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/*
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* File : sensors.h
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* This file is part of RT-Thread RTOS
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* COPYRIGHT (C) 2014, RT-Thread Development Team
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*
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* The license and distribution terms for this file may be
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* found in the file LICENSE in this distribution or at
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* http://www.rt-thread.org/license/LICENSE
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*
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* Change Logs:
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* Date Author Notes
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* 2014-08-03 Bernard the first version
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*/
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/* Modified from: https://github.com/android/platform_hardware_libhardware/blob/master/include/hardware/sensors.h */
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/*
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* Copyright (C) 2012 The Android Open Source Project
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef SENSORS_H__
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#define SENSORS_H__
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#include <rtdevice.h>
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#include <stdint.h>
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#include <sys/cdefs.h>
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#include <sys/types.h>
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/**
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* Handles must be higher than SENSORS_HANDLE_BASE and must be unique.
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* A Handle identifies a given sensors. The handle is used to activate
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* and/or deactivate sensors.
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* In this version of the API there can only be 256 handles.
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*/
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#define SENSORS_HANDLE_BASE 0
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#define SENSORS_HANDLE_BITS 8
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#define SENSORS_HANDLE_COUNT (1<<SENSORS_HANDLE_BITS)
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/*
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* flags for (*batch)()
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* Availability: SENSORS_DEVICE_API_VERSION_1_0
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* see (*batch)() documentation for details
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*/
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enum {
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SENSORS_BATCH_DRY_RUN = 0x00000001,
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SENSORS_BATCH_WAKE_UPON_FIFO_FULL = 0x00000002
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};
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/*
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* what field for meta_data_event_t
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*/
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enum {
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/* a previous flush operation has completed */
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META_DATA_FLUSH_COMPLETE = 1,
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META_DATA_VERSION /* always last, leave auto-assigned */
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};
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/**
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* Definition of the axis used by the sensor HAL API
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*
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* This API is relative to the screen of the device in its default orientation,
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* that is, if the device can be used in portrait or landscape, this API
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* is only relative to the NATURAL orientation of the screen. In other words,
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* the axis are not swapped when the device's screen orientation changes.
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* Higher level services /may/ perform this transformation.
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*
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* x<0 x>0
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* ^
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* |
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* +-----------+--> y>0
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* | |
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* | |
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* | |
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* | | / z<0
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* | | /
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* | | /
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* O-----------+/
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* |[] [ ] []/
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* +----------/+ y<0
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* /
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* /
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* |/ z>0 (toward the sky)
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*
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* O: Origin (x=0,y=0,z=0)
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*
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*/
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/*
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* Interaction with suspend mode
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*
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* Unless otherwise noted, an enabled sensor shall not prevent the
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* SoC to go into suspend mode. It is the responsibility of applications
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* to keep a partial wake-lock should they wish to receive sensor
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* events while the screen is off. While in suspend mode, and unless
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* otherwise noted (batch mode, sensor particularities, ...), enabled sensors'
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* events are lost.
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*
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* Note that conceptually, the sensor itself is not de-activated while in
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* suspend mode -- it's just that the data it returns are lost. As soon as
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* the SoC gets out of suspend mode, operations resume as usual. Of course,
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* in practice sensors shall be disabled while in suspend mode to
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* save power, unless batch mode is active, in which case they must
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* continue fill their internal FIFO (see the documentation of batch() to
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* learn how suspend interacts with batch mode).
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*
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* In batch mode, and only when the flag SENSORS_BATCH_WAKE_UPON_FIFO_FULL is
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* set and supported, the specified sensor must be able to wake-up the SoC and
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* be able to buffer at least 10 seconds worth of the requested sensor events.
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*
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* There are notable exceptions to this behavior, which are sensor-dependent
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* (see sensor types definitions below)
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*
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*
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* The sensor type documentation below specifies the wake-up behavior of
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* each sensor:
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* wake-up: yes this sensor must wake-up the SoC to deliver events
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* wake-up: no this sensor shall not wake-up the SoC, events are dropped
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*
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*/
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/*
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* Sensor type
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*
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* Each sensor has a type which defines what this sensor measures and how
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* measures are reported. All types are defined below.
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*
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* Device manufacturers (OEMs) can define their own sensor types, for
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* their private use by applications or services provided by them. Such
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* sensor types are specific to an OEM and can't be exposed in the SDK.
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* These types must start at SENSOR_TYPE_DEVICE_PRIVATE_BASE.
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*/
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/*
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* Base for device manufacturers private sensor types.
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* These sensor types can't be exposed in the SDK.
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*/
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#define SENSOR_TYPE_DEVICE_PRIVATE_BASE 0x10000
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/*
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* Sensor fusion and virtual sensors
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*
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* Many sensor types are or can be implemented as virtual sensors from
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* physical sensors on the device. For instance the rotation vector sensor,
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* orientation sensor, step-detector, step-counter, etc...
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*
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* From the point of view of this API these virtual sensors MUST appear as
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* real, individual sensors. It is the responsibility of the driver and HAL
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* to make sure this is the case.
