Android Sensor详解（8）sensor hal层分析第一篇

最新推荐文章于 2023-05-09 10:31:26 发布

大海之狂

最新推荐文章于 2023-05-09 10:31:26 发布

阅读量1.8k

点赞数 2

本文链接：https://blog.csdn.net/haigand/article/details/99254924

版权

前言
高通的hal层其实分2种，一种是直接从kernel这边报数据上来，由sensorhal层来监听，另外一种是走ADSP的模式，HAL层通过qmi的形式进行监听的。

hal层简介
Google为Sensor提供了统一的HAL接口，不同的硬件厂商需要根据该接口来实现并完成具体的硬件抽象层，Android中Sensor的HAL接口定义在：hardware/libhardware/include/hardware/sensors.h

为了理清HAL层的sensor我们必须要理解几个概念，分别是sensor_type,sensor_module,sensor_t,sensor_


/*
 * SENSOR_TYPE_ACCELEROMETER
 * reporting-mode: continuous
 *
 *  All values are in SI units (m/s^2) and measure the acceleration of the
 *  device minus the force of gravity.
 *
 *  Implement the non-wake-up version of this sensor and implement the wake-up
 *  version if the system possesses a wake up fifo.
 */
#define SENSOR_TYPE_ACCELEROMETER                    (1)
#define SENSOR_STRING_TYPE_ACCELEROMETER             "android.sensor.accelerometer"

从上面可以看到此文件定义了sensor的type以及string type.

/**
 * Every hardware module must have a data structure named HAL_MODULE_INFO_SYM
 * and the fields of this data structure must begin with hw_module_t
 * followed by module specific information.
 */
struct sensors_module_t {
    struct hw_module_t common;

    /**
     * Enumerate all available sensors. The list is returned in "list".
     * @return number of sensors in the list
     */
    int (*get_sensors_list)(struct sensors_module_t* module,
            struct sensor_t const** list);

    /**
     *  Place the module in a specific mode. The following modes are defined
     *
     *  0 - Normal operation. Default state of the module.
     *  1 - Loopback mode. Data is injected for the supported
     *      sensors by the sensor service in this mode.
     * @return 0 on success
     *         -EINVAL if requested mode is not supported
     *         -EPERM if operation is not allowed
     */
    int (*set_operation_mode)(unsigned int mode);
};

该接口的定义实际上是对标准的硬件模块hw_module_t的一个扩展，增加了一个get_sensors_list函数，用于获取传感器的列表，以及set_operation_mode 设置成相关的mode


struct sensor_t {

    /* Name of this sensor.
     * All sensors of the same "type" must have a different "name".
     */
    const char*     name; //传感器名字

    /* vendor of the hardware part */
    const char*     vendor;

    /* version of the hardware part + driver. The value of this field
     * must increase when the driver is updated in a way that changes the
     * output of this sensor. This is important for fused sensors when the
     * fusion algorithm is updated.
     */
    int             version; //版本

    /* handle that identifies this sensors. This handle is used to reference
     * this sensor throughout the HAL API.
     */
    int             handle; //传感器的handle句柄

    /* this sensor's type. */
    int             type;  //传感器类型

    /* maximum range of this sensor's value in SI units */
    float           maxRange; //最大范围

    /* smallest difference between two values reported by this sensor */
    float           resolution; //解析度

    /* rough estimate of this sensor's power consumption in mA */
    float           power;

    /* this value depends on the reporting mode:
     *
     *   continuous: minimum sample period allowed in microseconds
     *   on-change : 0
     *   one-shot  :-1
     *   special   : 0, unless otherwise noted
     */
    int32_t         minDelay;

    /* number of events reserved for this sensor in the batch mode FIFO.
     * If there is a dedicated FIFO for this sensor, then this is the
     * size of this FIFO. If the FIFO is shared with other sensors,
     * this is the size reserved for that sensor and it can be zero.
     */
    uint32_t        fifoReservedEventCount;

    /* maximum number of events of this sensor that could be batched.
     * This is especially relevant when the FIFO is shared between
     * several sensors; this value is then set to the size of that FIFO.
     */
    uint32_t        fifoMaxEventCount;

    /* type of this sensor as a string. Set to corresponding
     * SENSOR_STRING_TYPE_*.
     * When defining an OEM specific sensor or sensor manufacturer specific
     * sensor, use your reserve domain name as a prefix.
     * ex: com.google.glass.onheaddetector
     * For sensors of known type, the android framework might overwrite this
     * string automatically.
     */
    const char*    stringType;

    /* permission required to see this sensor, register to it and receive data.
     * Set to "" if no permission is required. Some sensor types like the
     * heart rate monitor have a mandatory require_permission.
     * For sensors that always require a specific permission, like the heart
     * rate monitor, the android framework might overwrite this string
     * automatically.
     */
    const char*    requiredPermission;

    /* This value is defined only for continuous mode and on-change sensors. It is the delay between
     * two sensor events corresponding to the lowest frequency that this sensor supports. When lower
     * frequencies are requested through batch()/setDelay() the events will be generated at this
     * frequency instead. It can be used by the framework or applications to estimate when the batch
     * FIFO may be full.
     *
     * NOTE: 1) period_ns is in nanoseconds where as maxDelay/minDelay are in microseconds.
     *              continuous, on-change: maximum sampling period allowed in microseconds.
     *              one-shot, special : 0
     *   2) maxDelay should always fit within a 32 bit signed integer. It is declared as 64 bit
     *      on 64 bit architectures only for binary compatibility reasons.
     * Availability: SENSORS_DEVICE_API_VERSION_1_3
     */
    #ifdef __LP64__
       int64_t maxDelay;
    #else
       int32_t maxDelay;
    #endif

    /* Flags for sensor. See SENSOR_FLAG_* above. Only the least significant 32 bits are used here.
     * It is declared as 64 bit on 64 bit architectures only for binary compatibility reasons.
     * Availability: SENSORS_DEVICE_API_VERSION_1_3
     */
    #ifdef __LP64__
       uint64_t flags;
    #else
       uint32_t flags;
    #endif

    /* reserved fields, must be zero */
    void*           reserved[2];
};

可以看出现在的android 7.1.1已经有了一些变化了，
从前reserved[8]现在已经只有reserved[2]了.

