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rt-thread-official/components/drivers/sensors/sensor.h

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/*
* Copyright (c) 2006-2018, RT-Thread Development Team
*
* SPDX-License-Identifier: Apache-2.0
*
* Change Logs:
* Date Author Notes
* 2014-08-03 Bernard the first version
*/
/* Modified from: https://github.com/android/platform_hardware_libhardware/blob/master/include/hardware/sensors.h */
/*
* Copyright (C) 2012 The Android Open Source Project
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef SENSORS_H__
#define SENSORS_H__
#include <rtdevice.h>
#include <stdint.h>
#ifdef __CC_ARM /* skip warning in armcc */
#pragma anon_unions
#endif
/**
* Handles must be higher than SENSORS_HANDLE_BASE and must be unique.
* A Handle identifies a given sensors. The handle is used to activate
* and/or deactivate sensors.
* In this version of the API there can only be 256 handles.
*/
#define SENSORS_HANDLE_BASE 0
#define SENSORS_HANDLE_BITS 8
#define SENSORS_HANDLE_COUNT (1<<SENSORS_HANDLE_BITS)
/*
* flags for (*batch)()
* Availability: SENSORS_DEVICE_API_VERSION_1_0
* see (*batch)() documentation for details
*/
enum
{
SENSORS_BATCH_DRY_RUN = 0x00000001,
SENSORS_BATCH_WAKE_UPON_FIFO_FULL = 0x00000002
};
/*
* what field for meta_data_event_t
*/
enum
{
/* a previous flush operation has completed */
META_DATA_FLUSH_COMPLETE = 1,
META_DATA_VERSION /* always last, leave auto-assigned */
};
/**
* Definition of the axis used by the sensor HAL API
*
* This API is relative to the screen of the device in its default orientation,
* that is, if the device can be used in portrait or landscape, this API
* is only relative to the NATURAL orientation of the screen. In other words,
* the axis are not swapped when the device's screen orientation changes.
* Higher level services /may/ perform this transformation.
*
* x<0 x>0
* ^
* |
* +-----------+--> y>0
* | |
* | |
* | |
* | | / z<0
* | | /
* | | /
* O-----------+/
* |[] [ ] []/
* +----------/+ y<0
* /
* /
* |/ z>0 (toward the sky)
*
* O: Origin (x=0,y=0,z=0)
*
*/
/*
* Interaction with suspend mode
*
* Unless otherwise noted, an enabled sensor shall not prevent the
* SoC to go into suspend mode. It is the responsibility of applications
* to keep a partial wake-lock should they wish to receive sensor
* events while the screen is off. While in suspend mode, and unless
* otherwise noted (batch mode, sensor particularities, ...), enabled sensors'
* events are lost.
*
* Note that conceptually, the sensor itself is not de-activated while in
* suspend mode -- it's just that the data it returns are lost. As soon as
* the SoC gets out of suspend mode, operations resume as usual. Of course,
* in practice sensors shall be disabled while in suspend mode to
* save power, unless batch mode is active, in which case they must
* continue fill their internal FIFO (see the documentation of batch() to
* learn how suspend interacts with batch mode).
*
* In batch mode, and only when the flag SENSORS_BATCH_WAKE_UPON_FIFO_FULL is
* set and supported, the specified sensor must be able to wake-up the SoC and
* be able to buffer at least 10 seconds worth of the requested sensor events.
*
* There are notable exceptions to this behavior, which are sensor-dependent
* (see sensor types definitions below)
*
*
* The sensor type documentation below specifies the wake-up behavior of
* each sensor:
* wake-up: yes this sensor must wake-up the SoC to deliver events
* wake-up: no this sensor shall not wake-up the SoC, events are dropped
*
*/
/*
* Sensor type
*
* Each sensor has a type which defines what this sensor measures and how
* measures are reported. All types are defined below.
*
* Device manufacturers (OEMs) can define their own sensor types, for
* their private use by applications or services provided by them. Such
* sensor types are specific to an OEM and can't be exposed in the SDK.
* These types must start at SENSOR_TYPE_DEVICE_PRIVATE_BASE.
*/
/*
* Base for device manufacturers private sensor types.
* These sensor types can't be exposed in the SDK.
