iio-sensors: support conversion matrix (Re: [android-x86-devel] Re: kernel-4.4 branch is ready)

[Chih-Wei Huang]

2016-03-09 6:11 GMT+08:00 Mario Holzinger <sandma...@gmail.com>:
> sorry for highjacking the thread again.

Let's change the subject.

> what do you think about the redefined patch for
> hardware/libsensors/iio-sensors.cpp
>
> hal.sensors.iio.accel.matrix=-000+000-
> first sensor inverted for x
> second sensor for y
> third sensor inverted for z

This means the matrix elements are only -1,0,1.
Not good enough.
It's better to define the elements to be any float var:

hal.sensors.iio.accel.matrix=v0,v1,v2,v3,v4,v5,v6,v7,v8

[deleted]
> PS: I have no Gyro so this could not be tested by my selfe, and also other
> sensors can easily ported with this code blocks
> + //hal.sensors.iio.accel.matrix=-000+000- ==> default configuration
> + char cmatrix[PROPERTY_VALUE_MAX];
> + int imatrix[9];
> +
> + property_get("hal.sensors.iio.accel.matrix", cmatrix, "-000+000-" );
> +
> + for (int i = 0, j = 0; i < PROPERTY_VALUE_MAX; i++)
> + {
> + if (cmatrix[i] == '+') {imatrix[j] = 1; j++;}
> + if (cmatrix[i] == '-') {imatrix[j] = -1; j++;}
> + if (cmatrix[i] == '0') {imatrix[j] = 0; j++;}
> + }
> +
> + for (int i = 0; i < ret; ++i)
> + {
> + if (imatrix[0] != 0) { data[i].acceleration.x = imatrix[0] * scale *
> read_sysfs_int("in_accel_x_raw"); }
> + if (imatrix[1] != 0) { data[i].acceleration.x = imatrix[1] * scale *
> read_sysfs_int("in_accel_y_raw"); }
> + if (imatrix[2] != 0) { data[i].acceleration.x = imatrix[2] * scale *
> read_sysfs_int("in_accel_z_raw"); }
> + if (imatrix[3] != 0) { data[i].acceleration.y = imatrix[3] * scale *
> read_sysfs_int("in_accel_x_raw"); }
> + if (imatrix[4] != 0) { data[i].acceleration.y = imatrix[4] * scale *
> read_sysfs_int("in_accel_y_raw"); }
> + if (imatrix[5] != 0) { data[i].acceleration.y = imatrix[5] * scale *
> read_sysfs_int("in_accel_z_raw"); }
> + if (imatrix[6] != 0) { data[i].acceleration.z = imatrix[6] * scale *
> read_sysfs_int("in_accel_x_raw"); }
> + if (imatrix[7] != 0) { data[i].acceleration.z = imatrix[7] * scale *
> read_sysfs_int("in_accel_y_raw"); }
> + if (imatrix[8] != 0) { data[i].acceleration.z = imatrix[8] * scale *
> read_sysfs_int("in_accel_z_raw"); }

The calculation should be a matrix multiplying a vector:

data[i].acceleration.x = scale * (
imatrix[0] * read_sysfs_int("in_accel_x_raw") +
imatrix[1] * read_sysfs_int("in_accel_y_raw") +
imatrix[2] * read_sysfs_int("in_accel_z_raw") );
...

Besides, please cache read_sysfs_int(...) to
avoid read them from sys nodes multiple times.

> + data[i].acceleration.status = SENSOR_STATUS_ACCURACY_HIGH;



--
Chih-Wei
Android-x86 project
http://www.android-x86.org

[Mario Holzinger]

Thank you for your review and making an specific thread out of the kernel discussion

I will take your comments and try to integrate it into my code.

And if I find a good way also add a little bit of error handling if somebody gives incomplient input into build.prop

regards

Mario

[Mario Holzinger]

Hi Chih-Wei!

I still struggling about the meaning of your post (explanation how it should look like)

May I ask if I understand it correct?

