Multi-touch (MT) Protocol
  -------------------------
  	Copyright (C) 2009	Henrik Rydberg <rydberg@euromail.se>
  
  
  Introduction
  ------------

  In order to utilize the full power of the new multi-touch and multi-user
  devices, a way to report detailed data from multiple contacts, i.e.,
  objects in direct contact with the device surface, is needed.  This
  document describes the multi-touch (MT) protocol which allows kernel
  drivers to report details for an arbitrary number of contacts.
  
  The protocol is divided into two types, depending on the capabilities of the
  hardware. For devices handling anonymous contacts (type A), the protocol
  describes how to send the raw data for all contacts to the receiver. For
  devices capable of tracking identifiable contacts (type B), the protocol
  describes how to send updates for individual contacts via event slots.
  
  
  Protocol Usage
  --------------
  
  Contact details are sent sequentially as separate packets of ABS_MT
  events. Only the ABS_MT events are recognized as part of a contact
  packet. Since these events are ignored by current single-touch (ST)
  applications, the MT protocol can be implemented on top of the ST protocol
  in an existing driver.
  
  Drivers for type A devices separate contact packets by calling
  input_mt_sync() at the end of each packet. This generates a SYN_MT_REPORT
  event, which instructs the receiver to accept the data for the current
  contact and prepare to receive another.
  
  Drivers for type B devices separate contact packets by calling
  input_mt_slot(), with a slot as argument, at the beginning of each packet.
  This generates an ABS_MT_SLOT event, which instructs the receiver to
  prepare for updates of the given slot.
  
  All drivers mark the end of a multi-touch transfer by calling the usual
  input_sync() function. This instructs the receiver to act upon events
  accumulated since last EV_SYN/SYN_REPORT and prepare to receive a new set
  of events/packets.
  
  The main difference between the stateless type A protocol and the stateful
  type B slot protocol lies in the usage of identifiable contacts to reduce
  the amount of data sent to userspace. The slot protocol requires the use of
  the ABS_MT_TRACKING_ID, either provided by the hardware or computed from
  the raw data [5].
  
  For type A devices, the kernel driver should generate an arbitrary
  enumeration of the full set of anonymous contacts currently on the
  surface. The order in which the packets appear in the event stream is not
  important.  Event filtering and finger tracking is left to user space [3].
  
  For type B devices, the kernel driver should associate a slot with each
  identified contact, and use that slot to propagate changes for the contact.
  Creation, replacement and destruction of contacts is achieved by modifying
  the ABS_MT_TRACKING_ID of the associated slot.  A non-negative tracking id
  is interpreted as a contact, and the value -1 denotes an unused slot.  A
  tracking id not previously present is considered new, and a tracking id no
  longer present is considered removed.  Since only changes are propagated,
  the full state of each initiated contact has to reside in the receiving
  end.  Upon receiving an MT event, one simply updates the appropriate
  attribute of the current slot.
  
  
  Protocol Example A
  ------------------
  
  Here is what a minimal event sequence for a two-contact touch would look
  like for a type A device:
  
     ABS_MT_POSITION_X x[0]
     ABS_MT_POSITION_Y y[0]
     SYN_MT_REPORT
     ABS_MT_POSITION_X x[1]
     ABS_MT_POSITION_Y y[1]
     SYN_MT_REPORT
     SYN_REPORT

  The sequence after moving one of the contacts looks exactly the same; the
  raw data for all present contacts are sent between every synchronization
  with SYN_REPORT.

  Here is the sequence after lifting the first contact:

     ABS_MT_POSITION_X x[1]
     ABS_MT_POSITION_Y y[1]
     SYN_MT_REPORT
     SYN_REPORT
  
  And here is the sequence after lifting the second contact:
  
     SYN_MT_REPORT
     SYN_REPORT
  
  If the driver reports one of BTN_TOUCH or ABS_PRESSURE in addition to the
  ABS_MT events, the last SYN_MT_REPORT event may be omitted. Otherwise, the
  last SYN_REPORT will be dropped by the input core, resulting in no
  zero-contact event reaching userland.
  
