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AKM8976A » History » Version 12

Paul Kocialkowski, 07/04/2011 09:16 PM

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h1.  AKM8976A





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The goal here is to add support for AKM8976A to akmd-free (a free rewrite of akmd, the daemon that deals with the accelerometer/magnetometer data for a few chips, including AKM ones). 





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This page is to coordinate the work around this goal.





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h2. Current status





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h3. Global tasks achievement





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|| Task || Achievement ||





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|| Modifying the kernel driver to print the requests akmd makes (ioctl, etc) || [[span(Done , style=background: green; color: white; display: inline-block; width: 100%;)]] ||





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|| Get an idea of how it works (what akmd does after what) || [[span(Done , style=background: green; color: white; display: inline-block; width: 100%;)]] ||





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|| Define the exact steps that akmd follows || [[span(Done , style=background: green; color: white; display: inline-block; width: 100%;)]] ||





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|| Implement AKM8976A in akmd-free without any data treatment yet || [[span(Done , style=background: green; color: white; display: inline-block; width: 100%;)]] ||





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|| Understand how the data is treated (algorithms, etc) || [[span(Work in progress , style=background: orange; color: white; display: inline-block; width: 100%;)]] ||





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|| Reproduce the data treatment with standard C code || [[span(Work in progress , style=background: orange; color: white; display: inline-block; width: 100%;)]] ||





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|| Include the data treatment code in akmd-free || [[span(TODO , style=background: red; color: white; display: inline-block; width: 100%;)]] ||





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|| Check that everything is OK on different devices || [[span(TODO , style=background: red; color: white; display: inline-block; width: 100%;)]] ||





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h3. Specific tasks achievement





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h4. Initialization/calibration sequence





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|| Task || Global achievement || Understood || Reproduced || Implemented ||





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|| Before the first ECS_IOCTL_GETDATA || [[span(Mostly done , style=background: orange; color: white; display: inline-block; width: 100%;)]] || [[span(Done , style=background: green; color: white; display: inline-block; width: 100%;)]] || [[span(Done , style=background: green; color: white; display: inline-block; width: 100%;)]] || [[span(TODO , style=background: red; color: white; display: inline-block; width: 100%;)]]





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h2. Getting started





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Note that before everything, coming on our IRC channel "#replicant on irc.freenode.net":https://www.jappix.com/?r=replicant%25irc.freenode.net@irc.jappix.com and introducing yourself is essential: you'll be able to get help there and, of course, if you want to join the effort, communication is fundamental. 





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If you plan to join the effort to achieve this goal, here are the steps: 





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* Downloading and setting up the akm8976a-dev branch for kernel-msm (which contains a modified version of _drivers/misc/akm8976.c_)





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* Downloading some scripts that are useful to debug fast





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* Download and build the re_set_data tool (to inject some data to the kernel)





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* Generate the file containing the "phone" button pressed sequence. 





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* Get the non-free akmd. 





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h2. Using the scripts/tools





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First of all, you need to know that the kernel-side driver that is used for AKM8976A is located at _drivers/misc/akm8976.c_.





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This file has been modified in order to:





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* make it trace (print) all the ioctl





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* make it possible to inject data 





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Note that before you run any of the scripts, you need to start adb server as root:





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<pre>





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Here is a list of the scripts, what they do and how to use them:





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* *replicant_kern_debug.sh*: this one is to get the debug messages from the kernel. It requires no special parameter, nor any specific location to be lunched in. 





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* *replicant_calib_kern.sh*: this script should be used while working on the calibration part. The 2 remaining initialisation sequences we miss start with { 4, 235 } and { 4, 241 } and this script is to print the calibration values for these sequences (when the kernel printk the values, so when akmd sends them). To use it, pass 235 or 241 as first argument to the script, for the first or 2nd initialisation sequence we miss. 





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* *replicant_calib_adb.sh*: this script should be used while working on the calibration part. This script has to be ran in the directory containing _akmd_set_dev.txt_ and _re_set_data.txt_. You can also pass the directory containing these files as first argument to the script. In the correct order, this script: 





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** copies the _akmd_set_dev.txt_ file to _/data/misc/akmd_set.txt_ (akmd calibration file)





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** copies the _re_set_data.txt_ file to _/data/re_set_data.txt_ (retro engineering file, which contains the values to force as ECS_IOCTL_GETDATA returning values)





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** lunches _/data/re_set_data load_ to inject the values from _/data/re_set_data.txt_ to the kernel





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** lunches _akmd_, which won't do anything if the phone is in sleep mode (black screen).





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** inject _/data/suspend_wake_ to _/dev/input/event4_ (the buttons event node) to wakeup the phone





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** wait for akmd to perform the initialisation sequence, that you should see with *replicant_calib_kern.sh*.





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** kill akmd





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** inject _/data/suspend_wake_ to _/dev/input/event4_ (the buttons event node) to put the phone in sleep mode





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You can also avoid the use of the scripts and directly run the needed commands:





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* *adb push akmd_set_dev.txt /data/misc/akmd_set.txt*: this is to copy _akmd_set_dev.txt_ (akmd calibration file) to its correct location on the device. You need to run that in the directory where _akmd_set_dev.txt_ is.





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* *adb push re_set_data.txt /data/re_set_data.txt*: this is to copy _re_set_data.txt_ (retro engineering file, which contains the values to force as ECS_IOCTL_GETDATA returning values)to its correct location on the device. You need to run that in the directory where _re_set_data.txt_ is.





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* *adb shell "/data/re_set_data load"*: this is to inject the values from _/data/re_set_data.txt_ to the kernel driver.





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* *adb shell /data/akmd*: this is to start the non-free akmd daemon.





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* *adb shell "cat /data/suspend_wake  > /dev/input/event4"*: this is to inject the "phone" button pressed event, so it will either wakeup the phone or set it in sleep mode. 





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* *adb shell "killall akmd"*: this is to kill the non-free akmd daemon.





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* *adb shell "echo 8 > /proc/sys/kernel/printk && cat /proc/kmsg"*: this is to set the verbosity level of the kernel messages to high and print the messages.





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h2. Conclusions on how it works





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To begin with, here is the trace of the requests akmd does to the kernel driver (using the ioctl system call):





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<pre>





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<6>[ 2066.362670] --> ECS_IOCTL_SET_MODE #1





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<6>[ 2066.363220] --> ECS_IOCTL_SET_MODE





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<6>[ 2066.364074]  --> AKECS_MODE_E2P_READ





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<6>[ 2066.381042] --> ECS_IOCTL_READ #1





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<6>[ 2066.381317] what is in rwbuf?