*/
#define SENSOR_TYPE_DEVICE_PRIVATE_BASE 0x10000
/*
* Sensor fusion and virtual sensors
*
* Many sensor types are or can be implemented as virtual sensors from
* physical sensors on the device. For instance the rotation vector sensor,
* orientation sensor, step-detector, step-counter, etc...
*
* From the point of view of this API these virtual sensors MUST appear as
* real, individual sensors. It is the responsibility of the driver and HAL
* to make sure this is the case.
*
* In particular, all sensors must be able to function concurrently.
* For example, if defining both an accelerometer and a step counter,
* then both must be able to work concurrently.
*/
/*
* Trigger modes
*
* Sensors can report events in different ways called trigger modes,
* each sensor type has one and only one trigger mode associated to it.
* Currently there are four trigger modes defined:
*
* continuous: events are reported at a constant rate defined by setDelay().
* eg: accelerometers, gyroscopes.
* on-change: events are reported only if the sensor's value has changed.
* setDelay() is used to set a lower limit to the reporting
* period (minimum time between two events).
* The HAL must return an event immediately when an on-change
* sensor is activated.
* eg: proximity, light sensors
* one-shot: upon detection of an event, the sensor deactivates itself and
* then sends a single event. Order matters to avoid race
* conditions. No other event is sent until the sensor get
* reactivated. setDelay() is ignored.
* eg: significant motion sensor
* special: see details in the sensor type specification below
*
*/
/*
* SENSOR_TYPE_META_DATA
* trigger-mode: n/a
* wake-up sensor: n/a
*
* NO SENSOR OF THAT TYPE MUST BE RETURNED (*get_sensors_list)()
*
* SENSOR_TYPE_META_DATA is a special token used to populate the
* sensors_meta_data_event structure. It doesn't correspond to a physical
* sensor. sensors_meta_data_event are special, they exist only inside
* the HAL and are generated spontaneously, as opposed to be related to
* a physical sensor.
*
* sensors_meta_data_event_t.version must be META_DATA_VERSION
* sensors_meta_data_event_t.sensor must be 0
* sensors_meta_data_event_t.type must be SENSOR_TYPE_META_DATA
* sensors_meta_data_event_t.reserved must be 0
* sensors_meta_data_event_t.timestamp must be 0
*
* The payload is a meta_data_event_t, where:
* meta_data_event_t.what can take the following values:
*
* META_DATA_FLUSH_COMPLETE
* This event indicates that a previous (*flush)() call has completed for the sensor
* handle specified in meta_data_event_t.sensor.
* see (*flush)() for more details
*
* All other values for meta_data_event_t.what are reserved and
* must not be used.
*
*/
#define SENSOR_TYPE_META_DATA (0)
/*
* SENSOR_TYPE_ACCELEROMETER
* trigger-mode: continuous
* wake-up sensor: no
*
* All values are in SI units (m/s^2) and measure the acceleration of the
* device minus the force of gravity.
*
* Acceleration sensors return sensor events for all 3 axes at a constant
* rate defined by setDelay().
*
* x: Acceleration on the x-axis
* y: Acceleration on the y-axis
* z: Acceleration on the z-axis
*
* Note that the readings from the accelerometer include the acceleration
* due to gravity (which is opposite to the direction of the gravity vector).
*
* Examples:
* The norm of <x, y, z> should be close to 0 when in free fall.
*
* When the device lies flat on a table and is pushed on its left side
* toward the right, the x acceleration value is positive.
*
* When the device lies flat on a table, the acceleration value is +9.81,
* which correspond to the acceleration of the device (0 m/s^2) minus the
* force of gravity (-9.81 m/s^2).
*
* When the device lies flat on a table and is pushed toward the sky, the
* acceleration value is greater than +9.81, which correspond to the
* acceleration of the device (+A m/s^2) minus the force of
* gravity (-9.81 m/s^2).
*/
#define SENSOR_TYPE_ACCELEROMETER (1)
/*
* SENSOR_TYPE_GEOMAGNETIC_FIELD
* trigger-mode: continuous
* wake-up sensor: no
*
* All values are in micro-Tesla (uT) and measure the geomagnetic
* field in the X, Y and Z axis.
*
* Returned values include calibration mechanisms such that the vector is
* aligned with the magnetic declination and heading of the earth's
* geomagnetic field.
