| /* |
| * Copyright (C) 2008 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 ANDROID_SENSORS_INTERFACE_H |
| #define ANDROID_SENSORS_INTERFACE_H |
| |
| #include <stdint.h> |
| #include <sys/cdefs.h> |
| #include <sys/types.h> |
| |
| #include <hardware/hardware.h> |
| #include <cutils/native_handle.h> |
| |
| __BEGIN_DECLS |
| |
| /** |
| * The id of this module |
| */ |
| #define SENSORS_HARDWARE_MODULE_ID "sensors" |
| |
| /** |
| * Name of the sensors device to open |
| */ |
| #define SENSORS_HARDWARE_POLL "poll" |
| |
| /** |
| * Handles must be higher than SENSORS_HANDLE_BASE and must be unique. |
| * A Handle identifies a given sensors. The handle is used to activate |
| * and/or deactivate sensors. |
| * In this version of the API there can only be 256 handles. |
| */ |
| #define SENSORS_HANDLE_BASE 0 |
| #define SENSORS_HANDLE_BITS 8 |
| #define SENSORS_HANDLE_COUNT (1<<SENSORS_HANDLE_BITS) |
| |
| |
| /** |
| * Sensor types |
| */ |
| #define SENSOR_TYPE_ACCELEROMETER 1 |
| #define SENSOR_TYPE_MAGNETIC_FIELD 2 |
| #define SENSOR_TYPE_ORIENTATION 3 |
| #define SENSOR_TYPE_GYROSCOPE 4 |
| #define SENSOR_TYPE_LIGHT 5 |
| #define SENSOR_TYPE_PRESSURE 6 |
| #define SENSOR_TYPE_TEMPERATURE 7 // deprecated |
| #define SENSOR_TYPE_PROXIMITY 8 |
| #define SENSOR_TYPE_GRAVITY 9 |
| #define SENSOR_TYPE_LINEAR_ACCELERATION 10 |
| #define SENSOR_TYPE_ROTATION_VECTOR 11 |
| #define SENSOR_TYPE_RELATIVE_HUMIDITY 12 |
| #define SENSOR_TYPE_AMBIENT_TEMPERATURE 13 |
| |
| /** |
| * 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 each sensor |
| */ |
| |
| #define SENSOR_STATUS_UNRELIABLE 0 |
| #define SENSOR_STATUS_ACCURACY_LOW 1 |
| #define SENSOR_STATUS_ACCURACY_MEDIUM 2 |
| #define SENSOR_STATUS_ACCURACY_HIGH 3 |
| |
| /** |
| * Definition of the axis |
| * ---------------------- |
| * |
| * This API is relative to the screen of the device in its default orientation, |
| * that is, if the device can be used in portrait or landscape, this API |
| * is only relative to the NATURAL orientation of the screen. In other words, |
| * the axis are not swapped when the device's screen orientation changes. |
| * Higher level services /may/ perform this transformation. |
| * |
| * x<0 x>0 |
| * ^ |
| * | |
| * +-----------+--> y>0 |
| * | | |
| * | | |
| * | | |
| * | | / z<0 |
| * | | / |
| * | | / |
| * O-----------+/ |
| * |[] [ ] []/ |
| * +----------/+ y<0 |
| * / |
| * / |
| * |/ z>0 (toward the sky) |
| * |
| * O: Origin (x=0,y=0,z=0) |
| * |
| * |
| * SENSOR_TYPE_ORIENTATION |
| * ----------------------- |
| * |
| * 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). |
| * |
| * |
| * SENSOR_TYPE_ACCELEROMETER |
| * ------------------------- |
| * |
| * 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 minus Gx on the x-axis |
| * y: Acceleration minus Gy on the y-axis |
| * z: Acceleration minus Gz on the z-axis |
| * |
| * Examples: |
| * 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). |
| * |
| * |
| * SENSOR_TYPE_MAGNETIC_FIELD |
| * -------------------------- |
| * |
| * All values are in micro-Tesla (uT) and measure the ambient magnetic |
| * field in the X, Y and Z axis. |
| * |
| * Magnetic Field sensors return sensor events for all 3 axes at a constant |
| * rate defined by setDelay(). |
| * |
| * SENSOR_TYPE_GYROSCOPE |
| * --------------------- |
| * |
| * 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). |
| * |
| * SENSOR_TYPE_PROXIMITY |
| * ---------------------- |
| * |
| * 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. |
| * |
| * Proximity sensors report a value only when it changes and each time the |
| * sensor is enabled. |
| * |
| * SENSOR_TYPE_LIGHT |
| * ----------------- |
| * |
| * The light sensor value is returned in SI lux units. |
| * |
| * Light sensors report a value only when it changes and each time the |
| * sensor is enabled. |
| * |
| * SENSOR_TYPE_PRESSURE |
| * -------------------- |
| * |
| * The pressure sensor return the athmospheric pressure in hectopascal (hPa) |
| * |
| * Pressure sensors report events at a constant rate defined by setDelay(). |
| * |
| * SENSOR_TYPE_GRAVITY |
| * ------------------- |
| * |
| * 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. |
| * |
| * SENSOR_TYPE_LINEAR_ACCELERATION |
| * -------------------------------- |
| * |
| * Indicates the linear acceleration of the device in device coordinates, |
| * not including gravity. |
| * This output is essentially Acceleration - Gravity. Units are m/s^2. |
| * The coordinate system is the same as is used for the acceleration sensor. |
| * |
| * |
| * SENSOR_TYPE_ROTATION_VECTOR |
| * --------------------------- |
| * |
| * A rotation vector represents the orientation of the device as a combination |
| * of an angle and an axis, in which the device has rotated through an angle |
| * theta around an axis <x, y, z>. The three elements of the rotation vector |
| * are <x*sin(theta/2), y*sin(theta/2), z*sin(theta/2)>, such that the magnitude |