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<6>[ 2066.381744] --------------------





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<6>[ 2066.382019] |	index	|	hdata	|	ddata	|





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<6>[ 2066.382263] |	0	|	0x1	|	1	|





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<6>[ 2066.382507] |	1	|	0x42	|	66	|





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<6>[ 2066.382934] |	2	|	0x0	|	0	|





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<6>[ 2066.383178] |	3	|	0x0	|	0	|





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<6>[ 2066.383392] |	4	|	0x0	|	0	|





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<6>[ 2066.383636] ----------





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<6>[ 2066.384063] --> ECS_IOCTL_READ





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<6>[ 2066.384979] --> ECS_IOCTL_READ #3





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<6>[ 2066.385253] --------------------





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<6>[ 2066.385498] |	index	|	hdata	|	ddata	|





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<6>[ 2066.385925] |	0	|	0x1	|	1	|





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<6>[ 2066.386169] |	1	|	0x66	|	102	|





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<6>[ 2066.386383] |	2	|	0x0	|	0	|





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<6>[ 2066.386627] |	3	|	0x0	|	0	|





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<6>[ 2066.387054] |	4	|	0x0	|	0	|





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<6>[ 2066.387268] ----------





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<6>[ 2066.387542] --> ECS_IOCTL_SET_MODE #1





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<6>[ 2066.387786] --> ECS_IOCTL_SET_MODE





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<6>[ 2066.388214]  --> AKECS_MODE_POWERDOWN





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<6>[ 2066.401031] --> ECS_IOCTL_GET_OPEN_STATUS





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<6>[ 2066.401306] --> ECS_IOCTL_GET_OPEN_STATUS #3





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<6>[ 2066.407135] --> ECS_IOCTL_INIT





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<6>[ 2066.408020] --> ECS_IOCTL_SET_MODE #1





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<6>[ 2066.408294] --> ECS_IOCTL_SET_MODE





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<6>[ 2066.408721]  --> AKECS_MODE_E2P_READ





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<6>[ 2066.421234] --> ECS_IOCTL_READ #1





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<6>[ 2066.421630] what is in rwbuf?





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<6>[ 2066.422302] --------------------





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<6>[ 2066.422637] |	index	|	hdata	|	ddata	|





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<6>[ 2066.423004] |	0	|	0x3	|	3	|





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<6>[ 2066.423339] |	1	|	0x46	|	70	|





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<6>[ 2066.423950] |	2	|	0x0	|	0	|





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<6>[ 2066.424285] |	3	|	0x0	|	0	|





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<6>[ 2066.424621] |	4	|	0x0	|	0	|





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<6>[ 2066.424957] ----------





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<6>[ 2066.425567] --> ECS_IOCTL_READ





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<6>[ 2066.426696] --> ECS_IOCTL_READ #3





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<6>[ 2066.427062] --------------------





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<6>[ 2066.427398] |	index	|	hdata	|	ddata	|





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<6>[ 2066.428039] |	0	|	0x3	|	3	|





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<6>[ 2066.428375] |	1	|	0x97	|	151	|





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<6>[ 2066.428710] |	2	|	0x87	|	135	|





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<6>[ 2066.429321] |	3	|	0x19	|	25	|





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<6>[ 2066.429656] |	4	|	0x0	|	0	|





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<6>[ 2066.429992] ----------





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<6>[ 2066.431243] --> ECS_IOCTL_SET_MODE #1





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<6>[ 2066.431915] --> ECS_IOCTL_SET_MODE





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<6>[ 2066.432250]  --> AKECS_MODE_POWERDOWN





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<6>[ 2066.450866] --> ECS_IOCTL_WRITE #1





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<6>[ 2066.451385] what is in rwbuf?





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<6>[ 2066.452239] --------------------





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<6>[ 2066.452697] |	index	|	hdata	|	ddata	|





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<6>[ 2066.453186] |	0	|	0x4	|	4	|





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<6>[ 2066.454040] |	1	|	0xe8	|	232	|





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<6>[ 2066.454498] |	2	|	0x7	|	7	|





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<6>[ 2066.454956] |	3	|	0x7	|	7	|





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<6>[ 2066.455413] |	4	|	0x9	|	9	|





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<6>[ 2066.456268] ----------





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<6>[ 2066.456726] --> ECS_IOCTL_WRITE





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<6>[ 2066.457916] --> ECS_IOCTL_WRITE #1





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<6>[ 2066.458374] what is in rwbuf?





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<6>[ 2066.459228] --------------------





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<6>[ 2066.459686] |	index	|	hdata	|	ddata	|





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<6>[ 2066.460174] |	0	|	0x4	|	4	|





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<6>[ 2066.460784] |	1	|	0xe5	|	229	|





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<6>[ 2066.461669] |	2	|	0x89	|	137	|





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<6>[ 2066.462127] |	3	|	0x0	|	0	|





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<6>[ 2066.462615] |	4	|	0x89	|	137	|





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<6>[ 2066.463073] ----------





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<6>[ 2066.463928] --> ECS_IOCTL_WRITE





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<6>[ 2066.465698] --> ECS_IOCTL_SET_MODE #1





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<6>[ 2066.466186] --> ECS_IOCTL_SET_MODE





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<6>[ 2066.467071]  --> AKECS_MODE_MEASURE_SNG





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<6>[ 2066.480468] --> ECS_IOCTL_GETDATA





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<6>[ 2066.480987] --> ECS_IOCTL_GETDATA #3





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<6>[ 2066.481445] --------------------





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<6>[ 2066.482299] |	index	|	hdata	|	ddata	|





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<6>[ 2066.482788] gflag1|	0	|	0x70	|	112	|





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<6>[ 2066.483245] gflag1|	1	|	0x7f	|	127	|





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<6>[ 2066.484100] gflag1|	2	|	0xa5	|	165	|





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<6>[ 2066.484588] gflag1|	3	|	0x5c	|	92	|





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<6>[ 2066.485046] gflag1|	4	|	0x66	|	102	|





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<6>[ 2066.485900] gflag1|	5	|	0x85	|	133	|





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<6>[ 2066.486450] gflag1|	6	|	0x5c	|	92	|