I will need to extract the comma separated values that can be floating point values

regards

Mario

[Chih-Wei Huang]

2016-03-21 22:25 GMT+08:00 Mario Holzinger <sandma...@gmail.com>:
> Hi Chih-Wei!
>
> I still struggling about the meaning of your post (explanation how it should
> look like)
> May I ask if I understand it correct?

Basically it's correct. :)

Some minor parts.
S doesn't need to be restricted to R(-1.0,+1.0).
Any float is OK. (that means we can also handle scaling)

Usually the convention is Matrix * Vector.
Anyway, it's up to you to decide.

> I will need to extract the comma separated values that can be floating point
> values

I think using sscanf is enough.

Thanks!

[Mario Holzinger]

Hi Chih-Wei!

next approach to reach your requirements

thx for the tip with sscanf, this is very simple

I've extracted the multiplication out of the for loop to save time if ret is >=1

I've tested it with and without build.prop entries and it is working as expected.

template<> int Sensor<ID_ACCELERATION>::readEvents(sensors_event_t *data, int cnt)

{

static float scale = read_sysfs_float((*nodes)[0]);

int ret = SensorBase::readEvents(data, cnt);

char cmatrix[PROPERTY_VALUE_MAX];

float matrix[9];

float vector[3];

int vector_raw[3] = {read_sysfs_int("in_accel_x_raw"), read_sysfs_int("in_accel_y_raw"), read_sysfs_int("in_accel_z_raw")};

// get build.prop property

property_get("hal.sensors.iio.accel.matrix", cmatrix, "-1,0,0,0,1,0,0,0,-1" );

// read value as "float" from build.prop

sscanf(cmatrix,"%f,%f,%f,%f,%f,%f,%f,%f,%f", &matrix[0], &matrix[1], &matrix[2], &matrix[3], &matrix[4], &matrix[5], &matrix[6], &matrix[7], &matrix[8]);

vector[0] = scale * (matrix[0] * vector_raw[0] + matrix[1] * vector_raw[1] + matrix[2] * vector_raw[2]); // create matrix x vector product for x-value

vector[1] = scale * (matrix[3] * vector_raw[0] + matrix[4] * vector_raw[1] + matrix[5] * vector_raw[2]); // create matrix x vector product for y-value

vector[2] = scale * (matrix[6] * vector_raw[0] + matrix[7] * vector_raw[1] + matrix[8] * vector_raw[2]); // create matrix x vector product for z-value

for (int i = 0; i < ret; ++i) {

data[i].acceleration.x = vector[0];

data[i].acceleration.y = vector[1];

data[i].acceleration.z = vector[2];

data[i].acceleration.status = SENSOR_STATUS_ACCURACY_HIGH;

}

return ret;

}

[Chih-Wei Huang]

Thank you for the update.
But the reading of sensor events and calculation
should be put into the for loop.
(it doesn't make sense to send the same events multiple times)

[Mario Holzinger]

That means you would prefer a patch like this, because you've mentioned before I shall not read out sensor value multiple times.

So this would read out each only one time per loop.

template<> int Sensor<ID_ACCELERATION>::readEvents(sensors_event_t *data, int cnt)

{

    static float scale = read_sysfs_float((*nodes)[0]);

    int ret = SensorBase::readEvents(data, cnt);

   char cmatrix[PROPERTY_VALUE_MAX];      

        float matrix[9];

       int vector_raw[3];

   

        // get build.prop property

     property_get("hal.sensors.iio.accel.matrix", cmatrix, "-1,0,0,0,1,0,0,0,-1" );