*
* Magnetic Field sensors return sensor events for all 3 axes at a constant
* rate defined by setDelay().
*/
#define SENSOR_TYPE_GEOMAGNETIC_FIELD (2)
#define SENSOR_TYPE_MAGNETIC_FIELD SENSOR_TYPE_GEOMAGNETIC_FIELD
/*
* SENSOR_TYPE_ORIENTATION
* trigger-mode: continuous
* wake-up sensor: no
*
* All values are angles in degrees.
*
* Orientation sensors return sensor events for all 3 axes at a constant
* rate defined by setDelay().
*
* azimuth: angle between the magnetic north direction and the Y axis, around
* the Z axis (0<=azimuth<360).
* 0=North, 90=East, 180=South, 270=West
*
* pitch: Rotation around X axis (-180<=pitch<=180), with positive values when
* the z-axis moves toward the y-axis.
*
* roll: Rotation around Y axis (-90<=roll<=90), with positive values when
* the x-axis moves towards the z-axis.
*
* Note: For historical reasons the roll angle is positive in the clockwise
* direction (mathematically speaking, it should be positive in the
* counter-clockwise direction):
*
* Z
* ^
* (+roll) .--> |
* / |
* | | roll: rotation around Y axis
* X <-------(.)
* Y
* note that +Y == -roll
*
*
*
* Note: This definition is different from yaw, pitch and roll used in aviation
* where the X axis is along the long side of the plane (tail to nose).
*/
#define SENSOR_TYPE_ORIENTATION (3)
/*
* SENSOR_TYPE_GYROSCOPE
* trigger-mode: continuous
* wake-up sensor: no
*
* All values are in radians/second and measure the rate of rotation
* around the X, Y and Z axis. The coordinate system is the same as is
* used for the acceleration sensor. Rotation is positive in the
* counter-clockwise direction (right-hand rule). That is, an observer
* looking from some positive location on the x, y or z axis at a device
* positioned on the origin would report positive rotation if the device
* appeared to be rotating counter clockwise. Note that this is the
* standard mathematical definition of positive rotation and does not agree
* with the definition of roll given earlier.
* The range should at least be 17.45 rad/s (ie: ~1000 deg/s).
*
* automatic gyro-drift compensation is allowed but not required.
*/
#define SENSOR_TYPE_GYROSCOPE (4)
/*
* SENSOR_TYPE_LIGHT
* trigger-mode: on-change
* wake-up sensor: no
*
* The light sensor value is returned in SI lux units.
*/
#define SENSOR_TYPE_LIGHT (5)
/*
* SENSOR_TYPE_PRESSURE
* trigger-mode: continuous
* wake-up sensor: no
*
* The pressure sensor return the athmospheric pressure in hectopascal (hPa)
*/
#define SENSOR_TYPE_PRESSURE (6)
/* SENSOR_TYPE_TEMPERATURE is deprecated in the HAL */
#define SENSOR_TYPE_TEMPERATURE (7)
/*
* SENSOR_TYPE_PROXIMITY
* trigger-mode: on-change
* wake-up sensor: yes
*
* The distance value is measured in centimeters. Note that some proximity
* sensors only support a binary "close" or "far" measurement. In this case,
* the sensor should report its maxRange value in the "far" state and a value
* less than maxRange in the "near" state.
*/
#define SENSOR_TYPE_PROXIMITY (8)
/*
* SENSOR_TYPE_GRAVITY
* trigger-mode: continuous
* wake-up sensor: no
*
* A gravity output indicates the direction of and magnitude of gravity in
* the devices's coordinates. On Earth, the magnitude is 9.8 m/s^2.
* Units are m/s^2. The coordinate system is the same as is used for the
* acceleration sensor. When the device is at rest, the output of the
* gravity sensor should be identical to that of the accelerometer.
*/
#define SENSOR_TYPE_GRAVITY (9)
/*
* SENSOR_TYPE_LINEAR_ACCELERATION
* trigger-mode: continuous
* wake-up sensor: no
*
* Indicates the linear acceleration of the device in device coordinates,
* not including gravity.
*
* The output is conceptually:
* output of TYPE_ACCELERATION - output of TYPE_GRAVITY
*
* Readings on all axes should be close to 0 when device lies on a table.
