| /* |
| * Copyright (C) 2014 Invensense, Inc. |
| * |
| * 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 ANDROID_SENSORS_H |
| #define ANDROID_SENSORS_H |
| |
| #include <stdint.h> |
| #include <errno.h> |
| #include <sys/cdefs.h> |
| #include <sys/types.h> |
| |
| #include <linux/input.h> |
| |
| #include <hardware/hardware.h> |
| #include <hardware/sensors.h> |
| |
| __BEGIN_DECLS |
| |
| /*****************************************************************************/ |
| |
| #ifndef ARRAY_SIZE |
| #define ARRAY_SIZE(a) (sizeof(a) / sizeof(a[0])) |
| #endif |
| |
| #undef ENABLE_PRESSURE |
| |
| enum { |
| ID_GY = 0, |
| ID_RG, |
| ID_A, |
| ID_M, |
| ID_RM, |
| #ifdef ENABLE_PRESSURE |
| ID_PS, |
| #endif |
| ID_O, |
| ID_RV, |
| ID_GRV, |
| ID_LA, |
| ID_GR, |
| ID_SM, |
| ID_P, |
| ID_SC, |
| ID_GMRV, |
| ID_SO |
| }; |
| |
| enum { |
| Gyro = 0, |
| RawGyro, |
| Accelerometer, |
| MagneticField, |
| RawMagneticField, |
| #ifdef ENABLE_PRESSURE |
| Pressure, |
| #endif |
| Orientation, |
| RotationVector, |
| GameRotationVector, |
| LinearAccel, |
| Gravity, |
| SignificantMotion, |
| StepDetector, |
| StepCounter, |
| GeomagneticRotationVector, |
| NumSensors |
| }; |
| |
| #ifdef ENABLE_PRESSURE |
| #define LAST_HW_SENSOR Pressure |
| #else |
| #define LAST_HW_SENSOR RawMagneticField |
| #endif |
| |
| /* Physical parameters of the sensors supported by Invensense MPL */ |
| #define SENSORS_GYROSCOPE_HANDLE (ID_GY) |
| #define SENSORS_RAW_GYROSCOPE_HANDLE (ID_RG) |
| #define SENSORS_ACCELERATION_HANDLE (ID_A) |
| #define SENSORS_MAGNETIC_FIELD_HANDLE (ID_M) |
| #define SENSORS_RAW_MAGNETIC_FIELD_HANDLE (ID_RM) |
| #define SENSORS_PRESSURE_HANDLE (ID_PS) |
| #define SENSORS_ORIENTATION_HANDLE (ID_O) |
| #define SENSORS_ROTATION_VECTOR_HANDLE (ID_RV) |
| #define SENSORS_GAME_ROTATION_VECTOR_HANDLE (ID_GRV) |
| #define SENSORS_LINEAR_ACCEL_HANDLE (ID_LA) |
| #define SENSORS_GRAVITY_HANDLE (ID_GR) |
| #define SENSORS_SIGNIFICANT_MOTION_HANDLE (ID_SM) |
| #define SENSORS_PEDOMETER_HANDLE (ID_P) |
| #define SENSORS_STEP_COUNTER_HANDLE (ID_SC) |
| #define SENSORS_GEOMAGNETIC_ROTATION_VECTOR_HANDLE (ID_GMRV) |
| #define SENSORS_SCREEN_ORIENTATION_HANDLE (ID_SO) |
| |
| /*****************************************************************************/ |
| |
| /* |
| Android Lollipop |
| Populate sensor_t structure according to hardware sensors.h |
| {name, vendor, version, handle, |
| type, maxRange, resolution, power, minDelay, fifoReservedEventCount, fifoMaxEventCount, |
| stringType, requiredPermission, maxDelay, flags, reserved[]} |