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<6>[ 2066.486938] gflag1|	7	|	0x85	|	133	|





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<6>[ 2066.487792] gflag1|	8	|	0x0	|	0	|





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<6>[ 2066.488250] gflag1|	9	|	0x0	|	0	|





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<6>[ 2066.488708] gflag1|	10	|	0x0	|	0	|





    188
    
    
    
<6>[ 2066.489196] gflag1|	11	|	0x0	|	0	|





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<6>[ 2066.490051] gflag1|	12	|	0x0	|	0	|





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<6>[ 2066.490631] gflag1|	13	|	0x0	|	0	|





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<6>[ 2066.491119] gflag1|	14	|	0x0	|	0	|





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<6>[ 2066.491973] gflag1|	15	|	0x0	|	0	|





    193
    
    
    
<6>[ 2066.492431] gflag1|	16	|	0x0	|	0	|





    194
    
    
    
<6>[ 2066.492919] gflag1|	17	|	0xa5	|	165	|





    195
    
    
    
<6>[ 2066.493774] gflag1|	18	|	0x5c	|	92	|





    196
    
    
    
<6>[ 2066.494262] gflag1|	19	|	0x66	|	102	|





    197
    
    
    
<6>[ 2066.494720] gflag1|	20	|	0x85	|	133	|





    198
    
    
    
<6>[ 2066.495574] gflag1|	21	|	0x5c	|	92	|





    199
    
    
    
<6>[ 2066.496032] gflag1|	22	|	0x85	|	133	|





    200
    
    
    
<6>[ 2066.496520] gflag1|	23	|	0x0	|	0	|





    201
    
    
    
<6>[ 2066.496978] gflag1|	24	|	0x0	|	0	|





    202
    
    
    
<6>[ 2066.497833] gflag1|	25	|	0x0	|	0	|





    203
    
    
    
<6>[ 2066.498291] gflag1|	26	|	0x0	|	0	|





    204
    
    
    
<6>[ 2066.498779] gflag1|	27	|	0x0	|	0	|





    205
    
    
    
<6>[ 2066.499633] gflag1|	28	|	0x0	|	0	|





    206
    
    
    
<6>[ 2066.500122] gflag1|	29	|	0x0	|	0	|





    207
    
    
    
<6>[ 2066.500671] gflag1|	30	|	0x0	|	0	|





    208
    
    
    
<6>[ 2066.501525] gflag1|	31	|	0x0	|	0	|





    209
    
    
    
<6>[ 2066.501983] ----------





    210
    
    
    
<6>[ 2066.509826] --> ECS_IOCTL_GET_NUMFRQ





    211
    
    
    
<6>[ 2066.510559] --> ECS_IOCTL_GET_NUMFRQ #3





    212
    
    
    
<6>[ 2066.511444] --------------------





    213
    
    
    
<6>[ 2066.511901] |	index	|	hdata	|	ddata	|





    214
    
    
    
<6>[ 2066.512390] |	0	|	0x1	|	1	|





    215
    
    
    
<6>[ 2066.513244] |	1	|	0x0	|	0	|





    216
    
    
    
<6>[ 2066.513702] ----------





    217
    
    
    
<6>[ 2066.515655] --> ECS_IOCTL_WRITE #1





    218
    
    
    
<6>[ 2066.516174] what is in rwbuf?





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<6>[ 2066.517120] --------------------





    220
    
    
    
<6>[ 2066.517578] |	index	|	hdata	|	ddata	|





    221
    
    
    
<6>[ 2066.518066] |	0	|	0x4	|	4	|





    222
    
    
    
<6>[ 2066.518524] |	1	|	0xee	|	238	|





    223
    
    
    
<6>[ 2066.519378] |	2	|	0x10	|	16	|





    224
    
    
    
<6>[ 2066.519836] |	3	|	0x10	|	16	|





    225
    
    
    
<6>[ 2066.520324] |	4	|	0x10	|	16	|





    226
    
    
    
<6>[ 2066.520904] ----------





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<6>[ 2066.521789] --> ECS_IOCTL_WRITE





    228
    
    
    
<6>[ 2066.524230] --> ECS_IOCTL_WRITE #1





    229
    
    
    
<6>[ 2066.524749] what is in rwbuf?





    230
    
    
    
<6>[ 2066.525299] --------------------





    231
    
    
    
<6>[ 2066.526153] |	index	|	hdata	|	ddata	|





    232
    
    
    
<6>[ 2066.526641] |	0	|	0x4	|	4	|





    233
    
    
    
<6>[ 2066.527099] |	1	|	0xeb	|	235	|





    234
    
    
    
<6>[ 2066.527954] |	2	|	0x3	|	3	|





    235
    
    
    
<6>[ 2066.528411] |	3	|	0x7	|	7	|





    236
    
    
    
<6>[ 2066.528869] |	4	|	0x8a	|	138	|





    237
    
    
    
<6>[ 2066.529357] ----------





    238
    
    
    
<6>[ 2066.529815] --> ECS_IOCTL_WRITE





    239
    
    
    
<6>[ 2066.532836] --> ECS_IOCTL_WRITE #1





    240
    
    
    
<6>[ 2066.533355] what is in rwbuf?





    241
    
    
    
<6>[ 2066.533874] --------------------





    242
    
    
    
<6>[ 2066.534729] |	index	|	hdata	|	ddata	|





    243
    
    
    
<6>[ 2066.535186] |	0	|	0x2	|	2	|





    244
    
    
    
<6>[ 2066.535675] |	1	|	0xf4	|	244	|





    245
    
    
    
<6>[ 2066.536132] |	2	|	0x55	|	85	|





    246
    
    
    
<6>[ 2066.537017] |	3	|	0x0	|	0	|





    247
    
    
    
<6>[ 2066.537475] |	4	|	0x0	|	0	|





    248
    
    
    
<6>[ 2066.537933] ----------





    249
    
    
    
<6>[ 2066.538391] --> ECS_IOCTL_WRITE





    250
    
    
    
<6>[ 2066.539947] --> ECS_IOCTL_WRITE #1





    251
    
    
    
<6>[ 2066.540618] what is in rwbuf?