* Units are m/s^2.
* The coordinate system is the same as is used for the acceleration sensor.
*/
#define SENSOR_TYPE_LINEAR_ACCELERATION (10)
/*
* SENSOR_TYPE_ROTATION_VECTOR
* trigger-mode: continuous
* wake-up sensor: no
*
* The rotation vector symbolizes the orientation of the device relative to the
* East-North-Up coordinates frame. It is usually obtained by integration of
* accelerometer, gyroscope and magnetometer readings.
*
* The East-North-Up coordinate system is defined as a direct orthonormal basis
* where:
* - X points east and is tangential to the ground.
* - Y points north and is tangential to the ground.
* - Z points towards the sky and is perpendicular to the ground.
*
* The orientation of the phone is represented by the rotation necessary to
* align the East-North-Up coordinates with the phone's coordinates. That is,
* applying the rotation to the world frame (X,Y,Z) would align them with the
* phone coordinates (x,y,z).
*
* The rotation can be seen as rotating the phone by an angle theta around
* an axis rot_axis to go from the reference (East-North-Up aligned) device
* orientation to the current device orientation.
*
* The rotation is encoded as the 4 (reordered) components of a unit quaternion:
* sensors_event_t.data[0] = rot_axis.x*sin(theta/2)
* sensors_event_t.data[1] = rot_axis.y*sin(theta/2)
* sensors_event_t.data[2] = rot_axis.z*sin(theta/2)
* sensors_event_t.data[3] = cos(theta/2)
* where
* - rot_axis.x,y,z are the North-East-Up coordinates of a unit length vector
* representing the rotation axis
* - theta is the rotation angle
*
* The quaternion must be of norm 1 (it is a unit quaternion). Failure to ensure
* this will cause erratic client behaviour.
*
* In addition, this sensor reports an estimated heading accuracy.
* sensors_event_t.data[4] = estimated_accuracy (in radians)
* The heading error must be less than estimated_accuracy 95% of the time
*
* This sensor must use a gyroscope and an accelerometer as main orientation
* change input.
*
* This sensor can also include magnetometer input to make up for gyro drift,
* but it cannot be implemented using only a magnetometer.
*/
#define SENSOR_TYPE_ROTATION_VECTOR (11)
/*
* SENSOR_TYPE_RELATIVE_HUMIDITY
* trigger-mode: on-change
* wake-up sensor: no
*
* A relative humidity sensor measures relative ambient air humidity and
* returns a value in percent.
*/
#define SENSOR_TYPE_RELATIVE_HUMIDITY (12)
/*
* SENSOR_TYPE_AMBIENT_TEMPERATURE
* trigger-mode: on-change
* wake-up sensor: no
*
* The ambient (room) temperature in degree Celsius.
*/
#define SENSOR_TYPE_AMBIENT_TEMPERATURE (13)
/*
* SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED
* trigger-mode: continuous
* wake-up sensor: no
*
* Similar to SENSOR_TYPE_MAGNETIC_FIELD, but the hard iron calibration is
* reported separately instead of being included in the measurement.
* Factory calibration and temperature compensation should still be applied to
* the "uncalibrated" measurement.
* Separating away the hard iron calibration estimation allows the system to
* better recover from bad hard iron estimation.
*
* All values are in micro-Tesla (uT) and measure the ambient magnetic
* field in the X, Y and Z axis. Assumptions that the the magnetic field
* is due to the Earth's poles should be avoided.
*
* The uncalibrated_magnetic event contains
* - 3 fields for uncalibrated measurement: x_uncalib, y_uncalib, z_uncalib.
* Each is a component of the measured magnetic field, with soft iron
* and temperature compensation applied, but not hard iron calibration.
* These values should be continuous (no re-calibration should cause a jump).
* - 3 fields for hard iron bias estimates: x_bias, y_bias, z_bias.
* Each field is a component of the estimated hard iron calibration.
* They represent the offsets to apply to the calibrated readings to obtain
* uncalibrated readings (x_uncalib ~= x_calibrated + x_bias)
* These values are expected to jump as soon as the estimate of the hard iron
* changes, and they should be stable the rest of the time.
*
* If this sensor is present, then the corresponding
* SENSOR_TYPE_MAGNETIC_FIELD must be present and both must return the
* same sensor_t::name and sensor_t::vendor.