  
  Protocol Example B
  ------------------
  
  Here is what a minimal event sequence for a two-contact touch would look
  like for a type B device:
  
     ABS_MT_SLOT 0
     ABS_MT_TRACKING_ID 45
     ABS_MT_POSITION_X x[0]
     ABS_MT_POSITION_Y y[0]
     ABS_MT_SLOT 1
     ABS_MT_TRACKING_ID 46
     ABS_MT_POSITION_X x[1]
     ABS_MT_POSITION_Y y[1]
     SYN_REPORT
  
  Here is the sequence after moving contact 45 in the x direction:
  
     ABS_MT_SLOT 0
     ABS_MT_POSITION_X x[0]
     SYN_REPORT
  
  Here is the sequence after lifting the contact in slot 0:
  
     ABS_MT_TRACKING_ID -1
     SYN_REPORT
  
  The slot being modified is already 0, so the ABS_MT_SLOT is omitted.  The
  message removes the association of slot 0 with contact 45, thereby
  destroying contact 45 and freeing slot 0 to be reused for another contact.
  
  Finally, here is the sequence after lifting the second contact:
  
     ABS_MT_SLOT 1
     ABS_MT_TRACKING_ID -1
     SYN_REPORT
  
  
  Event Usage
  -----------

  
  A set of ABS_MT events with the desired properties is defined. The events
  are divided into categories, to allow for partial implementation.  The

  minimum set consists of ABS_MT_POSITION_X and ABS_MT_POSITION_Y, which

  allows for multiple contacts to be tracked.  If the device supports it, the

  ABS_MT_TOUCH_MAJOR and ABS_MT_WIDTH_MAJOR may be used to provide the size

  of the contact area and approaching contact, respectively.

  
  The TOUCH and WIDTH parameters have a geometrical interpretation; imagine
  looking through a window at someone gently holding a finger against the
  glass.  You will see two regions, one inner region consisting of the part
  of the finger actually touching the glass, and one outer region formed by
  the perimeter of the finger. The diameter of the inner region is the
  ABS_MT_TOUCH_MAJOR, the diameter of the outer region is
  ABS_MT_WIDTH_MAJOR. Now imagine the person pressing the finger harder
  against the glass. The inner region will increase, and in general, the
  ratio ABS_MT_TOUCH_MAJOR / ABS_MT_WIDTH_MAJOR, which is always smaller than

  unity, is related to the contact pressure. For pressure-based devices,

  ABS_MT_PRESSURE may be used to provide the pressure on the contact area
  instead.

  In addition to the MAJOR parameters, the oval shape of the contact can be

  described by adding the MINOR parameters, such that MAJOR and MINOR are the
  major and minor axis of an ellipse. Finally, the orientation of the oval
  shape can be describe with the ORIENTATION parameter.
  
  The ABS_MT_TOOL_TYPE may be used to specify whether the touching tool is a

  contact or a pen or something else.  Devices with more granular information

  may specify general shapes as blobs, i.e., as a sequence of rectangular
  shapes grouped together by an ABS_MT_BLOB_ID. Finally, for the few devices
  that currently support it, the ABS_MT_TRACKING_ID event may be used to

  report contact tracking from hardware [5].

  
  Event Semantics
  ---------------

  ABS_MT_TOUCH_MAJOR
  
  The length of the major axis of the contact. The length should be given in
  surface units. If the surface has an X times Y resolution, the largest

  possible value of ABS_MT_TOUCH_MAJOR is sqrt(X^2 + Y^2), the diagonal [4].

  
  ABS_MT_TOUCH_MINOR
  
  The length, in surface units, of the minor axis of the contact. If the

  contact is circular, this event can be omitted [4].

  
  ABS_MT_WIDTH_MAJOR
  
  The length, in surface units, of the major axis of the approaching
  tool. This should be understood as the size of the tool itself. The
  orientation of the contact and the approaching tool are assumed to be the

  same [4].

  
  ABS_MT_WIDTH_MINOR
  
  The length, in surface units, of the minor axis of the approaching

  tool. Omit if circular [4].

  
  The above four values can be used to derive additional information about
  the contact. The ratio ABS_MT_TOUCH_MAJOR / ABS_MT_WIDTH_MAJOR approximates
  the notion of pressure. The fingers of the hand and the palm all have
  different characteristic widths [1].