    252
    
    
    
<6>[ 2066.541107] --------------------





    253
    
    
    
<6>[ 2066.541534] |	index	|	hdata	|	ddata	|





    254
    
    
    
<6>[ 2066.542388] |	0	|	0x2	|	2	|





    255
    
    
    
<6>[ 2066.542877] |	1	|	0xf5	|	245	|





    256
    
    
    
<6>[ 2066.543334] |	2	|	0x1b	|	27	|





    257
    
    
    
<6>[ 2066.544219] |	3	|	0x0	|	0	|





    258
    
    
    
<6>[ 2066.544677] |	4	|	0x0	|	0	|





    259
    
    
    
<6>[ 2066.545135] ----------





    260
    
    
    
<6>[ 2066.545623] --> ECS_IOCTL_WRITE





    261
    
    
    
<6>[ 2066.548126] --> ECS_IOCTL_WRITE #1





    262
    
    
    
<6>[ 2066.548370] what is in rwbuf?





    263
    
    
    
<6>[ 2066.548614] --------------------





    264
    
    
    
<6>[ 2066.548858] |	index	|	hdata	|	ddata	|





    265
    
    
    
<6>[ 2066.549285] |	0	|	0x2	|	2	|





    266
    
    
    
<6>[ 2066.549530] |	1	|	0xf6	|	246	|





    267
    
    
    
<6>[ 2066.549743] |	2	|	0x8	|	8	|





    268
    
    
    
<6>[ 2066.549987] |	3	|	0x0	|	0	|





    269
    
    
    
<6>[ 2066.550537] |	4	|	0x0	|	0	|





    270
    
    
    
<6>[ 2066.550781] ----------





    271
    
    
    
<6>[ 2066.551025] --> ECS_IOCTL_WRITE





    272
    
    
    
<6>[ 2066.552398] --> ECS_IOCTL_WRITE #1





    273
    
    
    
<6>[ 2066.552856] what is in rwbuf?





    274
    
    
    
<6>[ 2066.553131] --------------------





    275
    
    
    
<6>[ 2066.553375] |	index	|	hdata	|	ddata	|





    276
    
    
    
<6>[ 2066.553802] |	0	|	0x4	|	4	|





    277
    
    
    
<6>[ 2066.554046] |	1	|	0xf1	|	241	|





    278
    
    
    
<6>[ 2066.554260] |	2	|	0x84	|	132	|





    279
    
    
    
<6>[ 2066.554504] |	3	|	0x87	|	135	|





    280
    
    
    
<6>[ 2066.554931] |	4	|	0x83	|	131	|





    281
    
    
    
<6>[ 2066.555145] ----------





    282
    
    
    
<6>[ 2066.555389] --> ECS_IOCTL_WRITE





    283
    
    
    
<6>[ 2066.557525] --> ECS_IOCTL_GET_CLOSE_STATUS





    284
    
    
    
<6>[ 2066.558074] --> ECS_IOCTL_GET_DELAY





    285
    
    
    
<6>[ 2066.558319] --> ECS_IOCTL_GET_DELAY #3





    286
    
    
    
<6>[ 2066.761016] --> ECS_IOCTL_SET_MODE #1





    287
    
    
    
<6>[ 2066.761932] --> ECS_IOCTL_SET_MODE





    288
    
    
    
<6>[ 2066.762420]  --> AKECS_MODE_MEASURE_SNG





    289
    
    
    
<6>[ 2066.781555] --> ECS_IOCTL_GETDATA





    290
    
    
    
<6>[ 2066.782531] --> ECS_IOCTL_GETDATA #3





    291
    
    
    
<6>[ 2066.783020] --------------------





    292
    
    
    
<6>[ 2066.783477] |	index	|	hdata	|	ddata	|





    293
    
    
    
<6>[ 2066.783935] gflag1|	0	|	0x70	|	112	|





    294
    
    
    
<6>[ 2066.784820] gflag1|	1	|	0x7f	|	127	|





    295
    
    
    
<6>[ 2066.785278] gflag1|	2	|	0xa3	|	163	|





    296
    
    
    
<6>[ 2066.785766] gflag1|	3	|	0x5d	|	93	|





    297
    
    
    
<6>[ 2066.786621] gflag1|	4	|	0x68	|	104	|





    298
    
    
    
<6>[ 2066.787078] gflag1|	5	|	0x86	|	134	|





    299
    
    
    
<6>[ 2066.787567] gflag1|	6	|	0x5c	|	92	|





    300
    
    
    
<6>[ 2066.788421] gflag1|	7	|	0x85	|	133	|





    301
    
    
    
<6>[ 2066.788879] gflag1|	8	|	0x0	|	0	|





    302
    
    
    
<6>[ 2066.789367] gflag1|	9	|	0x0	|	0	|





    303
    
    
    
<6>[ 2066.790222] gflag1|	10	|	0x0	|	0	|





    304
    
    
    
<6>[ 2066.790832] gflag1|	11	|	0x0	|	0	|





    305
    
    
    
<6>[ 2066.791320] gflag1|	12	|	0x0	|	0	|





    306
    
    
    
<6>[ 2066.791778] gflag1|	13	|	0x0	|	0	|





    307
    
    
    
<6>[ 2066.792663] gflag1|	14	|	0x0	|	0	|





    308
    
    
    
<6>[ 2066.793121] gflag1|	15	|	0x0	|	0	|





    309
    
    
    
<6>[ 2066.793579] gflag1|	16	|	0x0	|	0	|





    310
    
    
    
<6>[ 2066.794464] gflag1|	17	|	0xa3	|	163	|





    311
    
    
    
<6>[ 2066.794921] gflag1|	18	|	0x5d	|	93	|





    312
    
    
    
<6>[ 2066.795379] gflag1|	19	|	0x68	|	104	|





    313
    
    
    
<6>[ 2066.796264] gflag1|	20	|	0x86	|	134	|





    314
    
    
    
<6>[ 2066.796722] gflag1|	21	|	0x5c	|	92	|





    315
    
    
    
<6>[ 2066.797210] gflag1|	22	|	0x85	|	133	|





    316
    
    
    
<6>[ 2066.798065] gflag1|	23	|	0x0	|	0	|





    317
    
    
    
<6>[ 2066.798553] gflag1|	24	|	0x0	|	0	|





    318
    
    
    
<6>[ 2066.799041] gflag1|	25	|	0x0	|	0	|





    319
    
    
    
<6>[ 2066.799499] gflag1|	26	|	0x0	|	0	|





    320
    
    
    
<6>[ 2066.800354] gflag1|	27	|	0x0	|	0	|





    321
    
    
    
<6>[ 2066.800903] gflag1|	28	|	0x0	|	0	|





    322
    
    
    