*
* Minimum filtering should be applied to this sensor. In particular, low pass
* filters should be avoided.
*
* See SENSOR_TYPE_MAGNETIC_FIELD for more information
*/
#define SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED (14)
/*
* SENSOR_TYPE_GAME_ROTATION_VECTOR
* trigger-mode: continuous
* wake-up sensor: no
*
* Similar to SENSOR_TYPE_ROTATION_VECTOR, but not using the geomagnetic
* field. Therefore the Y axis doesn't point north, but instead to some other
* reference. That reference is allowed to drift by the same order of
* magnitude than the gyroscope drift around the Z axis.
*
* This sensor does not report an estimated heading accuracy:
* sensors_event_t.data[4] is reserved and should be set to 0
*
* In the ideal case, a phone rotated and returning to the same real-world
* orientation should report the same game rotation vector
* (without using the earth's geomagnetic field).
*
* This sensor must be based on a gyroscope. It cannot be implemented using
* a magnetometer.
*
* see SENSOR_TYPE_ROTATION_VECTOR for more details
*/
#define SENSOR_TYPE_GAME_ROTATION_VECTOR (15)
/*
* SENSOR_TYPE_GYROSCOPE_UNCALIBRATED
* trigger-mode: continuous
* wake-up sensor: no
*
* All values are in radians/second and measure the rate of rotation
* around the X, Y and Z axis. An estimation of the drift on each axis is
* reported as well.
*
* No gyro-drift compensation shall be performed.
* Factory calibration and temperature compensation should still be applied
* to the rate of rotation (angular speeds).
*
* The coordinate system is the same as is
* used for the acceleration sensor. Rotation is positive in the
* counter-clockwise direction (right-hand rule). That is, an observer
* looking from some positive location on the x, y or z axis at a device
* positioned on the origin would report positive rotation if the device
* appeared to be rotating counter clockwise. Note that this is the
* standard mathematical definition of positive rotation and does not agree
* with the definition of roll given earlier.
* The range should at least be 17.45 rad/s (ie: ~1000 deg/s).
*
* Content of an uncalibrated_gyro event: (units are rad/sec)
* x_uncalib : angular speed (w/o drift compensation) around the X axis
* y_uncalib : angular speed (w/o drift compensation) around the Y axis
* z_uncalib : angular speed (w/o drift compensation) around the Z axis
* x_bias : estimated drift around X axis in rad/s
* y_bias : estimated drift around Y axis in rad/s
* z_bias : estimated drift around Z axis in rad/s
*
* IMPLEMENTATION NOTES:
*
* If the implementation is not able to estimate the drift, then this
* sensor MUST NOT be reported by this HAL. Instead, the regular
* SENSOR_TYPE_GYROSCOPE is used without drift compensation.
*
* If this sensor is present, then the corresponding
* SENSOR_TYPE_GYROSCOPE must be present and both must return the
* same sensor_t::name and sensor_t::vendor.
*/
#define SENSOR_TYPE_GYROSCOPE_UNCALIBRATED (16)
/*
* SENSOR_TYPE_SIGNIFICANT_MOTION
* trigger-mode: one-shot
* wake-up sensor: yes
*
* A sensor of this type triggers an event each time significant motion
* is detected and automatically disables itself.
* The only allowed value to return is 1.0.
*
* A significant motion is a motion that might lead to a change in the user
* location.
* Examples of such motions are:
* walking, biking, sitting in a moving car, coach or train.
* Examples of situations that should not trigger significant motion:
* - phone in pocket and person is not moving
* - phone is on a table, even if the table shakes a bit due to nearby traffic
* or washing machine
*
* A note on false positive / false negative / power consumption tradeoff
* - The goal of this sensor is to save power.
* - Triggering an event when the user is not moving (false positive) is costly
* in terms of power, so it should be avoided.
* - Not triggering an event when the user is moving (false negative) is
* acceptable as long as it is not done repeatedly. If the user has been
* walking for 10 seconds, not triggering an event within those 10 seconds
* is not acceptable.
*
* IMPORTANT NOTE: this sensor type is very different from other types
* in that it must work when the screen is off without the need of
* holding a partial wake-lock and MUST allow the SoC to go into suspend.