        // read value as "float" from build.prop

       sscanf(cmatrix,"%f,%f,%f,%f,%f,%f,%f,%f,%f", &matrix[0], &matrix[1], &matrix[2], &matrix[3], &matrix[4], &matrix[5], &matrix[6], &matrix[7], &matrix[8]);

        for (int i = 0; i < ret; ++i) {

             vector_raw[3] = {read_sysfs_int("in_accel_x_raw"), read_sysfs_int("in_accel_y_raw"), read_sysfs_int("in_accel_z_raw")}

             data[i].acceleration.x = scale * (matrix[0] * vector_raw[0] + matrix[1] * vector_raw[1] + matrix[2] * vector_raw[2]); // create matrix x vector product for x-value

             data[i].acceleration.y = scale * (matrix[3] * vector_raw[0] + matrix[4] * vector_raw[1] + matrix[5] * vector_raw[2]); // create matrix x vector product for y-value
             data[i].acceleration.z = scale * (matrix[6] * vector_raw[0] + matrix[7] * vector_raw[1] + matrix[8] * vector_raw[2]); // create matrix x vector product for z-value

                       data[i].acceleration.status = SENSOR_STATUS_ACCURACY_HIGH;

     }

      return ret;

}

 

[Mario Holzinger]

Here the final patch for hal.sensors.iio.accel.matrix

Takes me a little bit to test it because I tested it on the live system.

I figured out that it gets hard to modify /system/build.prop if its not writable.

[Mario Holzinger]

Due to the fact that there are more sensors with similar code

I've ported the matrix also for magnetic field (compass) sensors and angular velocity (gyroscope) sensors

feel free to test because on my hardware I'm not able

[spin877]

Mario excuse my old working configurtion it is:

data[i].acceleration.y = scale * read_sysfs_int("in_accel_x_raw"); data[i].acceleration.x = scale * read_sysfs_int("in_accel_y_raw"); data[i].acceleration.z = -scale * read_sysfs_int("in_accel_z_raw");

I should be set hal.sensors.iio.accel.matrix?

note that on my X-Y are reversed.

P.S.

I tried to change hal.sensors.iio.accel.matrix with setprop command in runtime the terminal but has no efect . 

if I change the parameters I have to restart some service ?

[spin877]

I say alone :-p |--X---|--Y---|--Z--| hal.sensors.iio.accel.matrix=0,1,0,1,0,0,0,0,-1

x,y,z x,y,z x,y,-z

[youling 257]

what means? how to solve Gravity sensing and auto-rotate the screen problem？横着放置平板，自动旋转成竖屏：竖着放置平板，自动旋转成横屏

[Ossi Uusimaa]

How to use this patch without rebuilding new image? Can I apply this patch from terminal or edit build.prop?

I already tried to fix upside down accelerometer with this guide (ro.sf.hwrotation=X) but it didn't have effect.

[Hypo Turtle]

Via build.prop should work or via init.sh (i.e 'setprop hal... 1,0,0,0,1,0,0,0,1')

@Dev's would it be better to rename the property to persist.hal... so that it can be set via terminal without editting /system -- i.e. value auto-written to /data/persist

[Chih-Wei Huang]

2016-05-09 21:07 GMT+08:00 Hypo Turtle <hypot...@gmail.com>:
>
> @Dev's would it be better to rename the property to persist.hal... so that it can be set via terminal without editting /system -- i.e. value auto-written to /data/persist

Probably.

But it's better you submit your property so
we can make it persistent in the released image.

[Hypo Turtle]

Sure. In my case:
model=$(cat /sys/class/dmi/id/sys_vendor); [ =$(cat $DMIPATH/sys_vendor) ]
if [ ${model} = "Cube" ]; then
setprop hal.sensors.iio.accel.matrix 1,0,0,0,-1,0,0,0,-1
fi;

But not sure this is the right matrix for all Cube's...

Switching to [ $BOARD = "i7 Stylus" ] would be more specific

[Ossi Uusimaa]

I haven't been able to fix accelometer with this fix. Every time I edit build.prop on Android I lose touch after reboot. Also this fix doesn't seem to have effect at all. So far I have tried these:

setprop hal.sensors.iio.accel.matrix=1,0,0,0,1,0,0,0,1

ro.sf.hwrotation=180

Any ideas?

[Hypo Turtle]

Mine is/was also 180o inverted so use my values or 1,0,0,0,-1,0,0,0,1
[I don't think the last 1/-1 matters (can someone confirm)]

1,0,0,0,1,0,0,0,1 like you have tried means
X=x Y=y Z=z
As you want the y to be reversed use -1.