<6>[ 2066.801391] gflag1|	29	|	0x0	|	0	|





    323
    
    
    
<6>[ 2066.802246] gflag1|	30	|	0x0	|	0	|





    324
    
    
    
<6>[ 2066.802703] gflag1|	31	|	0x0	|	0	|





    325
    
    
    
<6>[ 2066.803161] ----------





    326
    
    
    
<6>[ 2066.807067] --> ECS_IOCTL_GET_NUMFRQ





    327
    
    
    
<6>[ 2066.808044] --> ECS_IOCTL_GET_NUMFRQ #3





    328
    
    
    
<6>[ 2066.808502] --------------------





    329
    
    
    
<6>[ 2066.808959] |	index	|	hdata	|	ddata	|





    330
    
    
    
<6>[ 2066.809814] |	0	|	0x1	|	1	|





    331
    
    
    
<6>[ 2066.810302] |	1	|	0x0	|	0	|





    332
    
    
    
<6>[ 2066.810943] ----------





    333
    
    
    
<6>[ 2066.813629] --> ECS_IOCTL_SET_YPR #1





    334
    
    
    
<6>[ 2066.814636] --------------------





    335
    
    
    
<6>[ 2066.815093] |	index	|	hdata	|	ddata	|





    336
    
    
    
<6>[ 2066.815582] gflag2|	0	|	0x55	|	85	|





    337
    
    
    
<6>[ 2066.816467] gflag2|	1	|	0xffffffff	|	-1	|





    338
    
    
    
<6>[ 2066.816925] gflag2|	2	|	0x2	|	2	|





    339
    
    
    
<6>[ 2066.817382] gflag2|	3	|	0x1e	|	30	|





    340
    
    
    
<6>[ 2066.817840] gflag2|	4	|	0x1	|	1	|





    341
    
    
    
<6>[ 2066.818328] gflag2|	5	|	0x0	|	0	|





    342
    
    
    
<6>[ 2066.818786] gflag2|	6	|	0x14	|	20	|





    343
    
    
    
<6>[ 2066.819244] gflag2|	7	|	0xfffffd3b	|	-709	|





    344
    
    
    
<6>[ 2066.820129] gflag2|	8	|	0x11	|	17	|





    345
    
    
    
<6>[ 2066.820770] gflag2|	9	|	0x185	|	389	|





    346
    
    
    
<6>[ 2066.821258] gflag2|	10	|	0xffffffe7	|	-25	|





    347
    
    
    
<6>[ 2066.822113] gflag2|	11	|	0xfffffe20	|	-480	|





    348
    
    
    
<6>[ 2066.822570] ----------





    349
    
    
    
<6>[ 2066.823028] --> ECS_IOCTL_SET_YPR





    350
    
    
    
<6>[ 2066.823913] AKECS_Report_Value: yaw = 85, pitch = -1, roll = 2





    351
    
    
    
<6>[ 2066.824401]                     tmp = 30, m_stat= 1, g_stat=0





    352
    
    
    
<6>[ 2066.825286]           G_Sensor:   x = 20 LSB, y = -709 LSB, z = 17 LSB





    353
    
    
    
<6>[ 2066.825744]                MAG:   MAGV_X = 389, MAGV_Y = -25, MAGV_Z = -480





    354
    
    
    
<6>[ 2066.829833] --> ECS_IOCTL_GET_DELAY





    355
    
    
    
<6>[ 2066.830352] --> ECS_IOCTL_GET_DELAY #3





    356
    
    
    
<6>[ 2067.034759] --> ECS_IOCTL_SET_MODE #1





    357
    
    
    
<6>[ 2067.035705] --> ECS_IOCTL_SET_MODE





    358
    
    
    
<6>[ 2067.036163]  --> AKECS_MODE_MEASURE_SNG





    359
    
    
    
<6>[ 2067.051818] --> ECS_IOCTL_GETDATA





    360
    
    
    
<6>[ 2067.052764] --> ECS_IOCTL_GETDATA #3





    361
    
    
    
<6>[ 2067.053253] --------------------





    362
    
    
    
<6>[ 2067.053741] |	index	|	hdata	|	ddata	|





    363
    
    
    
<6>[ 2067.054595] gflag1|	0	|	0x70	|	112	|





    364
    
    
    
<6>[ 2067.055084] gflag1|	1	|	0x7f	|	127	|





    365
    
    
    
<6>[ 2067.055572] gflag1|	2	|	0xa2	|	162	|





    366
    
    
    
<6>[ 2067.056427] gflag1|	3	|	0x5d	|	93	|





    367
    
    
    
<6>[ 2067.056915] gflag1|	4	|	0x65	|	101	|





    368
    
    
    
<6>[ 2067.057373] gflag1|	5	|	0x86	|	134	|





    369
    
    
    
<6>[ 2067.057861] gflag1|	6	|	0x5b	|	91	|





    370
    
    
    
<6>[ 2067.058715] gflag1|	7	|	0x85	|	133	|





    371
    
    
    
<6>[ 2067.059173] gflag1|	8	|	0x0	|	0	|





    372
    
    
    
<6>[ 2067.059661] gflag1|	9	|	0x0	|	0	|





    373
    
    
    
<6>[ 2067.060577] gflag1|	10	|	0x0	|	0	|





    374
    
    
    
<6>[ 2067.061157] gflag1|	11	|	0x0	|	0	|





    375
    
    
    
<6>[ 2067.061645] gflag1|	12	|	0x0	|	0	|





    376
    
    
    
<6>[ 2067.062500] gflag1|	13	|	0x0	|	0	|





    377
    
    
    
<6>[ 2067.062957] gflag1|	14	|	0x0	|	0	|





    378
    
    
    
<6>[ 2067.063415] gflag1|	15	|	0x0	|	0	|





    379
    
    
    
<6>[ 2067.063873] gflag1|	16	|	0x0	|	0	|





    380
    
    
    
<6>[ 2067.064727] gflag1|	17	|	0xa2	|	162	|





    381
    
    
    
<6>[ 2067.065185] gflag1|	18	|	0x5d	|	93	|





    382
    
    
    
<6>[ 2067.065673] gflag1|	19	|	0x65	|	101	|





    383
    
    
    
<6>[ 2067.066528] gflag1|	20	|	0x86	|	134	|





    384
    
    
    
<6>[ 2067.067016] gflag1|	21	|	0x5b	|	91	|





    385
    
    
    