* When significant motion is detected, the sensor must awaken the SoC and
* the event be reported.
*
* If a particular hardware cannot support this mode of operation then this
* sensor type MUST NOT be reported by the HAL. ie: it is not acceptable
* to "emulate" this sensor in the HAL.
*
* The whole point of this sensor type is to save power by keeping the
* SoC in suspend mode when the device is at rest.
*
* When the sensor is not activated, it must also be deactivated in the
* hardware: it must not wake up the SoC anymore, even in case of
* significant motion.
*
* setDelay() has no effect and is ignored.
* Once a "significant motion" event is returned, a sensor of this type
* must disables itself automatically, as if activate(..., 0) had been called.
*/
#define SENSOR_TYPE_SIGNIFICANT_MOTION (17)
/*
* SENSOR_TYPE_STEP_DETECTOR
* trigger-mode: special
* wake-up sensor: no
*
* A sensor of this type triggers an event each time a step is taken
* by the user. The only allowed value to return is 1.0 and an event is
* generated for each step. Like with any other event, the timestamp
* indicates when the event (here the step) occurred, this corresponds to when
* the foot hit the ground, generating a high variation in acceleration.
*
* While this sensor operates, it shall not disrupt any other sensors, in
* particular, but not limited to, the accelerometer; which might very well
* be in use as well.
*
* This sensor must be low power. That is, if the step detection cannot be
* done in hardware, this sensor should not be defined. Also, when the
* step detector is activated and the accelerometer is not, only steps should
* trigger interrupts (not accelerometer data).
*
* setDelay() has no impact on this sensor type
*/
#define SENSOR_TYPE_STEP_DETECTOR (18)
/*
* SENSOR_TYPE_STEP_COUNTER
* trigger-mode: on-change
* wake-up sensor: no
*
* A sensor of this type returns the number of steps taken by the user since
* the last reboot while activated. The value is returned as a uint64_t and is
* reset to zero only on a system / android reboot.
*
* The timestamp of the event is set to the time when the first step
* for that event was taken.
* See SENSOR_TYPE_STEP_DETECTOR for the signification of the time of a step.
*
* The minimum size of the hardware's internal counter shall be 16 bits
* (this restriction is here to avoid too frequent wake-ups when the
* delay is very large).
*
* IMPORTANT NOTE: this sensor type is different from other types
* in that it must work when the screen is off without the need of
* holding a partial wake-lock and MUST allow the SoC to go into suspend.
* Unlike other sensors, while in suspend mode this sensor must stay active,
* no events are reported during that time but, steps continue to be
* accounted for; an event will be reported as soon as the SoC resumes if
* the timeout has expired.
*
* In other words, when the screen is off and the device allowed to
* go into suspend mode, we don't want to be woken up, regardless of the
* setDelay() value, but the steps shall continue to be counted.
*
* The driver must however ensure that the internal step count never
* overflows. It is allowed in this situation to wake the SoC up so the
* driver can do the counter maintenance.
*
* While this sensor operates, it shall not disrupt any other sensors, in
* particular, but not limited to, the accelerometer; which might very well
* be in use as well.
*
* If a particular hardware cannot support these modes of operation then this
* sensor type MUST NOT be reported by the HAL. ie: it is not acceptable
* to "emulate" this sensor in the HAL.
*
* This sensor must be low power. That is, if the step detection cannot be
* done in hardware, this sensor should not be defined. Also, when the
* step counter is activated and the accelerometer is not, only steps should
* trigger interrupts (not accelerometer data).
*
* The whole point of this sensor type is to save power by keeping the
* SoC in suspend mode when the device is at rest.
*/
#define SENSOR_TYPE_STEP_COUNTER (19)
/*
* SENSOR_TYPE_GEOMAGNETIC_ROTATION_VECTOR
* trigger-mode: continuous
* wake-up sensor: no
*
* Similar to SENSOR_TYPE_ROTATION_VECTOR, but using a magnetometer instead
* of using a gyroscope.
*
* This sensor must be based on a magnetometer. It cannot be implemented using
* a gyroscope, and gyroscope input cannot be used by this sensor, as the
* goal of this sensor is to be low power.
* The accelerometer can be (and usually is) used.
