/* * File : sensors.h * This file is part of RT-Thread RTOS * COPYRIGHT (C) 2014, RT-Thread Development Team * * The license and distribution terms for this file may be * found in the file LICENSE in this distribution or at * http://www.rt-thread.org/license/LICENSE * * 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 #include #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<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 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