<6>[ 2067.067474] gflag1|	22	|	0x85	|	133	|





    386
    1
    Paul Kocialkowski
    
<6>[ 2067.068328] gflag1|	23	|	0x0	|	0	|





    387
    
    
    
<6>[ 2067.068817] gflag1|	24	|	0x0	|	0	|





    388
    
    
    
<6>[ 2067.069274] gflag1|	25	|	0x0	|	0	|





    389
    
    
    
<6>[ 2067.070129] gflag1|	26	|	0x0	|	0	|





    390
    
    
    
<6>[ 2067.070587] gflag1|	27	|	0x0	|	0	|





    391
    10
    Paul Kocialkowski
    
<6>[ 2067.071136] gflag1|	28	|	0x0	|	0	|





    392
    
    
    
<6>[ 2067.071624] gflag1|	29	|	0x0	|	0	|





    393
    
    
    
<6>[ 2067.072479] gflag1|	30	|	0x0	|	0	|





    394
    
    
    
<6>[ 2067.072937] gflag1|	31	|	0x0	|	0	|





    395
    
    
    
<6>[ 2067.073394] ----------





    396
    
    
    
<6>[ 2067.077880] --> ECS_IOCTL_GET_NUMFRQ





    397
    1
    Paul Kocialkowski
    
<6>[ 2067.078399] --> ECS_IOCTL_GET_NUMFRQ #3





    398
    
    
    
<6>[ 2067.078857] --------------------





    399
    
    
    
<6>[ 2067.079315] |	index	|	hdata	|	ddata	|





    400
    10
    Paul Kocialkowski
    
<6>[ 2067.080169] |	0	|	0x1	|	1	|





    401
    1
    Paul Kocialkowski
    
<6>[ 2067.080657] |	1	|	0x0	|	0	|





    402
    
    
    
<6>[ 2067.081298] ----------





    403
    
    
    
<6>[ 2067.083892] --> ECS_IOCTL_SET_YPR #1





    404
    
    
    
<6>[ 2067.084869] --------------------





    405
    
    
    
<6>[ 2067.085327] |	index	|	hdata	|	ddata	|





    406
    
    
    
<6>[ 2067.085815] gflag2|	0	|	0x54	|	84	|





    407
    10
    Paul Kocialkowski
    
<6>[ 2067.086700] gflag2|	1	|	0xffffffff	|	-1	|





    408
    
    
    
<6>[ 2067.087158] gflag2|	2	|	0x2	|	2	|





    409
    
    
    
<6>[ 2067.087615] gflag2|	3	|	0x1e	|	30	|





    410
    1
    Paul Kocialkowski
    
<6>[ 2067.088470] gflag2|	4	|	0x1	|	1	|





    411
    10
    Paul Kocialkowski
    
<6>[ 2067.088928] gflag2|	5	|	0x0	|	0	|





    412
    
    
    
<6>[ 2067.089416] gflag2|	6	|	0x14	|	20	|





    413
    
    
    
<6>[ 2067.090270] gflag2|	7	|	0xfffffd2b	|	-725	|





    414
    1
    Paul Kocialkowski
    
<6>[ 2067.090728] gflag2|	8	|	0x11	|	17	|





    415
    10
    Paul Kocialkowski
    
<6>[ 2067.091400] gflag2|	9	|	0x175	|	373	|





    416
    
    
    
<6>[ 2067.092254] gflag2|	10	|	0xffffffe7	|	-25	|





    417
    1
    Paul Kocialkowski
    
<6>[ 2067.092742] gflag2|	11	|	0xfffffdef	|	-529	|





    418
    10
    Paul Kocialkowski
    
<6>[ 2067.093231] ----------





    419
    
    
    
<6>[ 2067.093688] --> ECS_IOCTL_SET_YPR





    420
    
    
    
<6>[ 2067.094543] AKECS_Report_Value: yaw = 84, pitch = -1, roll = 2





    421
    
    
    
<6>[ 2067.095031]                     tmp = 30, m_stat= 1, g_stat=0





    422
    
    
    
<6>[ 2067.095916]           G_Sensor:   x = 20 LSB, y = -725 LSB, z = 17 LSB





    423
    
    
    
<6>[ 2067.096405]                MAG:   MAGV_X = 373, MAGV_Y = -25, MAGV_Z = -529





    424
    12
    Paul Kocialkowski
    
</pre>





    425
    10
    Paul Kocialkowski
    





    426
    
    
    





    427
    12
    Paul Kocialkowski
    
h3. Index of the things to know about the different ioctl commands





    428
    
    
    





    429
    
    
    





    430
    
    
    
* *ECS_IOCTL_SET_MODE*: value is a short, must be one of the following values, as defined in akm8976.h:





    431
    
    
    
<pre>





    432
    10
    Paul Kocialkowski
    
#define AKECS_MODE_MEASURE	0x00	/* Starts measurement. Please use AKECS_MODE_MEASURE_SNG */





    433
    
    
    
					/* or AKECS_MODE_MEASURE_SEQ instead of this. */





    434
    
    
    
#define AKECS_MODE_PFFD		0x01	/* Start pedometer and free fall detect. */





    435
    
    
    
#define AKECS_MODE_E2P_READ	0x02	/* E2P access mode (read). */





    436
    1
    Paul Kocialkowski
    
#define AKECS_MODE_POWERDOWN	0x03	/* Power down mode */





    437
    10
    Paul Kocialkowski
    





    438
    
    
    
#define AKECS_MODE_MEASURE_SNG	0x10	/* Starts single measurement */





    439
    
    
    
#define AKECS_MODE_MEASURE_SEQ	0x11	/* Starts sequential measurement */





    440
    12
    Paul Kocialkowski
    
</pre>





    441
    
    
    
* *ECS_IOCTL_READ*/*ECS_IOCTL_WRITE*: value is a char table (called rwbuf on the kernel driver). rwbufr0 is the length of the data and the data itself starts at rwbufr1. *ECS_IOCTL_READ* will give an answer to the request (on the same format) while *ECS_IOCTL_WRITE* won't. rwbuf is sent to the chip using I2C from the kernel driver.