*
* Just like SENSOR_TYPE_ROTATION_VECTOR, this sensor reports an estimated
* heading accuracy:
* sensors_event_t.data[4] = estimated_accuracy (in radians)
* The heading error must be less than estimated_accuracy 95% of the time
*
* see SENSOR_TYPE_ROTATION_VECTOR for more details
*/
#define SENSOR_TYPE_GEOMAGNETIC_ROTATION_VECTOR (20)
/**
* Values returned by the accelerometer in various locations in the universe.
* all values are in SI units (m/s^2)
*/
#define SENSORS_GRAVITY_SUN (275.0f)
#define SENSORS_GRAVITY_MOON (1.6f)
#define SENSORS_GRAVITY_EARTH (9.80665f)
#define SENSORS_GRAVITY_STANDARD (SENSORS_GRAVITY_EARTH)
/** Maximum magnetic field on Earth's surface */
#define MAGNETIC_FIELD_EARTH_MAX (60.0f)
/** Minimum magnetic field on Earth's surface */
#define MAGNETIC_FIELD_EARTH_MIN (30.0f)
/** Average sea level pressure is 1013.25 hPa */
#define SENSORS_PRESSURE_SEALEVELHPA (1013.25F)
/** Degrees/s to rad/s multiplier */
#define SENSORS_DPS_TO_RADS (0.017453293F)
/** Gauss to micro-Tesla multiplier */
#define SENSORS_GAUSS_TO_MICROTESLA (100)
/**
* status of orientation sensor
*/
#define SENSOR_STATUS_UNRELIABLE 0
#define SENSOR_STATUS_ACCURACY_LOW 1
#define SENSOR_STATUS_ACCURACY_MEDIUM 2
#define SENSOR_STATUS_ACCURACY_HIGH 3
/**
* sensor event data
*/
typedef struct
{
union
{
float v[3];
struct
{
float x;
float y;
float z;
};
struct
{
float azimuth;
float pitch;
float roll;
};
};
int8_t status;
uint8_t reserved[3];
} sensors_vec_t;
/**
* sensor raw vector data
*/
typedef struct
{
struct
{
int16_t x;
int16_t y;
int16_t z;
};
int8_t status;
uint8_t reserved[1];
} sensors_raw_vec_t;
/**
* uncalibrated gyroscope and magnetometer event data
*/
typedef struct
{
union
{
float uncalib[3];
struct
{
float x_uncalib;
float y_uncalib;
float z_uncalib;
};
};
union
{
float bias[3];
struct
{
float x_bias;
float y_bias;
float z_bias;
};
};
} uncalibrated_event_t;
typedef struct meta_data_event
{
int32_t what;
int32_t sensor;
} meta_data_event_t;
/**
* 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;
/* raw acceleration data */
sensors_raw_vec_t raw_acceleration;
/* magnetic vector values are in micro-Tesla (uT) */
sensors_vec_t magnetic;
/* raw magnetic data */
sensors_raw_vec_t raw_magnetic;
/* orientation values are in degrees */
sensors_vec_t orientation;
/* gyroscope values are in rad/s */
sensors_vec_t gyro;
/* raw gyroscope data */
sensors_raw_vec_t raw_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;
/* 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;
};
union
{
uint64_t data[8];
/* step-counter */
uint64_t step_counter;
} u64;
};
uint32_t reserved1[4];
} sensors_event_t;
/* see SENSOR_TYPE_META_DATA */
typedef sensors_event_t sensors_meta_data_event_t;
typedef struct sensor_t
{
/* Name of this sensor.
* All sensors of the same "type" must have a different "name".
*/
const char *name;
/* 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;
/* handle that identifies this sensors. This handle is used to reference
* this sensor throughout the HAL API.