| */ |
| #if defined ANDROID_LOLLIPOP |
| |
| static struct sensor_t sBaseSensorList[] = |
| { |
| {"MPL Gyroscope", "Invensense", 1, SENSORS_GYROSCOPE_HANDLE, |
| SENSOR_TYPE_GYROSCOPE, 2000.0f, 1.0f, 0.5f, 10000, 0, 124, |
| SENSOR_STRING_TYPE_GYROSCOPE, "", 200000, SENSOR_FLAG_CONTINUOUS_MODE, {}}, |
| {"MPL Raw Gyroscope", "Invensense", 1, SENSORS_RAW_GYROSCOPE_HANDLE, |
| SENSOR_TYPE_GYROSCOPE_UNCALIBRATED, 2000.0f, 1.0f, 0.5f, 10000, 0, 124, |
| SENSOR_STRING_TYPE_GYROSCOPE_UNCALIBRATED, "", 200000, SENSOR_FLAG_CONTINUOUS_MODE, {}}, |
| {"MPL Accelerometer", "Invensense", 1, SENSORS_ACCELERATION_HANDLE, |
| SENSOR_TYPE_ACCELEROMETER, 10240.0f, 1.0f, 0.5f, 10000, 0, 124, |
| SENSOR_STRING_TYPE_ACCELEROMETER, "", 200000, SENSOR_FLAG_CONTINUOUS_MODE, {}}, |
| {"MPL Magnetic Field", "Invensense", 1, SENSORS_MAGNETIC_FIELD_HANDLE, |
| SENSOR_TYPE_MAGNETIC_FIELD, 10240.0f, 1.0f, 0.5f, 10000, 0, 124, |
| SENSOR_STRING_TYPE_MAGNETIC_FIELD, "", 200000, SENSOR_FLAG_CONTINUOUS_MODE, {}}, |
| {"MPL Raw Magnetic Field", "Invensense", 1, SENSORS_RAW_MAGNETIC_FIELD_HANDLE, |
| SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED, 10240.0f, 1.0f, 0.5f, 10000, 0, 124, |
| SENSOR_STRING_TYPE_MAGNETIC_FIELD_UNCALIBRATED, "", 200000, SENSOR_FLAG_CONTINUOUS_MODE, {}}, |
| #ifdef ENABLE_PRESSURE |
| {"MPL Pressure", "Invensense", 1, SENSORS_PRESSURE_HANDLE, |
| SENSOR_TYPE_PRESSURE, 10240.0f, 1.0f, 0.5f, 10000, 0, 165, |
| SENSOR_STRING_TYPE_PRESSURE, "", 200000, SENSOR_FLAG_CONTINUOUS_MODE, {}}, |
| #endif |
| {"MPL Orientation", "Invensense", 1, SENSORS_ORIENTATION_HANDLE, |
| SENSOR_TYPE_ORIENTATION, 360.0f, 1.0f, 9.7f, 10000, 0, 0, |
| SENSOR_STRING_TYPE_ORIENTATION, "", 200000, SENSOR_FLAG_CONTINUOUS_MODE, {}}, |
| {"MPL Rotation Vector", "Invensense", 1, SENSORS_ROTATION_VECTOR_HANDLE, |
| SENSOR_TYPE_ROTATION_VECTOR, 10240.0f, 1.0f, 0.5f, 10000, 0, 0, |
| SENSOR_STRING_TYPE_ROTATION_VECTOR, "", 200000, SENSOR_FLAG_CONTINUOUS_MODE, {}}, |
| {"MPL Game Rotation Vector", "Invensense", 1, SENSORS_GAME_ROTATION_VECTOR_HANDLE, |
| SENSOR_TYPE_GAME_ROTATION_VECTOR, 10240.0f, 1.0f, 0.5f, 10000, 0, 62, |
| SENSOR_STRING_TYPE_GAME_ROTATION_VECTOR, "", 200000, SENSOR_FLAG_CONTINUOUS_MODE, {}}, |
| {"MPL Linear Acceleration", "Invensense", 1, SENSORS_LINEAR_ACCEL_HANDLE, |
| SENSOR_TYPE_LINEAR_ACCELERATION, 10240.0f, 1.0f, 0.5f, 10000, 0, 0, |
| SENSOR_STRING_TYPE_LINEAR_ACCELERATION, "", 200000, SENSOR_FLAG_CONTINUOUS_MODE, {}}, |
| {"MPL Gravity", "Invensense", 1, SENSORS_GRAVITY_HANDLE, |
| SENSOR_TYPE_GRAVITY, 10240.0f, 1.0f, 0.5f, 10000, 0, 0, |