    442
    1
    Paul Kocialkowski
    





    443
    10
    Paul Kocialkowski
    





    444
    12
    Paul Kocialkowski
    
h3. Index of the files that are used by akmd or the kernel





    445
    10
    Paul Kocialkowski
    





    446
    
    
    





    447
    12
    Paul Kocialkowski
    
* */data/misc/akmd_set.txt*: it's the file containing the calibration values that akmd loads when it starts. If this file does not exist, akmd will re-create from the data it gets doing an ioctl system call to the kernel driver with ECS_IOCTL_GET_CALI_DATA. 





    448
    
    
    





    449
    
    
    





    450
    
    
    
h3. The initialization part





    451
    
    
    





    452
    
    
    





    453
    10
    Paul Kocialkowski
    
Let's take a look closer at the initialization part: this concerns everything before akmd starts reporting treated values.





    454
    
    
    





    455
    
    
    
So first of all, we have:





    456
    
    
    





    457
    12
    Paul Kocialkowski
    
<pre>





    458
    10
    Paul Kocialkowski
    
<6>[ 2066.362670] --> ECS_IOCTL_SET_MODE #1





    459
    1
    Paul Kocialkowski
    
<6>[ 2066.363220] --> ECS_IOCTL_SET_MODE





    460
    10
    Paul Kocialkowski
    
<6>[ 2066.364074]  --> AKECS_MODE_E2P_READ





    461
    
    
    





    462
    12
    Paul Kocialkowski
    
</pre>





    463
    10
    Paul Kocialkowski
    





    464
    
    
    
akmd sets the driver mode to AKECS_MODE_E2P_READ. It's not clear about why it's really necessary but it's there anyway, and it's quite easy to reproduce since there is no data treatment on that and that it's now clear that this call does not change depending of external values.





    465
    
    
    





    466
    12
    Paul Kocialkowski
    
<pre>





    467
    10
    Paul Kocialkowski
    
<6>[ 2066.381042] --> ECS_IOCTL_READ #1





    468
    
    
    
<6>[ 2066.381317] what is in rwbuf?





    469
    
    
    
<6>[ 2066.381744] --------------------





    470
    
    
    
<6>[ 2066.382019] |	index	|	hdata	|	ddata	|





    471
    
    
    
<6>[ 2066.382263] |	0	|	0x1	|	1	|





    472
    
    
    
<6>[ 2066.382507] |	1	|	0x42	|	66	|





    473
    
    
    
<6>[ 2066.382934] |	2	|	0x0	|	0	|





    474
    
    
    
<6>[ 2066.383178] |	3	|	0x0	|	0	|





    475
    
    
    
<6>[ 2066.383392] |	4	|	0x0	|	0	|





    476
    
    
    
<6>[ 2066.383636] ----------





    477
    
    
    
<6>[ 2066.384063] --> ECS_IOCTL_READ





    478
    
    
    
<6>[ 2066.384979] --> ECS_IOCTL_READ #3





    479
    1
    Paul Kocialkowski
    
<6>[ 2066.385253] --------------------





    480
    10
    Paul Kocialkowski
    
<6>[ 2066.385498] |	index	|	hdata	|	ddata	|





    481
    
    
    
<6>[ 2066.385925] |	0	|	0x1	|	1	|





    482
    1
    Paul Kocialkowski
    
<6>[ 2066.386169] |	1	|	0x66	|	102	|





    483
    10
    Paul Kocialkowski
    
<6>[ 2066.386383] |	2	|	0x0	|	0	|





    484
    
    
    
<6>[ 2066.386627] |	3	|	0x0	|	0	|





    485
    
    
    
<6>[ 2066.387054] |	4	|	0x0	|	0	|





    486
    12
    Paul Kocialkowski
    
</pre>





    487
    10
    Paul Kocialkowski
    





    488
    
    
    
This first part (ECS_IOCTL_READ #1) is the request (READ REQ #1) that akmd sends to the kernel and the second part (ECS_IOCTL_READ #3) is the answer (READ ASW #1) it gets. Its length is 1, so all the 0 values are not to be taken in count. 





    489
    
    
    
For this, the request is always { 1, 66 } but the answer may not be the same on different devices. 





    490
    
    
    





    491
    
    
    
Though, this value seems not to be used used for any of the next requests, but it may still be the case. 





    492
    
    
    





    493
    12
    Paul Kocialkowski
    
<pre>





    494
    10
    Paul Kocialkowski
    
<6>[ 2066.387542] --> ECS_IOCTL_SET_MODE #1





    495
    
    
    
<6>[ 2066.387786] --> ECS_IOCTL_SET_MODE





    496
    1
    Paul Kocialkowski
    
<6>[ 2066.388214]  --> AKECS_MODE_POWERDOWN





    497
    
    
    
<6>[ 2066.401031] --> ECS_IOCTL_GET_OPEN_STATUS





    498
    10
    Paul Kocialkowski
    
<6>[ 2066.401306] --> ECS_IOCTL_GET_OPEN_STATUS #3





    499
    
    
    
<6>[ 2066.407135] --> ECS_IOCTL_INIT





    500
    
    
    
<6>[ 2066.408020] --> ECS_IOCTL_SET_MODE #1





    501
    
    
    
<6>[ 2066.408294] --> ECS_IOCTL_SET_MODE





    502
    
    
    
<6>[ 2066.408721]  --> AKECS_MODE_E2P_READ





    503
    12
    Paul Kocialkowski
    
</pre>





    504
    10
    Paul Kocialkowski
    





    505
    
    
    
akmd sets the mode to AKECS_MODE_POWERDOWN, then waits for the kernel to have "open" status. This appears when the accelerometer/magnetometer is requested by the system, so if nothing requests the chip, ECS_IOCTL_GET_OPEN_STATUS





    506
    
    
    
 will block until the chip is requested. This also append when the phone is in "sleep" mode. 





    507
    
    
    





    508
    
    
    
When ECS_IOCTL_GET_OPEN_STATUS is not blocking (the chip is requested by the system), akmd asks the driver to init the chip, with ECS_IOCTL_INIT. Then, akmd sets the mode to AKECS_MODE_E2P_READ. The reason of that is still unclear.





    509
    
    
    





    510
    
    
    
All this is already implemented in akmd-free.





    511
    
    
    





    512
    12
    Paul Kocialkowski
    
<pre>





    513
    10
    Paul Kocialkowski
    
<6>[ 2066.421234] --> ECS_IOCTL_READ #1





    514
    
    
    
<6>[ 2066.421630] what is in rwbuf?





