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android_hardware_libhardware/include/hardware/sensors.h
Clay Murphy 8db1fb408c Docs: Removing contents now on source.android.com 
Bug: 10134622

Change-Id: Ief5a53f1b5e5eff9ade45763d895029428266980
2013-12-19 16:05:18 -08:00

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/*
* 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 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
/*****************************************************************************/
#define SENSORS_HEADER_VERSION 1
#define SENSORS_MODULE_API_VERSION_0_1 HARDWARE_MODULE_API_VERSION(0, 1)
#define SENSORS_DEVICE_API_VERSION_0_1 HARDWARE_DEVICE_API_VERSION_2(0, 1, SENSORS_HEADER_VERSION)
#define SENSORS_DEVICE_API_VERSION_1_0 HARDWARE_DEVICE_API_VERSION_2(1, 0, SENSORS_HEADER_VERSION)
#define SENSORS_DEVICE_API_VERSION_1_1 HARDWARE_DEVICE_API_VERSION_2(1, 1, SENSORS_HEADER_VERSION)
/**
* Please see the Sensors section of source.android.com for an
* introduction to and detailed descriptions of Android sensor types:
* http://source.android.com/devices/sensors/index.html
*/
/**
* 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)
/*
* flags for (*batch)()
* Availability: SENSORS_DEVICE_API_VERSION_1_0
* see (*batch)() documentation for details
*/
enum {
SENSORS_BATCH_DRY_RUN = 0x00000001,
SENSORS_BATCH_WAKE_UPON_FIFO_FULL = 0x00000002
};
/*
* what field for meta_data_event_t
*/
enum {
/* a previous flush operation has completed */
META_DATA_FLUSH_COMPLETE = 1,
META_DATA_VERSION /* always last, leave auto-assigned */
};
/*
* Sensor type
*
* Each sensor has a type which defines what this sensor measures and how
* measures are reported. See the Base sensors and Composite sensors lists
* for complete descriptions:
* http://source.android.com/devices/sensors/base_triggers.html
* http://source.android.com/devices/sensors/composite_sensors.html
*
* 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_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.
*
*/
#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.
*
*/
#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().
*/
#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.
*/
#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 value corresponds to the distance to the nearest object in centimeters.
*/
#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.
*/
#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.
*/
#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.
*/
#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.
*/
#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.
*/
#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.
*/
#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.
*/
#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.
*/
#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.
*/
#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.
*/
#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;
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 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];
};
/*
* sensors_poll_device_t is used with SENSORS_DEVICE_API_VERSION_0_1
* and is present for backward binary and source compatibility.
* See the Sensors HAL interface section for complete descriptions of the
* following functions:
* http://source.android.com/devices/sensors/index.html#hal
*/
struct sensors_poll_device_t {
struct hw_device_t common;
int (*activate)(struct sensors_poll_device_t *dev,
int handle, int enabled);
int (*setDelay)(struct sensors_poll_device_t *dev,
int handle, int64_t ns);
int (*poll)(struct sensors_poll_device_t *dev,
sensors_event_t* data, int count);
};
/*
* struct sensors_poll_device_1 is used with SENSORS_DEVICE_API_VERSION_1_0
*/
typedef struct sensors_poll_device_1 {
union {
/* sensors_poll_device_1 is compatible with sensors_poll_device_t,
* and can be down-cast to it
*/
struct sensors_poll_device_t v0;
struct {
struct hw_device_t common;
/* Activate/de-activate one sensor. Return 0 on success, negative
*
* handle is the handle of the sensor to change.
* 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 events's period in nanoseconds for a given sensor.
*/
int (*setDelay)(struct sensors_poll_device_t *dev,
int handle, int64_t period_ns);
/**
* Returns an array of sensor data.
*/
int (*poll)(struct sensors_poll_device_t *dev,
sensors_event_t* data, int count);
};
};
/*
* Enables batch mode for the given sensor and sets the delay between events.
* See the Batching sensor results page for details:
* http://source.android.com/devices/sensors/batching.html
*/
int (*batch)(struct sensors_poll_device_1* dev,
int handle, int flags, int64_t period_ns, int64_t timeout);
/*
* Flush adds a META_DATA_FLUSH_COMPLETE event (sensors_event_meta_data_t)
* to the end of the "batch mode" FIFO for the specified sensor and flushes
* the FIFO.
*/
int (*flush)(struct sensors_poll_device_1* dev, int handle);
void (*reserved_procs[8])(void);
} sensors_poll_device_1_t;
/** 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);
}
static inline int sensors_open_1(const struct hw_module_t* module,
sensors_poll_device_1_t** device) {
return module->methods->open(module,
SENSORS_HARDWARE_POLL, (struct hw_device_t**)device);
}
static inline int sensors_close_1(sensors_poll_device_1_t* device) {
return device->common.close(&device->common);
}
__END_DECLS
#endif // ANDROID_SENSORS_INTERFACE_H
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