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*
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* In particular, all sensors must be able to function concurrently.
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* For example, if defining both an accelerometer and a step counter,
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* then both must be able to work concurrently.
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*/
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/*
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* Trigger modes
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*
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* Sensors can report events in different ways called trigger modes,
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* each sensor type has one and only one trigger mode associated to it.
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* Currently there are four trigger modes defined:
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*
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* continuous: events are reported at a constant rate defined by setDelay().
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* eg: accelerometers, gyroscopes.
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* on-change: events are reported only if the sensor's value has changed.
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* setDelay() is used to set a lower limit to the reporting
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* period (minimum time between two events).
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* The HAL must return an event immediately when an on-change
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* sensor is activated.
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* eg: proximity, light sensors
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* one-shot: upon detection of an event, the sensor deactivates itself and
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* then sends a single event. Order matters to avoid race
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* conditions. No other event is sent until the sensor get
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* reactivated. setDelay() is ignored.
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* eg: significant motion sensor
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* special: see details in the sensor type specification below
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*
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*/
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/*
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* SENSOR_TYPE_META_DATA
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* trigger-mode: n/a
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* wake-up sensor: n/a
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*
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* NO SENSOR OF THAT TYPE MUST BE RETURNED (*get_sensors_list)()
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*
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* SENSOR_TYPE_META_DATA is a special token used to populate the
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* sensors_meta_data_event structure. It doesn't correspond to a physical
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* sensor. sensors_meta_data_event are special, they exist only inside
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* the HAL and are generated spontaneously, as opposed to be related to
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* a physical sensor.
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*
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* sensors_meta_data_event_t.version must be META_DATA_VERSION
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* sensors_meta_data_event_t.sensor must be 0
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* sensors_meta_data_event_t.type must be SENSOR_TYPE_META_DATA
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* sensors_meta_data_event_t.reserved must be 0
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* sensors_meta_data_event_t.timestamp must be 0
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*
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* The payload is a meta_data_event_t, where:
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* meta_data_event_t.what can take the following values:
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*
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* META_DATA_FLUSH_COMPLETE
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* This event indicates that a previous (*flush)() call has completed for the sensor
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* handle specified in meta_data_event_t.sensor.
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* see (*flush)() for more details
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*
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* All other values for meta_data_event_t.what are reserved and
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* must not be used.
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*
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*/
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#define SENSOR_TYPE_META_DATA (0)
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/*
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* SENSOR_TYPE_ACCELEROMETER
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* trigger-mode: continuous
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* wake-up sensor: no
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*
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* All values are in SI units (m/s^2) and measure the acceleration of the
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* device minus the force of gravity.
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*
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* Acceleration sensors return sensor events for all 3 axes at a constant
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* rate defined by setDelay().
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*
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* x: Acceleration on the x-axis
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* y: Acceleration on the y-axis
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* z: Acceleration on the z-axis
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*
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* Note that the readings from the accelerometer include the acceleration
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* due to gravity (which is opposite to the direction of the gravity vector).
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*
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* Examples:
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* The norm of <x, y, z> should be close to 0 when in free fall.
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*
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* When the device lies flat on a table and is pushed on its left side
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* toward the right, the x acceleration value is positive.
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*
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* When the device lies flat on a table, the acceleration value is +9.81,
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* which correspond to the acceleration of the device (0 m/s^2) minus the
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* force of gravity (-9.81 m/s^2).
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*
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* When the device lies flat on a table and is pushed toward the sky, the
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* acceleration value is greater than +9.81, which correspond to the
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* acceleration of the device (+A m/s^2) minus the force of
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* gravity (-9.81 m/s^2).
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*/
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#define SENSOR_TYPE_ACCELEROMETER (1)
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/*
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* SENSOR_TYPE_GEOMAGNETIC_FIELD
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* trigger-mode: continuous
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* wake-up sensor: no
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*
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* All values are in micro-Tesla (uT) and measure the geomagnetic
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* field in the X, Y and Z axis.
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*
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* Returned values include calibration mechanisms such that the vector is
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* aligned with the magnetic declination and heading of the earth's
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* geomagnetic field.
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*
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* Magnetic Field sensors return sensor events for all 3 axes at a constant
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* rate defined by setDelay().
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*/
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#define SENSOR_TYPE_GEOMAGNETIC_FIELD (2)
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#define SENSOR_TYPE_MAGNETIC_FIELD SENSOR_TYPE_GEOMAGNETIC_FIELD
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/*
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* SENSOR_TYPE_ORIENTATION
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* trigger-mode: continuous
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* wake-up sensor: no
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*
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* All values are angles in degrees.
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*
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* Orientation sensors return sensor events for all 3 axes at a constant
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* rate defined by setDelay().
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*
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* azimuth: angle between the magnetic north direction and the Y axis, around
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* the Z axis (0<=azimuth<360).
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* 0=North, 90=East, 180=South, 270=West
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*
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* pitch: Rotation around X axis (-180<=pitch<=180), with positive values when
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* the z-axis moves toward the y-axis.