  ABS_MT_PRESSURE
  
  The pressure, in arbitrary units, on the contact area. May be used instead
  of TOUCH and WIDTH for pressure-based devices or any device with a spatial
  signal intensity distribution.

  ABS_MT_ORIENTATION

  The orientation of the ellipse. The value should describe a signed quarter
  of a revolution clockwise around the touch center. The signed value range
  is arbitrary, but zero should be returned for a finger aligned along the Y
  axis of the surface, a negative value when finger is turned to the left, and
  a positive value when finger turned to the right. When completely aligned with
  the X axis, the range max should be returned.  Orientation can be omitted
  if the touching object is circular, or if the information is not available
  in the kernel driver. Partial orientation support is possible if the device
  can distinguish between the two axis, but not (uniquely) any values in
  between. In such cases, the range of ABS_MT_ORIENTATION should be [0, 1]
  [4].

  
  ABS_MT_POSITION_X
  
  The surface X coordinate of the center of the touching ellipse.
  
  ABS_MT_POSITION_Y
  
  The surface Y coordinate of the center of the touching ellipse.
  
  ABS_MT_TOOL_TYPE
  
  The type of approaching tool. A lot of kernel drivers cannot distinguish
  between different tool types, such as a finger or a pen. In such cases, the
  event should be omitted. The protocol currently supports MT_TOOL_FINGER and
  MT_TOOL_PEN [2].
  
  ABS_MT_BLOB_ID
  
  The BLOB_ID groups several packets together into one arbitrarily shaped

  contact. This is a low-level anonymous grouping for type A devices, and
  should not be confused with the high-level trackingID [5]. Most type A
  devices do not have blob capability, so drivers can safely omit this event.

  
  ABS_MT_TRACKING_ID
  
  The TRACKING_ID identifies an initiated contact throughout its life cycle

  [5]. This event is mandatory for type B devices. The value range of the
  TRACKING_ID should be large enough to ensure unique identification of a
  contact maintained over an extended period of time.

  
  
  Event Computation
  -----------------
  
  The flora of different hardware unavoidably leads to some devices fitting
  better to the MT protocol than others. To simplify and unify the mapping,
  this section gives recipes for how to compute certain events.
  
  For devices reporting contacts as rectangular shapes, signed orientation
  cannot be obtained. Assuming X and Y are the lengths of the sides of the
  touching rectangle, here is a simple formula that retains the most
  information possible:
  
     ABS_MT_TOUCH_MAJOR := max(X, Y)
     ABS_MT_TOUCH_MINOR := min(X, Y)
     ABS_MT_ORIENTATION := bool(X > Y)
  
  The range of ABS_MT_ORIENTATION should be set to [0, 1], to indicate that
  the device can distinguish between a finger along the Y axis (0) and a
  finger along the X axis (1).

  
  
  Finger Tracking
  ---------------

  The process of finger tracking, i.e., to assign a unique trackingID to each

  initiated contact on the surface, is a Euclidian Bipartite Matching
  problem.  At each event synchronization, the set of actual contacts is
  matched to the set of contacts from the previous synchronization. A full
  implementation can be found in [3].

  Gestures
  --------
  
  In the specific application of creating gesture events, the TOUCH and WIDTH
  parameters can be used to, e.g., approximate finger pressure or distinguish
  between index finger and thumb. With the addition of the MINOR parameters,
  one can also distinguish between a sweeping finger and a pointing finger,
  and with ORIENTATION, one can detect twisting of fingers.

  Notes
  -----
  
  In order to stay compatible with existing applications, the data
  reported in a finger packet must not be recognized as single-touch
  events. In addition, all finger data must bypass input filtering,
  since subsequent events of the same type refer to different fingers.
  
  The first kernel driver to utilize the MT protocol is the bcm5974 driver,
  where examples can be found.
  
  [1] With the extension ABS_MT_APPROACH_X and ABS_MT_APPROACH_Y, the
  difference between the contact position and the approaching tool position
  could be used to derive tilt.
  [2] The list can of course be extended.

  [3] Multitouch X driver project: http://bitmath.org/code/multitouch/.

  [4] See the section on event computation.
  [5] See the section on finger tracking.