| * of the rotation vector is equal to sin(theta/2), and the direction of the |
| * rotation vector is equal to the direction of the axis of rotation. The three |
| * elements of the rotation vector are equal to the last three components of a |
| * unit quaternion <cos(theta/2), x*sin(theta/2), y*sin(theta/2), z*sin(theta/2)>. |
| * Elements of the rotation vector are unitless. The x, y, and z axis are defined |
| * in the same was as for the acceleration sensor. |
| * |
| * The reference coordinate system is defined as a direct orthonormal basis, |
| * where: |
| * |
| * - X is defined as the vector product Y.Z (It is tangential to |
| * the ground at the device's current location and roughly points East). |
| * |
| * - Y is tangential to the ground at the device's current location and |
| * points towards the magnetic North Pole. |
| * |
| * - Z points towards the sky and is perpendicular to the ground. |
| * |
| * |
| * The rotation-vector is stored as: |
| * |
| * sensors_event_t.data[0] = x*sin(theta/2) |
| * sensors_event_t.data[1] = y*sin(theta/2) |
| * sensors_event_t.data[2] = z*sin(theta/2) |
| * sensors_event_t.data[3] = cos(theta/2) |
| * |
| * |
| * SENSOR_TYPE_RELATIVE_HUMIDITY |
| * ------------------------------ |
| * |
| * A relative humidity sensor measures relative ambient air humidity and |
| * returns a value in percent. |
| * |
| * Relative humidity sensors report a value only when it changes and each |
| * time the sensor is enabled. |
| * |
| * |
| * SENSOR_TYPE_AMBIENT_TEMPERATURE |
| * ------------------------------- |
| * |
| * The ambient (room) temperature in degree Celsius. |
| * |
| * Temperature sensors report a value only when it changes and each time the |
| * sensor is enabled. |
| * |
| */ |
| |
| 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; |
| |
| /** |
| * 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 { |
| 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; |
| }; |
| uint32_t reserved1[4]; |
| } sensors_event_t; |
| |
| |
| |
| struct sensor_t; |
| |
| /** |
| * Every hardware module must have a data structure named HAL_MODULE_INFO_SYM |
| * and the fields of this data structure must begin with hw_module_t |
| * followed by module specific information. |
| */ |
| struct sensors_module_t { |
| struct hw_module_t common; |
| |
| /** |
| * Enumerate all available sensors. The list is returned in "list". |
| * @return number of sensors in the list |
| */ |
| int (*get_sensors_list)(struct sensors_module_t* module, |
| struct sensor_t const** list); |
| }; |
| |
| struct sensor_t { |
| /* name of this sensors */ |
| 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 activate |
| * and deactivate this sensor. The value of the handle must be 8 bits |
| * in this version of the API. |
| */ |
| int handle; |
| /* this sensor's type. */ |
| int type; |
| /* maximaum 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; |
| /* minimum delay allowed between events in microseconds. A value of zero |
| * means that this sensor doesn't report events at a constant rate, but |
| * rather only when a new data is available */ |
| int32_t minDelay; |
| /* reserved fields, must be zero */ |
| void* reserved[8]; |
| }; |
| |
| |
| /** |
| * Every device data structure must begin with hw_device_t |
| * followed by module specific public methods and attributes. |
| */ |
| struct sensors_poll_device_t { |
| struct hw_device_t common; |
| |
| /** Activate/deactivate one sensor. |
| * |
| * @param handle is the handle of the sensor to change. |
| * @param enabled set to 1 to enable, or 0 to disable the sensor. |
| * |
| * @return 0 on success, negative errno code otherwise |
| */ |
| int (*activate)(struct sensors_poll_device_t *dev, |
| int handle, int enabled); |
| |
| /** |
| * Set the delay between sensor events in nanoseconds for a given sensor. |
| * |
| * If the requested value is less than sensor_t::minDelay, then it's |
| * silently clamped to sensor_t::minDelay unless sensor_t::minDelay is |
| * 0, in which case it is clamped to >= 1ms. |
| * |
| * @return 0 if successful, < 0 on error |
| */ |
| int (*setDelay)(struct sensors_poll_device_t *dev, |
| int handle, int64_t ns); |
| |
| /** |
| * Returns an array of sensor data. |
| * This function must block until events are available. |
| * |
| * @return the number of events read on success, or -errno in case of an error. |
| * This function should never return 0 (no event). |
| * |
| */ |
| int (*poll)(struct sensors_poll_device_t *dev, |
| sensors_event_t* data, int count); |
| }; |
| |
| /** convenience API for opening and closing a device */ |
| |
| static inline int sensors_open(const struct hw_module_t* module, |
| struct sensors_poll_device_t** device) { |
| return module->methods->open(module, |
| SENSORS_HARDWARE_POLL, (struct hw_device_t**)device); |
| } |
| |
| static inline int sensors_close(struct sensors_poll_device_t* device) { |
| return device->common.close(&device->common); |
| } |
| |
| __END_DECLS |
| |
| #endif // ANDROID_SENSORS_INTERFACE_H |