| SENSOR_STRING_TYPE_GRAVITY, "", 200000, SENSOR_FLAG_CONTINUOUS_MODE, {}}, |
| {"MPL Significant Motion", "Invensense", 1, SENSORS_SIGNIFICANT_MOTION_HANDLE, |
| SENSOR_TYPE_SIGNIFICANT_MOTION, 100.0f, 1.0f, 1.1f, 0, 0, 0, |
| SENSOR_STRING_TYPE_SIGNIFICANT_MOTION, "", 0, |
| SENSOR_FLAG_ONE_SHOT_MODE | SENSOR_FLAG_WAKE_UP, {}}, |
| {"MPL Step Detector", "Invensense", 1, SENSORS_PEDOMETER_HANDLE, |
| SENSOR_TYPE_STEP_DETECTOR, 100.0f, 1.0f, 1.1f, 0, 0, 124, |
| SENSOR_STRING_TYPE_STEP_DETECTOR, "", 0, SENSOR_FLAG_SPECIAL_REPORTING_MODE, {}}, |
| {"MPL Step Counter", "Invensense", 1, SENSORS_STEP_COUNTER_HANDLE, |
| SENSOR_TYPE_STEP_COUNTER, 100.0f, 1.0f, 1.1f, 0, 0, 0, |
| SENSOR_STRING_TYPE_STEP_COUNTER, "", 0, SENSOR_FLAG_ON_CHANGE_MODE, {}}, |
| {"MPL Geomagnetic Rotation Vector", "Invensense", 1, |
| SENSORS_GEOMAGNETIC_ROTATION_VECTOR_HANDLE, |
| SENSOR_TYPE_GEOMAGNETIC_ROTATION_VECTOR, 10240.0f, 1.0f, 0.5f, 5000, 0, 0, |
| SENSOR_STRING_TYPE_GEOMAGNETIC_ROTATION_VECTOR, "", 200000, SENSOR_FLAG_CONTINUOUS_MODE, {}}, |
| #ifdef ENABLE_DMP_SCREEN_AUTO_ROTATION |
| {"MPL Screen Orientation", "Invensense ", 1, SENSORS_SCREEN_ORIENTATION_HANDLE, |
| SENSOR_TYPE_SCREEN_ORIENTATION, 100.0f, 1.0f, 1.1f, 0, 0, 0, |
| SENSOR_STRING_TYPE_SCREEN_ORIENTATION, "", 0, SENSOR_FLAG_ON_CHANGE_MODE, {}}, |
| #endif |
| }; |
| /* |
| Android KitKat |
| Populate sensor_t structure according to hardware sensors.h |
| {name, vendor, version, |
| handle, |
| type, maxRange, resolution, power, minDelay, fifoReservedEventCount, fifoMaxEventCount, reserved[]} |
| */ |
| #elif defined ANDROID_KITKAT |
| static struct sensor_t sBaseSensorList[] = |
| { |
| {"MPL Gyroscope", "Invensense", 1, SENSORS_GYROSCOPE_HANDLE, |
| SENSOR_TYPE_GYROSCOPE, 2000.0f, 1.0f, 0.5f, 10000, 0, 124, |
| SENSOR_STRING_TYPE_GYROSCOPE, 0, 0, SENSOR_FLAG_CONTINUOUS_MODE, {}}, |
| {"MPL Raw Gyroscope", "Invensense", 1, SENSORS_RAW_GYROSCOPE_HANDLE, |
| SENSOR_TYPE_GYROSCOPE_UNCALIBRATED, 2000.0f, 1.0f, 0.5f, 10000, 0, 124, |
| SENSOR_STRING_TYPE_GYROSCOPE_UNCALIBRATED, 0, 0, SENSOR_FLAG_CONTINUOUS_MODE, {}}, |
| {"MPL Accelerometer", "Invensense", 1, SENSORS_ACCELERATION_HANDLE, |
| SENSOR_TYPE_ACCELEROMETER, 10240.0f, 1.0f, 0.5f, 10000, 0, 124, |
| SENSOR_STRING_TYPE_ACCELEROMETER, 0, 0, SENSOR_FLAG_CONTINUOUS_MODE, {}}, |
| {"MPL Magnetic Field", "Invensense", 1, SENSORS_MAGNETIC_FIELD_HANDLE, |
| SENSOR_TYPE_MAGNETIC_FIELD, 10240.0f, 1.0f, 0.5f, 10000, 0, 124, |
| SENSOR_STRING_TYPE_MAGNETIC_FIELD, 0, 0, SENSOR_FLAG_CONTINUOUS_MODE, {}}, |