    515
    
    
    
<6>[ 2066.422302] --------------------





    516
    
    
    
<6>[ 2066.422637] |	index	|	hdata	|	ddata	|





    517
    1
    Paul Kocialkowski
    
<6>[ 2066.423004] |	0	|	0x3	|	3	|





    518
    
    
    
<6>[ 2066.423339] |	1	|	0x46	|	70	|





    519
    10
    Paul Kocialkowski
    
<6>[ 2066.423950] |	2	|	0x0	|	0	|





    520
    
    
    
<6>[ 2066.424285] |	3	|	0x0	|	0	|





    521
    
    
    
<6>[ 2066.424621] |	4	|	0x0	|	0	|





    522
    
    
    
<6>[ 2066.424957] ----------





    523
    
    
    
<6>[ 2066.425567] --> ECS_IOCTL_READ





    524
    
    
    
<6>[ 2066.426696] --> ECS_IOCTL_READ #3





    525
    
    
    
<6>[ 2066.427062] --------------------





    526
    
    
    
<6>[ 2066.427398] |	index	|	hdata	|	ddata	|





    527
    
    
    
<6>[ 2066.428039] |	0	|	0x3	|	3	|





    528
    
    
    
<6>[ 2066.428375] |	1	|	0x97	|	151	|





    529
    
    
    
<6>[ 2066.428710] |	2	|	0x87	|	135	|





    530
    
    
    
<6>[ 2066.429321] |	3	|	0x19	|	25	|





    531
    
    
    
<6>[ 2066.429656] |	4	|	0x0	|	0	|





    532
    
    
    
<6>[ 2066.429992] ----------





    533
    12
    Paul Kocialkowski
    
</pre>





    534
    10
    Paul Kocialkowski
    





    535
    
    
    
Here we have a read request, with { 3, 70 } (READ REQ #2) that returns { 3, x, y, z } (READ ASW #2). The answer elements are called x, y, z since these are not constant and my change between devices. We'll refer to these values under the names: READ ASW #2's x, READ ASW #2's y and READ ASW #2's z.





    536
    
    
    





    537
    12
    Paul Kocialkowski
    
<pre>





    538
    10
    Paul Kocialkowski
    
<6>[ 2066.431243] --> ECS_IOCTL_SET_MODE #1





    539
    
    
    
<6>[ 2066.431915] --> ECS_IOCTL_SET_MODE





    540
    
    
    
<6>[ 2066.432250]  --> AKECS_MODE_POWERDOWN





    541
    
    
    
<6>[ 2066.450866] --> ECS_IOCTL_WRITE #1





    542
    
    
    
<6>[ 2066.451385] what is in rwbuf?





    543
    
    
    
<6>[ 2066.452239] --------------------





    544
    
    
    
<6>[ 2066.452697] |	index	|	hdata	|	ddata	|





    545
    
    
    
<6>[ 2066.453186] |	0	|	0x4	|	4	|





    546
    
    
    
<6>[ 2066.454040] |	1	|	0xe8	|	232	|





    547
    
    
    
<6>[ 2066.454498] |	2	|	0x7	|	7	|





    548
    
    
    
<6>[ 2066.454956] |	3	|	0x7	|	7	|





    549
    
    
    
<6>[ 2066.455413] |	4	|	0x9	|	9	|





    550
    
    
    
<6>[ 2066.456268] ----------





    551
    
    
    
<6>[ 2066.456726] --> ECS_IOCTL_WRITE





    552
    12
    Paul Kocialkowski
    
</pre>





    553
    10
    Paul Kocialkowski
    





    554
    12
    Paul Kocialkowski
    
Here akmd sets the mode to AKECS_MODE_POWERDOWN and writes 4 numbers { 4, 232, x, y, z } to the kernel driver. rwbufr1 is always 232 but the other numbers are changing depending on READ ASW #2's values. The formula to get x, y and z from READ ASW #2's values is:





    555
    10
    Paul Kocialkowski
    
x = (READ ASW #2's x) % 16





    556
    
    
    
y = (READ ASW #2's y) % 16





    557
    
    
    
z = (READ ASW #2's y) % 16





    558
    
    
    





    559
    
    
    
The way to discover that was to determine what makes these values change and how they change depending on READ ASW #2's values. This was easy since the values are also printed in hex format, so (READ ASW #2's x) % 16 is the last number of the hex representation of READ ASW #2's x. 





    560
    
    
    





    561
    12
    Paul Kocialkowski
    
<pre>





    562
    10
    Paul Kocialkowski
    
<6>[ 2066.457916] --> ECS_IOCTL_WRITE #1





    563
    
    
    
<6>[ 2066.458374] what is in rwbuf?





    564
    
    
    
<6>[ 2066.459228] --------------------





    565
    1
    Paul Kocialkowski
    
<6>[ 2066.459686] |	index	|	hdata	|	ddata	|





    566
    
    
    
<6>[ 2066.460174] |	0	|	0x4	|	4	|





    567
    
    
    
<6>[ 2066.460784] |	1	|	0xe5	|	229	|





    568
    
    
    
<6>[ 2066.461669] |	2	|	0x89	|	137	|





    569
    
    
    
<6>[ 2066.462127] |	3	|	0x0	|	0	|





    570
    
    
    
<6>[ 2066.462615] |	4	|	0x89	|	137	|





    571
    
    
    
<6>[ 2066.463073] ----------





    572
    
    
    
<6>[ 2066.463928] --> ECS_IOCTL_WRITE





    573
    
    
    
<6>[ 2066.465698] --> ECS_IOCTL_SET_MODE #1





    574
    
    
    
<6>[ 2066.466186] --> ECS_IOCTL_SET_MODE





    575
    
    
    
<6>[ 2066.467071]  --> AKECS_MODE_MEASURE_SNG





    576
    12
    Paul Kocialkowski
    
</pre>





    577
    1
    Paul Kocialkowski
    





    578
    12
    Paul Kocialkowski
    
Here is a write request of the type { 4, 229, x, y, z }. x, y and z values seem to be written to _akmd_set_values.txt_ when akmd quits (this should be confirmed), so on the first start of akmd, x, y and z are 0 since there was no previous session to write the numbers on _akmd_set_values.txt_.





    579
    1
    Paul Kocialkowski
    





    580
    
    
    
Anyway, setting x, y and z to 0 doesn't prevent anything to work. 





    581
    
    
    





    582
    
    
    
Then akmd also sets the mode to AKECS_MODE_MEASURE_SNG.