDelay()
poll()
batch()
Intel Android sensors HAL
https://01.org/android-iio-sensors-hal
small, simple, quick sensor enabling on new hardware
dynamically discovers available sensors by parsing /sysfs files
can be used as a standalone library on Linux
8K lines of code
uses Industrial I/O interface for sensors
open source
used on IRDA for Baytrail and Sofia
simple sens tool for loading and interacting with HAL
supported sensors
accel, gyro, magnetometer
ambient light, proximity, temperature
step detector, step counter
Intel Android sensors HAL overview
IIO sensors HAL - entry point
/* entry.c: This is the IIO Sensors HAL module entry point file */
static struct hw_module_methods_t module_methods = {
.open = initialize_module
};
/* Externally visible module descriptor */
struct sensors_module_t __attribute__ ((visibility ("default")))
HAL_MODULE_INFO_SYM = {
.common = {
.tag = HARDWARE_MODULE_TAG,
.version_major = 1,
.version_minor = 3,
.id = SENSORS_HARDWARE_MODULE_ID,
.name = "IIO sensors HAL",
.author = "Intel",
.methods = &module_methods,
},
.get_sensors_list = get_sensors_list
};
IIO sensors HAL - initialize_module()
struct sensor_poll_device
hw_device_t
activate()
setDelay()
poll()
batch()
allocate_control_data()
create poll_fd, flush_event_fd and resets device and events fd
enumerate_sensors()
discover supported sensors and save them into an array of sensor_t items
we can have up to MAX_SENSORS (at this moment 12)
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Discover available sensors
match against a catalog of supported sensors
assumptions
/dev/iio:deviceX, X = 0..MAX_DEVICES
multiple sensors can rely on a single IIO device
cannot have multiple sensors of the same type on the same IIO device
discovery done by iterating over /sys/bus/iio/devices
setup trigger names
default: <device_name>-dev<X> (e.g: kxcjk1013-dev0)
discover how does the data looks like in the buffer
/sys/bus/iio/devices/iio:device0/scan_elements
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sensor_info_t
device name
trigger name
drdy trigger
any motion trigger
hrtimer trigger
device index
array with channel_info
internal (accel_3d)
friendly (accelerometer)
offset, scale
path (raw, input)
mode
poll
trigger buffer
event
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IIO sensors HAL data flow
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IIO sensors HAL - activate()
int activate(sensors_poll_device_t, handle, enabled)
trigger mode
enable buffer
setup trigger
add fd associated with /dev/iio:deviceX to poll_fd
poll mode
enable sensor
start acquisition thread
event mode
enable event
get fd associated with event and add it to poll_fd
reverse operations for deactivate (enabled = false)
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IIO sensors HAL - setDelay()
int setDelay (struct sensors_poll_device_t* dev, int handle, int64_t ns)
use first higher or equal available rate
per device sampling rate
/sys/bus/iio/devices/iio:device0/in_accel_sampling_frequency
in buffer mode
/sys/bus/iio/devices/iio:device0/sampling_frequency
per sensor sampling rate
/sys/bus/iio/devices/iio:device0/available_sampling_frequency
disable buffer, set frequency, enable buffer
when using hrtimer triggers
sync hrtimer trigger frequency with requested frequency
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IIO sensors HAL - batch()
int batch(struct sensors_poll_device_1* dev, int sensor_handle,
int flags, int64_t sampling_period_ns,
int64_t max_report_latency_ns);
set a sensors parameters
flags not used
max_report_latency_ns not used
no support for batch mode
calls in set_delay()
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IIO sensors HAL - poll()
int poll struct sensors_poll_device_t* dev, sensors_event_t* data, int count)
reads an array of maximum count samples and stores them in data
waits for data on poll_fd and reads data when available
data can be read from
anonymous fd, for event data
acquisition thread (reads sysfs attributes)
synthetize duplicate samples
/dev/iio:device0, for buffered data
duplicates last data got from driver
handles flush requests
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sensors_event_t
data passed from HAL layer to Android framework
struct sensors_event_t {
/* sensor type */
int32_t type;
/* time is in nanosecond */
int64_t timestamp;
union {
union {
float
data[16];
/* acceleration values are in (m/s^2) */
sensors_vec_t
acceleration;
/* other sensors */
union {
uint64_t
data[8];
/* step-counter */
uint64_t
step_counter;
}
}
};
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Use IIO sensors HAL in Linux
sens tool
sens start <hal name>
sens ls
loads HAL with specified name
sends list command to HAL
sens <activate|deactivate> sensor_id
sens set_delay sensor_id delay
sens poll
gets data from HAL and displays them on standard output
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Q&A
Sensor reporting modes
continuous
on change
events generated at constant rate defined by sampling_period_ns
e.g accelerometer
events generated only if measured values have changed
e.g ambient temperature
one shot
event deactivates itself and sends single event through HAL
e.g significant motion
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IIO sensors HAL misc features
filtering
calibration
quirks
no-trigger, no-event, no-poll
unit conversions
remove noise (median, moving average)
Gauss (IIO) -> Tesla (Android)
android properties
min_freq, max_freq
ro.iio.accel.kxcjk1013.min_freq = 50
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