| {"MPL Raw Magnetic Field", "Invensense", 1, SENSORS_RAW_MAGNETIC_FIELD_HANDLE, |
| SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED, 10240.0f, 1.0f, 0.5f, 10000, 0, 124, |
| SENSOR_STRING_TYPE_MAGNETIC_FIELD_UNCALIBRATED, 0, 0, SENSOR_FLAG_CONTINUOUS_MODE, {}}, |
| #ifdef ENABLE_PRESSURE |
| {"MPL Pressure", "Invensense", 1, SENSORS_PRESSURE_HANDLE, |
| SENSOR_TYPE_PRESSURE, 10240.0f, 1.0f, 0.5f, 10000, 0, 165, |
| SENSOR_STRING_TYPE_PRESSURE, 0, 0, SENSOR_FLAG_CONTINUOUS_MODE, {}}, |
| #endif |
| {"MPL Orientation", "Invensense", 1, SENSORS_ORIENTATION_HANDLE, |
| SENSOR_TYPE_ORIENTATION, 360.0f, 1.0f, 9.7f, 10000, 0, 0, |
| SENSOR_STRING_TYPE_ORIENTATION, 0, 0, SENSOR_FLAG_CONTINUOUS_MODE, {}}, |
| {"MPL Rotation Vector", "Invensense", 1, SENSORS_ROTATION_VECTOR_HANDLE, |
| SENSOR_TYPE_ROTATION_VECTOR, 10240.0f, 1.0f, 0.5f, 10000, 0, 0, |
| SENSOR_STRING_TYPE_ROTATION_VECTOR, 0, 0, SENSOR_FLAG_CONTINUOUS_MODE, {}}, |
| {"MPL Game Rotation Vector", "Invensense", 1, SENSORS_GAME_ROTATION_VECTOR_HANDLE, |
| SENSOR_TYPE_GAME_ROTATION_VECTOR, 10240.0f, 1.0f, 0.5f, 10000, 0, 62, |
| SENSOR_STRING_TYPE_GAME_ROTATION_VECTOR, 0, 0, SENSOR_FLAG_CONTINUOUS_MODE, {}}, |
| {"MPL Linear Acceleration", "Invensense", 1, SENSORS_LINEAR_ACCEL_HANDLE, |
| SENSOR_TYPE_LINEAR_ACCELERATION, 10240.0f, 1.0f, 0.5f, 10000, 0, 0, |
| SENSOR_STRING_TYPE_LINEAR_ACCELERATION, 0, 0, SENSOR_FLAG_CONTINUOUS_MODE, {}}, |
| {"MPL Gravity", "Invensense", 1, SENSORS_GRAVITY_HANDLE, |
| SENSOR_TYPE_GRAVITY, 10240.0f, 1.0f, 0.5f, 10000, 0, 0, |
| SENSOR_STRING_TYPE_GRAVITY, 0, 0, SENSOR_FLAG_CONTINUOUS_MODE, {}}, |
| {"MPL Significant Motion", "Invensense", 1, SENSORS_SIGNIFICANT_MOTION_HANDLE, |
| SENSOR_TYPE_SIGNIFICANT_MOTION, 100.0f, 1.0f, 1.1f, 0, 0, 0, |
| SENSOR_STRING_TYPE_SIGNIFICANT_MOTION, 0, 0, |
| SENSOR_FLAG_ONE_SHOT_MODE | SENSOR_FLAG_WAKE_UP, {}}, |
| {"MPL Step Detector", "Invensense", 1, SENSORS_PEDOMETER_HANDLE, |
| SENSOR_TYPE_STEP_DETECTOR, 100.0f, 1.0f, 1.1f, 0, 0, 124, |
| SENSOR_STRING_TYPE_STEP_DETECTOR, 0, 0, SENSOR_FLAG_SPECIAL_REPORTING_MODE, {}}, |
| {"MPL Step Counter", "Invensense", 1, SENSORS_STEP_COUNTER_HANDLE, |
| SENSOR_TYPE_STEP_COUNTER, 100.0f, 1.0f, 1.1f, 0, 0, 0, |
| SENSOR_STRING_TYPE_STEP_COUNTER, 0, 0, SENSOR_FLAG_ON_CHANGE_MODE, {}}, |
| {"MPL Geomagnetic Rotation Vector", "Invensense", 1, |
| SENSORS_GEOMAGNETIC_ROTATION_VECTOR_HANDLE, |
| SENSOR_TYPE_GEOMAGNETIC_ROTATION_VECTOR, 10240.0f, 1.0f, 0.5f, 5000, 0, 0, |
| SENSOR_STRING_TYPE_GEOMAGNETIC_ROTATION_VECTOR, 0, 0, SENSOR_FLAG_CONTINUOUS_MODE, {}}, |
| #ifdef ENABLE_DMP_SCREEN_AUTO_ROTATION |