[Mario Holzinger]

as mentioned in the patch the behavior is very simple

with build.prop
hal.sensors.iio.accel.matrix=f1x,f1y,f1z,f2x,f2y,f2z,f3x,f3y,f3z
it is possible to manipulate accel sensors directions and assignment to the corresponding axes
default:
hal.sensors.iio.accel.matrix=-1,0,0,0,1,0,0,0,-1

that means for the default we use the the x-axis value f1x inverted (yes the sign matters)

y and z wer not used for android to be calculated as fist axis so f1y and f1z are 0

summ up use a inverted x and nothing from y and z

the next tree valuse are for the second axis

we have 0,1,0 wich means 

f2x = 0 no input from the x sensor

f2y = 1 use the positive y sensor value

f2z = 0 no input from the z sensor

and at least the last 3 values
f2x = 0 no input from the x sensor
f2y =  0 no input from y sensor
f2z = -1 use the inverted z sensor value

As how-to I woot boot without build.prop entry and write down the behavior of your device

eg. the device rotates 90deg clockwise to the expected behavior than play with switching the sensors (1,0,0 ==> 0,1,0,....)

eg. the device has a orrientation with inverted rotation than play with the sign of the axis (1 ==> -1, -1 ==> 1)

The last sensor would be z axis that is not used for screen rotation (as far as I see), but you can test the correct value by apps that can read out the raw sensor data or maybe games

[Chih-Wei Huang]

Guys, please submit patches to add
the property for your devices.

The patch should add your device id and property.
I expect it modify the init_hal_sensors
of device/generic/common/init.sh.

Mario, could you please do it first as an example?

[Hypo Turtle]

This format?

case "$PRODUCT" in
i7 Stylus)
set_property hal.sensors.iio.accel.matrix 1,0,0,0,-1,0,0,0,-1
;;
*)
;;
esac

[Chih-Wei Huang]

What's the output of
cat /sys/class/dmi/id/uevent

[Hypo Turtle]

MODALIAS=dmi:bvnAmericanMegatrendsInc.:bvr5.011:bd12/15/2015:svnCube:pni7Stylus:pvrXDA:rvnCube:rni7Stylus:rvrXDA:cvnToBeFilledByO.E.M.:ct10:cvrToBeFilledByO.E.M.:

[Hypo Turtle]

grep "" /sys/class/dmi/id/* output
/sys/class/dmi/id/bios_date:12/15/2015
/sys/class/dmi/id/bios_vendor:American Megatrends Inc.
/sys/class/dmi/id/bios_version:5.011
/sys/class/dmi/id/board_asset_tag:To be filled by O.E.M.
/sys/class/dmi/id/board_name:i7 Stylus
/sys/class/dmi/id/board_serial:To be filled by O.E.M.
/sys/class/dmi/id/board_vendor:Cube
/sys/class/dmi/id/board_version:XDA
/sys/class/dmi/id/chassis_asset_tag:To Be Filled By O.E.M.
/sys/class/dmi/id/chassis_serial:To Be Filled By O.E.M.
/sys/class/dmi/id/chassis_type:10
/sys/class/dmi/id/chassis_vendor:To Be Filled By O.E.M.
/sys/class/dmi/id/chassis_version:To Be Filled By O.E.M.
/sys/class/dmi/id/modalias:dmi:bvnAmericanMegatrendsInc.:bvr5.011:bd12/15/2015:svnCube:pni7Stylus:pvrXDA:rvnCube:rni7Stylus:rvrXDA:cvnToBeFilledByO.E.M.:ct10:cvrToBeFilledByO.E.M.:
/sys/class/dmi/id/product_name:i7 Stylus
/sys/class/dmi/id/product_serial:To be filled by O.E.M.
/sys/class/dmi/id/product_uuid:03000200-0400-0500-0006-000700080009
/sys/class/dmi/id/product_version:XDA
/sys/class/dmi/id/sys_vendor:Cube
/sys/class/dmi/id/uevent:MODALIAS=dmi:bvnAmericanMegatrendsInc.:bvr5.011:bd12/15/2015:svnCube:pni7Stylus:pvrXDA:rvnCube:rni7Stylus:rvrXDA:cvnToBeFilledByO.E.M.:ct10:cvrToBeFilledByO.E.M.:

[Chih-Wei Huang]

2016-05-19 16:15 GMT+08:00 Hypo Turtle <hypot...@gmail.com>:
> MODALIAS=dmi:bvnAmericanMegatrendsInc.:bvr5.011:bd12/15/2015:svnCube:pni7Stylus:pvrXDA:rvnCube:rni7Stylus:rvrXDA:cvnToBeFilledByO.E.M.:ct10:cvrToBeFilledByO.E.M.:
>

Try this patch to see if it works:

diff --git a/init.sh b/init.sh
index f289e6b..7fdcf62 100644
--- a/init.sh
+++ b/init.sh
@@ -218,6 +218,9 @@ function init_hal_sensors()
modprobe hdaps
hal_sensors=hdaps
;;
+ *i7Stylus*)
+ set_property hal.sensors.iio.accel.matrix
1,0,0,0,-1,0,0,0,-1
+ ;;
*)
;;
esac

[Ossi Uusimaa]

Teclast X98 3G

x86_4.4_r3_Onda_V975i_V2

This is not working for me. I open build.prop and add this line to the end:

hal.sensors.iio.accel.matrix=1,0,0,0,-1,0,0,0,1

OR

setprop hal.sensors.iio.accel.matrix=1,0,0,0,-1,0,0,0,1

Then I save and check the permissions (-rw-r--r--). Then I reboot and nothing happens (expect I lose touch sometimes).

I have also tried this but no fix:

ro.sf.hwrotation=180

Any help here?

[Chih-Wei Huang]

2016-05-19 17:55 GMT+08:00 Ossi Uusimaa <ossi.u...@gmail.com>:
> Teclast X98 3G
> x86_4.4_r3_Onda_V975i_V2

You are using 4.4-r3? Too old.

> This is not working for me. I open build.prop and add this line to the end:
> hal.sensors.iio.accel.matrix=1,0,0,0,-1,0,0,0,1
> OR
> setprop hal.sensors.iio.accel.matrix=1,0,0,0,-1,0,0,0,1

The property was only introduced in marshmallow-x86 (6.0)

Someone just posted a marshmallow-x86 nightly build
that you can try.

[Hypo Turtle]

@Chih-Wei Yea that would work; and removes the extra "case" entry I had. 

@Ossi the matrix has only been added to 6.0/MM Roms so won't work with 4.4/KK (edit. Chih-Wei just posted the same)

Also I don't know if ro.sf.hwrotation ever worked with Ax86 - I know that's a stock AOSP entry though; but don't think it does anything with Ax86.
If you want KK with correct rotation you probably need to recompiled with modified iio lib or possibly(unlikely) just replacing the kk rotation lib with one from mm would work.

[Ossi Uusimaa]

torstai 19. toukokuuta 2016 13.22.55 UTC+3 Hypo Turtle kirjoitti:

@Ossi the matrix has only been added to 6.0/MM Roms so won't work with 4.4/KK (edit. Chih-Wei just posted the same)

Also I don't know if ro.sf.hwrotation ever worked with Ax86 - I know that's a stock AOSP entry though; but don't think it does anything with Ax86.
If you want KK with correct rotation you probably need to recompiled with modified iio lib or possibly(unlikely) just replacing the kk rotation lib with one from mm would work.