*/
int handle;
/* this sensor's type. */
int type;
/* maximum range of this sensor's value in SI units */
float maxRange;
/* smallest difference between two values reported by this sensor */
float resolution;
/* rough estimate of this sensor's power consumption in mA */
float power;
/* this value depends on the trigger 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;
/* reserved fields, must be zero */
void *reserved[6];
} sensor_t;
enum SensorMode
{
SENSOR_MODE_RAW,
SENSOR_MODE_CALIBRATED,
SENSOR_MODE_NORMAL,
};
enum SensorAccelRange
{
SENSOR_ACCEL_RANGE_2G,
SENSOR_ACCEL_RANGE_4G,
SENSOR_ACCEL_RANGE_8G,
SENSOR_ACCEL_RANGE_16G,
};
#define SENSOR_ACCEL_SENSITIVITY_2G ((float)2/32768)
#define SENSOR_ACCEL_SENSITIVITY_4G ((float)4/32768)
#define SENSOR_ACCEL_SENSITIVITY_8G ((float)8/32768)
#define SENSOR_ACCEL_SENSITIVITY_16G ((float)16/32768)
enum SensorGyroRange
{
SENSOR_GYRO_RANGE_250DPS,
SENSOR_GYRO_RANGE_500DPS,
SENSOR_GYRO_RANGE_1000DPS,
SENSOR_GYRO_RANGE_2000DPS,
};
#define SENSOR_GYRO_SENSITIVITY_250DPS (0.00875F)
#define SENSOR_GYRO_SENSITIVITY_500DPS (0.0175F)
#define SENSOR_GYRO_SENSITIVITY_1000DPS (0.035F)
#define SENSOR_GYRO_SENSITIVITY_2000DPS (0.070F)
enum SensorDataRate
{
SENSOR_DATARATE_3200HZ,
SENSOR_DATARATE_1600HZ,
SENSOR_DATARATE_800HZ,
SENSOR_DATARATE_400HZ,
SENSOR_DATARATE_200HZ,
SENSOR_DATARATE_100HZ,
SENSOR_DATARATE_50HZ,
SENSOR_DATARATE_25HZ,
SENSOR_DATARATE_12_5HZ,
SENSOR_DATARATE_6_25HZ,
SENSOR_DATARATE_3_13HZ,
SENSOR_DATARATE_1_56HZ,
SENSOR_DATARATE_0_78HZ,
SENSOR_DATARATE_0_39HZ,
SENSOR_DATARATE_0_20HZ,
SENSOR_DATARATE_0_10HZ,
};
/**
* Sensor Configuration
*/
typedef struct SensorConfig
{
int mode;
enum SensorDataRate data_rate;
union range
{
int range;
enum SensorAccelRange accel_range;
enum SensorGyroRange gyro_range;
} range;
}SensorConfig;
typedef void (*SensorEventHandler_t)(void *user_data);
#ifdef __cplusplus
class SensorBase;
class SensorManager;
/**
* Sensor Base Class
*/
class SensorBase
{
private:
int type;
public:
SensorBase(int type);
~SensorBase();
virtual int configure(SensorConfig *config) = 0;
virtual int activate(int enable) = 0;
virtual int poll(sensors_event_t *events) = 0;
virtual void getSensor(struct sensor_t *sensor) = 0;
int getType(void);
int setConfig(SensorConfig *config);
int getConfig(SensorConfig *config);
int subscribe(SensorEventHandler_t handler, void *user_data);
int publish(void);
protected:
SensorBase *next;
SensorBase *prev;
/* sensor configuration */
SensorConfig config;
SensorEventHandler_t evtHandler;
void *userData;
friend class SensorManager;
};
/**
* Sensor Manager
*/
class SensorManager
{
public:
SensorManager();
~SensorManager();
static int registerSensor(SensorBase *sensor);
static int unregisterSensor(SensorBase *sensor);
static SensorBase *getDefaultSensor(int type);
static int subscribe(int type, SensorEventHandler_t handler, void *user_data);
static int sensorEventReady(SensorBase *sensor);
static int pollSensor(SensorBase *sensor, sensors_event_t *events, int number, int duration);
};
#endif
/* C programming language APIs */
/* rt_sensor_t is a C typedef for SensorBase */
typedef void* rt_sensor_t;
#ifdef __cplusplus
extern "C" {
#endif
rt_sensor_t rt_sensor_get_default(int type);
int rt_sensor_subscribe(rt_sensor_t sensor, SensorEventHandler_t handler, void *user_data);
int rt_sensor_activate (rt_sensor_t sensor, int enable);
int rt_sensor_configure(rt_sensor_t sensor, SensorConfig *config);
int rt_sensor_poll(rt_sensor_t sensor, sensors_event_t *event);
#ifdef __cplusplus
}
#endif
#endif
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