| {"MPL Screen Orientation", "Invensense ", 1, SENSORS_SCREEN_ORIENTATION_HANDLE, |
| SENSOR_TYPE_SCREEN_ORIENTATION, 100.0f, 1.0f, 1.1f, 0, 0, 0, |
| SENSOR_STRING_TYPE_SCREEN_ORIENTATION, 0, 0, SENSOR_FLAG_ON_CHANGE_MODE, {}}, |
| #endif |
| }; |
| #else //ANDROID_KITKAT END |
| static struct sensor_t sBaseSensorList[] = |
| { |
| {"MPL Gyroscope", "Invensense", 1, |
| SENSORS_GYROSCOPE_HANDLE, |
| SENSOR_TYPE_GYROSCOPE, 2000.0f, 1.0f, 0.5f, 10000, {}}, |
| {"MPL Raw Gyroscope", "Invensense", 1, |
| SENSORS_RAW_GYROSCOPE_HANDLE, |
| SENSOR_TYPE_GYROSCOPE_UNCALIBRATED, 2000.0f, 1.0f, 0.5f, 10000, {}}, |
| {"MPL Accelerometer", "Invensense", 1, |
| SENSORS_ACCELERATION_HANDLE, |
| SENSOR_TYPE_ACCELEROMETER, 10240.0f, 1.0f, 0.5f, 10000, {}}, |
| {"MPL Magnetic Field", "Invensense", 1, |
| SENSORS_MAGNETIC_FIELD_HANDLE, |
| SENSOR_TYPE_MAGNETIC_FIELD, 10240.0f, 1.0f, 0.5f, 10000, {}}, |
| {"MPL Raw Magnetic Field", "Invensense", 1, |
| SENSORS_RAW_MAGNETIC_FIELD_HANDLE, |
| SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED, 10240.0f, 1.0f, 0.5f, 10000, {}}, |
| #ifdef ENABLE_PRESSURE |
| {"MPL Pressure", "Invensense", 1, |
| SENSORS_PRESSURE_HANDLE, |
| SENSOR_TYPE_PRESSURE, 10240.0f, 1.0f, 0.5f, 10000, {}}, |
| #endif |
| {"MPL Orientation", "Invensense", 1, |
| SENSORS_ORIENTATION_HANDLE, |
| SENSOR_TYPE_ORIENTATION, 360.0f, 1.0f, 9.7f, 10000, {}}, |
| {"MPL Rotation Vector", "Invensense", 1, |
| SENSORS_ROTATION_VECTOR_HANDLE, |
| SENSOR_TYPE_ROTATION_VECTOR, 10240.0f, 1.0f, 0.5f, 10000, {}}, |
| {"MPL Game Rotation Vector", "Invensense", 1, |
| SENSORS_GAME_ROTATION_VECTOR_HANDLE, |
| SENSOR_TYPE_GAME_ROTATION_VECTOR, 10240.0f, 1.0f, 0.5f, 10000, {}}, |
| {"MPL Linear Acceleration", "Invensense", 1, |
| SENSORS_LINEAR_ACCEL_HANDLE, |
| SENSOR_TYPE_LINEAR_ACCELERATION, 10240.0f, 1.0f, 0.5f, 10000, {}}, |
| {"MPL Gravity", "Invensense", 1, |
| SENSORS_GRAVITY_HANDLE, |
| SENSOR_TYPE_GRAVITY, 10240.0f, 1.0f, 0.5f, 10000, {}}, |
| {"MPL Significant Motion", "Invensense", 1, |
| SENSORS_SIGNIFICANT_MOTION_HANDLE, |
| SENSOR_TYPE_SIGNIFICANT_MOTION, 100.0f, 1.0f, 1.1f, 0, {}}, |
| {"MPL Step Detector", "Invensense", 1, |
| SENSORS_PEDOMETER_HANDLE, |
| SENSOR_TYPE_STEP_DETECTOR, 100.0f, 1.0f, 1.1f, 0, {}}, |
| {"MPL Step Counter", "Invensense", 1, |
| SENSORS_STEP_COUNTER_HANDLE, |
| SENSOR_TYPE_STEP_COUNTER, 100.0f, 1.0f, 1.1f, 0, {}}, |
| {"MPL Geomagnetic Rotation Vector", "Invensense", 1, |
| SENSORS_GEOMAGNETIC_ROTATION_VECTOR_HANDLE, |
| SENSOR_TYPE_GEOMAGNETIC_ROTATION_VECTOR, 10240.0f, 1.0f, 0.5f, 10000, {}}, |
| #ifdef ENABLE_DMP_SCREEN_AUTO_ROTATION |