主要的方面新增方面：
* fifoReservedEventCount
* fifoMaxEventCount
* stringType
* requiredPermission
* maxDelay
* flags

为了不误导大家就让大家直接读code里面的注释，毕竟google介绍的还是很详尽的。

 * Union of the various types of sensor data
 * that can be returned.
 */
typedef struct sensors_event_t {
    /* must be sizeof(struct sensors_event_t) */
    int32_t version;

    /* sensor identifier */
    int32_t sensor;

    /* sensor type */
    int32_t type;

    /* reserved */
    int32_t reserved0;

    /* time is in nanosecond */
    int64_t timestamp;

    union {
        union {
            float           data[16];

            /* acceleration values are in meter per second per second (m/s^2) */
            sensors_vec_t   acceleration;

            /* magnetic vector values are in micro-Tesla (uT) */
            sensors_vec_t   magnetic;

            /* orientation values are in degrees */
            sensors_vec_t   orientation;

            /* gyroscope values are in rad/s */
            sensors_vec_t   gyro;

            /* temperature is in degrees centigrade (Celsius) */
            float           temperature;

            /* distance in centimeters */
            float           distance;

            /* light in SI lux units */
            float           light;

            /* pressure in hectopascal (hPa) */
            float           pressure;

            /* relative humidity in percent */
            float           relative_humidity;

            /* uncalibrated gyroscope values are in rad/s */
            uncalibrated_event_t uncalibrated_gyro;

            /* uncalibrated magnetometer values are in micro-Teslas */
            uncalibrated_event_t uncalibrated_magnetic;

            /* heart rate data containing value in bpm and status */
            heart_rate_event_t heart_rate;

            /* this is a special event. see SENSOR_TYPE_META_DATA above.
             * sensors_meta_data_event_t events are all reported with a type of
             * SENSOR_TYPE_META_DATA. The handle is ignored and must be zero.
             */
            meta_data_event_t meta_data;

            /* dynamic sensor meta event. See SENSOR_TYPE_DYNAMIC_SENSOR_META type for details */
            dynamic_sensor_meta_event_t dynamic_sensor_meta;

            /*
             * special additional sensor information frame, see
             * SENSOR_TYPE_ADDITIONAL_INFO for details.
             */
            additional_info_event_t additional_info;
        };

        union {
            uint64_t        data[8];

            /* step-counter */
            uint64_t        step_counter;
        } u64;
    };

    /* Reserved flags for internal use. Set to zero. */
    uint32_t flags;

    uint32_t reserved1[3];
} sensors_event_t;

不过目前就我工作中的话尚未使用到这边，一边来讲厂商更愿意的是自己来定制HAL层。

定制hal层

首先来看一个Android.mk来分析厂商是咋么定制的

LOCAL_PATH := $(call my-dir)

include $(CLEAR_VARS)

LOCAL_MODULE := sensors.PALS.msm8953
#######################
# For 64/32 but build
#
ifeq ($(TARGET_ARCH), arm64)
LOCAL_MODULE_PATH_64 := $(TARGET_OUT_SHARED_LIBRARIES)
else
LOCAL_MODULE_PATH := $(TARGET_OUT_SHARED_LIBRARIES)
endif
#######################

LOCAL_PRELINK_MODULE := false
LOCAL_MODULE_TAGS := optional
LOCAL_MODULE_OWNER := ALEX
LOCAL_CFLAGS := -DLOG_TAG=\"Sensors\"
#
# ANDROID version check
MAJOR_VERSION :=$(shell echo $(PLATFORM_VERSION) | cut -f1 -d.)
MINOR_VERSION :=$(shell echo $(PLATFORM_VERSION) | cut -f2 -d.)
VERSION_JB :=$(shell test $(MAJOR_VERSION) -gt 4 -o $(MAJOR_VERSION) -eq 4 -a $(MINOR_VERSION) -gt 0 && echo true)
$(info MAJOR_VERSION=$(MAJOR_VERSION))
$(info MINOR_VERSION=$(MINOR_VERSION))
#ANDROID version check END


ifeq ($(VERSION_JB),true)
LOCAL_CFLAGS += -DANDROID_JELLYBEAN
endif

# c file

LOCAL_SRC_FILES := SensorBase.cpp
LOCAL_SRC_FILES += InputEventReader.cpp
LOCAL_SRC_FILES += sensors_mpl.cpp
LOCAL_SRC_FILES += LightSensor.cpp
LOCAL_SRC_FILES += ProximitySensor.cpp
# share lib
LOCAL_SHARED_LIBRARIES := libcutils
LOCAL_SHARED_LIBRARIES += libutils
LOCAL_SHARED_LIBRARIES += libdl
LOCAL_SHARED_LIBRARIES += liblog
#LOCAL_SHARED_LIBRARIES += libmllite

include $(BUILD_SHARED_LIBRARY)

从上面我们可以看出将会生意一个名为libsensor.PALS.msm8953.so的档做为库，具体系统是咋么将这个so档起作用的，后面我们再分析，先分析一下HAL层一些做法。