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*
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* roll: Rotation around Y axis (-90<=roll<=90), with positive values when
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* the x-axis moves towards the z-axis.
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*
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* Note: For historical reasons the roll angle is positive in the clockwise
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* direction (mathematically speaking, it should be positive in the
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* counter-clockwise direction):
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*
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* Z
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* ^
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* (+roll) .--> |
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* / |
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* | | roll: rotation around Y axis
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* X <-------(.)
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* Y
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* note that +Y == -roll
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*
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*
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*
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* Note: This definition is different from yaw, pitch and roll used in aviation
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* where the X axis is along the long side of the plane (tail to nose).
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*/
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#define SENSOR_TYPE_ORIENTATION (3)
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/*
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* SENSOR_TYPE_GYROSCOPE
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* trigger-mode: continuous
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* wake-up sensor: no
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*
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* All values are in radians/second and measure the rate of rotation
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|
* 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 GRAVITY_SUN (275.0f)
|
|
|
|
|
#define GRAVITY_EARTH (9.80665f)
|
|
|
|
|
|
|
|
|
|
/** 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)
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* 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;
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* 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;
|
|
|
|
|
|
|
|
|
|
/* magnetic vector values are in micro-Tesla (uT) */
|
|
|
|
|
sensors_vec_t magnetic;
|
|
|
|
|
|
|
|
|
|
/* orientation values are in degrees */
|
|
|
|
|
sensors_vec_t orientation;
|
|
|
|
|
|
|
|
|
|
/* gyroscope values are in rad/s */
|
|
|
|
|
sensors_vec_t gyro;
|
|
|
|
|
|
|
|
|
|
/* temperature is in degrees centigrade (Celsius) */
|
|
|
|
|
float temperature;
|
|
|
|
|
|
|
|
|
|
/* distance in centimeters */
|
|
|
|
|
float distance;
|
|
|
|
|
|
|
|
|
|
/* light in SI lux units */
|
|
|
|
|
float light;
|
|
|
|
|
|
|
|
|
|
/* pressure in hectopascal (hPa) */
|
|
|
|
|
float pressure;
|
|
|
|
|
|
|
|
|
|
/* relative humidity in percent */
|
|
|
|
|
float relative_humidity;
|
|
|
|
|
|
|
|
|
|
/* uncalibrated gyroscope values are in rad/s */
|
|
|
|
|
uncalibrated_event_t uncalibrated_gyro;
|
|
|
|
|
|
|
|
|
|
/* uncalibrated magnetometer values are in micro-Teslas */
|
|
|
|
|
uncalibrated_event_t uncalibrated_magnetic;
|
|
|
|
|
|
|
|
|
|
/* 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;
|
|
|
|
|
|
|
|
|
|
class SensorConfigure
|
|
|
|
|
{
|
|
|
|
|
int32_t delay;
|
|
|
|
|
};
|
|
|
|
|
|
|
|
|
|
class Sensor;
|
|
|
|
|
class SensorManager;
|
|
|
|
|
typedef void (*SensorEventHandler_t)(Sensor* sensor, sensors_event_t* event, void* user_data);
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* Sensor Base Class
|
|
|
|
|
*/
|
|
|
|
|
class Sensor
|
|
|
|
|
{
|
|
|
|
|
private:
|
|
|
|
|
int type;
|
|
|
|
|
|
|
|
|
|
public:
|
|
|
|
|
Sensor();
|
|
|
|
|
~Sensor();
|
|
|
|
|
|
|
|
|
|
virtual int Configure(SensorConfigure *config) = 0;
|
|
|
|
|
virtual int Activate(int enable) = 0;
|
|
|
|
|
|
|
|
|
|
virtual int Poll(sensors_event_t *events, int number, int duration) = 0;
|
|
|
|
|
virtual void GetSensor(struct sensor_t *sensor) = 0;
|
|
|
|
|
|
|
|
|
|
int GetType(void);
|
|
|
|
|
|
|
|
|
|
int Subscribe(SensorEventHandler_t *handler, void* user_data);
|
|
|
|
|
int Publish(sensors_event_t* event);
|
|
|
|
|
|
|
|
|
|
protected:
|
|
|
|
|
Sensor *next;
|
|
|
|
|
Sensor *prev;
|
|
|
|
|
|
|
|
|
|
SensorEventHandler_t *evtHandler;
|
|
|
|
|
void *userData;
|
|
|
|
|
|
|
|
|
|
friend class SensorManager;
|
|
|
|
|
};
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
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* Sensor Manager
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*/
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class SensorManager
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{
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public:
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SensorManager();
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~SensorManager();
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static int RegisterSensor(Sensor* sensor);
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static int DeregisterSensor(Sensor* sensor);
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static Sensor *GetDefaultSensor(int type);
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static int Subscribe(int type, SensorEventHandler_t *handler, void* user_data);
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private:
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Sensor* sensorList;
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};
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#endif
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Bernard Xiong