| {"MPL Screen Orientation", "Invensense ", 1, |
| SENSORS_SCREEN_ORIENTATION_HANDLE, |
| SENSOR_TYPE_SCREEN_ORIENTATION, 100.0f, 1.0f, 1.1f, 0, {}}, |
| #endif |
| }; |
| #endif //ANDROID_JELLYBEAN END |
| |
| /*****************************************************************************/ |
| |
| /* |
| * The SENSORS Module |
| */ |
| |
| /* ITG3500 */ |
| #define EVENT_TYPE_GYRO_X REL_X |
| #define EVENT_TYPE_GYRO_Y REL_Y |
| #define EVENT_TYPE_GYRO_Z REL_Z |
| /* MPU6050 MPU9150 */ |
| #define EVENT_TYPE_IACCEL_X REL_RX |
| #define EVENT_TYPE_IACCEL_Y REL_RY |
| #define EVENT_TYPE_IACCEL_Z REL_RZ |
| /* MPU6050 MPU9150 */ |
| #define EVENT_TYPE_ICOMPASS_X REL_X |
| #define EVENT_TYPE_ICOMPASS_Y REL_Y |
| #define EVENT_TYPE_ICOMPASS_Z REL_Z |
| /* MPUxxxx */ |
| #define EVENT_TYPE_TIMESTAMP_HI REL_MISC |
| #define EVENT_TYPE_TIMESTAMP_LO REL_WHEEL |
| |
| /* Accel BMA250 */ |
| #define EVENT_TYPE_ACCEL_X ABS_X |
| #define EVENT_TYPE_ACCEL_Y ABS_Y |
| #define EVENT_TYPE_ACCEL_Z ABS_Z |
| #define LSG (1000.0f) |
| |
| // conversion of acceleration data to SI units (m/s^2) |
| #define RANGE_A (4*GRAVITY_EARTH) |
| #define RESOLUTION_A (GRAVITY_EARTH / LSG) |
| #define CONVERT_A (GRAVITY_EARTH / LSG) |
| #define CONVERT_A_X (CONVERT_A) |
| #define CONVERT_A_Y (CONVERT_A) |
| #define CONVERT_A_Z (CONVERT_A) |
| |
| /* AKM compasses */ |
| #define EVENT_TYPE_MAGV_X ABS_RX |
| #define EVENT_TYPE_MAGV_Y ABS_RY |
| #define EVENT_TYPE_MAGV_Z ABS_RZ |
| #define EVENT_TYPE_MAGV_STATUS ABS_RUDDER |
| |
| /* conversion of magnetic data to uT units */ |
| #define CONVERT_M (0.06f) |
| |
| /* conversion of sensor rates */ |
| #define hertz_request = 200; |
| #define DEFAULT_MPL_GYRO_RATE (20000L) //us |
| #define DEFAULT_MPL_COMPASS_RATE (20000L) //us |
| |
| #define DEFAULT_HW_GYRO_RATE (100) //Hz |
| #define DEFAULT_HW_ACCEL_RATE (20) //ms |
| #define DEFAULT_HW_COMPASS_RATE (20000000L) //ns |
| #define DEFAULT_HW_AKMD_COMPASS_RATE (200000000L) //ns |
| |
| /* convert ns to hardware units */ |
| #define HW_GYRO_RATE_NS (1000000000LL / rate_request) // to Hz |
| #define HW_ACCEL_RATE_NS (rate_request / (1000000L)) // to ms |
| #define HW_COMPASS_RATE_NS (rate_request) // to ns |
| |
| /* convert Hz to hardware units */ |
| #define HW_GYRO_RATE_HZ (hertz_request) |
| #define HW_ACCEL_RATE_HZ (1000 / hertz_request) |
| #define HW_COMPASS_RATE_HZ (1000000000LL / hertz_request) |
| |
| #define RATE_200HZ 5000000LL |
| #define RATE_15HZ 66667000LL |
| #define RATE_5HZ 200000000LL |
| __END_DECLS |
| |
| #endif // ANDROID_SENSORS_H |