 

So you mean I have to like this, no other way (software fix for auto rotation)?

tiistai 8. syyskuuta 2015 14.27.07 UTC+3 Сергей Трофимов kirjoitti:

For those who have an accelerometer is rotated 90 degrees:
correct file hardware/libsensors/iio-sensors.cpp the following lines:
data[i].acceleration.x = -scale * read_sysfs_int("in_accel_x_raw");
data[i].acceleration.y = scale * read_sysfs_int("in_accel_y_raw");
and change to
data[i].acceleration.x = scale * read_sysfs_int("in_accel_y_raw");
data[i].acceleration.y = scale * read_sysfs_int("in_accel_x_raw");
Then recompile Android.
Android-x86 4.4 r3 with a vertical accelerometer and working internal MicroSD cardreader - https://yadi.sk/d/OvsY2hIbiwbKk

torstai 19. toukokuuta 2016 13.04.40 UTC+3 Chih-Wei Huang kirjoitti:

Someone just posted a marshmallow-x86 nightly build 
that you can try. 

None if Marshmallow build are working on my tablet. Also no Lollipop either... 

 

[youling 257]

MicroSD ，Androidx86 6.0.1 can use  Adoptable storage，just edit fstab

在 2016年5月19日星期四 UTC+8下午7:07:58，Ossi Uusimaa写道：

[Hypo Turtle]

Yes as this is a dev group. The first suggested option should be source code modification -- that being said the patch you mentioned is for 90o rotation (X=y Y=x).

If you take the hardware/libsensors/iio-sensors.cpp file from MM and add that to KK source and compile the matrix should work.

Alternatively - if you have root you can try an already compiled iio.so file from MM and add that to your ROM. (I'll upload one if you want to try it)

[Mario Holzinger]

I don't know anymore if I already provided a working example patch, sorry

this is working perfectly on my SurfTab wintron 7.0 (ST70416-6)

Tested under Marshmallow and Nougat sources so far with kernel 4.4

best regards

Mario

[youling 257]

I think it should 

+ *ONDA Tablet*)

+ set_property hal.sensors.iio.accel.matrix 0,1,0,1,0,0,0,0,-1

but，it is case "$(cat $DMIPATH/uevent)" ，so，it should，

+ *ONDATablet*) + set_property hal.sensors.iio.accel.matrix 0,1,0,1,0,0,0,0,-1

work fine，0001-onda.patch
在 2016年9月24日星期六 UTC+8下午11:43:15，Mario Holzinger写道：

[youling 257]

u0_a25@x86:/ $ su

root@x86:/ # cat /sys/devices/virtual/dmi/id/uevent

MODALIAS=dmi:bvnINSYDECorp.:bvrONDA.W89EBBN08:bd11/21/2014:svnInsyde:pnONDATablet:pvrV001:rvnONDA:rnONDATablet:rvrV001:cvnChassisManufacturer:ct10:cvrChassisVersion:

root@x86:/ #

[Chih-Wei Huang]

Just applied it. Thank you.

[Chih-Wei Huang]

2016-09-25 2:08 GMT+08:00 youling 257 <youli...@gmail.com>:
> I think it should
> + *ONDA Tablet*)
> + set_property hal.sensors.iio.accel.matrix 0,1,0,1,0,0,0,0,-1
>
> but，it is case "$(cat $DMIPATH/uevent)" ，so，it should，
> + *ONDATablet*) + set_property hal.sensors.iio.accel.matrix
> 0,1,0,1,0,0,0,0,-1
>
> work fine，0001-onda.patch

Applied. Thank you!

[youling 257]

Tell you here ，android x86 7.0 F2FS partition ，need CONFIG_F2FS_FS_SECURITY=y , please you update android-x86_defconfig、android-x86_64_defconfig on osdn 

在 2016年9月26日星期一 UTC+8下午12:14:29，Chih-Wei Huang写道：

[Chih-Wei Huang]

2016-09-26 12:35 GMT+08:00 youling 257 <youli...@gmail.com>:
> Tell you here ，android x86 7.0 F2FS partition ，need
> CONFIG_F2FS_FS_SECURITY=y , please you update
> android-x86_defconfig、android-x86_64_defconfig on osdn

7.0 and 6.0 share the same kernel currently.
You just need to sync your codebase.

PS. Please avoid posting unrelated issues.
Open another thread to do so.