d1e2562a79
Add an uncalibrated accelerometer sensor type. Test: Build compiles. Change-Id: Iddc3b03abf0ba9beeec542eecf138b06d08355f2
644 lines
23 KiB
C
644 lines
23 KiB
C
/*
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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 ANDROID_SENSORS_INTERFACE_H
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#define ANDROID_SENSORS_INTERFACE_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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#include <hardware/hardware.h>
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#include <cutils/native_handle.h>
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#include "sensors-base.h"
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__BEGIN_DECLS
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/*****************************************************************************/
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#define SENSORS_HEADER_VERSION 1
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#define SENSORS_MODULE_API_VERSION_0_1 HARDWARE_MODULE_API_VERSION(0, 1)
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#define SENSORS_DEVICE_API_VERSION_0_1 HARDWARE_DEVICE_API_VERSION_2(0, 1, SENSORS_HEADER_VERSION)
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#define SENSORS_DEVICE_API_VERSION_1_0 HARDWARE_DEVICE_API_VERSION_2(1, 0, SENSORS_HEADER_VERSION)
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#define SENSORS_DEVICE_API_VERSION_1_1 HARDWARE_DEVICE_API_VERSION_2(1, 1, SENSORS_HEADER_VERSION)
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#define SENSORS_DEVICE_API_VERSION_1_2 HARDWARE_DEVICE_API_VERSION_2(1, 2, SENSORS_HEADER_VERSION)
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#define SENSORS_DEVICE_API_VERSION_1_3 HARDWARE_DEVICE_API_VERSION_2(1, 3, SENSORS_HEADER_VERSION)
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#define SENSORS_DEVICE_API_VERSION_1_4 HARDWARE_DEVICE_API_VERSION_2(1, 4, SENSORS_HEADER_VERSION)
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/**
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* Please see the Sensors section of source.android.com for an
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* introduction to and detailed descriptions of Android sensor types:
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* http://source.android.com/devices/sensors/index.html
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*/
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/**
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* The id of this module
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*/
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#define SENSORS_HARDWARE_MODULE_ID "sensors"
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/**
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* Name of the sensors device to open
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*/
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#define SENSORS_HARDWARE_POLL "poll"
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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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* **** Deprecated *****
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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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* Deprecated as of SENSORS_DEVICE_API_VERSION_1_3.
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* WAKE_UP_* sensors replace WAKE_UPON_FIFO_FULL concept.
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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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* The permission to use for body sensors (like heart rate monitors).
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* See sensor types for more details on what sensors should require this
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* permission.
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*/
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#define SENSOR_PERMISSION_BODY_SENSORS "android.permission.BODY_SENSORS"
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/*
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* Availability: SENSORS_DEVICE_API_VERSION_1_4
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* Sensor HAL modes used in set_operation_mode method
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*/
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#define SENSOR_FLAG_MASK(nbit, shift) (((1<<(nbit))-1)<<(shift))
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#define SENSOR_FLAG_MASK_1(shift) SENSOR_FLAG_MASK(1, shift)
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/*
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* Mask and shift for reporting mode sensor flags defined above.
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*/
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#define REPORTING_MODE_SHIFT (1)
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#define REPORTING_MODE_NBIT (3)
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#define REPORTING_MODE_MASK SENSOR_FLAG_MASK(REPORTING_MODE_NBIT, REPORTING_MODE_SHIFT)
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// 0xE
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/*
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* Mask and shift for data_injection mode sensor flags defined above.
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*/
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#define DATA_INJECTION_SHIFT (4)
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#define DATA_INJECTION_MASK SENSOR_FLAG_MASK_1(DATA_INJECTION_SHIFT) //0x10
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/*
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* Mask and shift for dynamic sensor flag.
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*/
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#define DYNAMIC_SENSOR_SHIFT (5)
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#define DYNAMIC_SENSOR_MASK SENSOR_FLAG_MASK_1(DYNAMIC_SENSOR_SHIFT) //0x20
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/*
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* Mask and shift for sensor additional information support.
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*/
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#define ADDITIONAL_INFO_SHIFT (6)
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#define ADDITIONAL_INFO_MASK SENSOR_FLAG_MASK_1(ADDITIONAL_INFO_SHIFT) //0x40
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#define SENSOR_STRING_TYPE_ACCELEROMETER "android.sensor.accelerometer"
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#define SENSOR_TYPE_MAGNETIC_FIELD SENSOR_TYPE_GEOMAGNETIC_FIELD
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#define SENSOR_STRING_TYPE_MAGNETIC_FIELD "android.sensor.magnetic_field"
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#define SENSOR_STRING_TYPE_ORIENTATION "android.sensor.orientation"
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#define SENSOR_STRING_TYPE_GYROSCOPE "android.sensor.gyroscope"
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#define SENSOR_STRING_TYPE_LIGHT "android.sensor.light"
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#define SENSOR_STRING_TYPE_PRESSURE "android.sensor.pressure"
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#define SENSOR_STRING_TYPE_TEMPERATURE "android.sensor.temperature"
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#define SENSOR_STRING_TYPE_PROXIMITY "android.sensor.proximity"
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#define SENSOR_STRING_TYPE_GRAVITY "android.sensor.gravity"
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#define SENSOR_STRING_TYPE_LINEAR_ACCELERATION "android.sensor.linear_acceleration"
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#define SENSOR_STRING_TYPE_ROTATION_VECTOR "android.sensor.rotation_vector"
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#define SENSOR_STRING_TYPE_RELATIVE_HUMIDITY "android.sensor.relative_humidity"
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#define SENSOR_STRING_TYPE_AMBIENT_TEMPERATURE "android.sensor.ambient_temperature"
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#define SENSOR_STRING_TYPE_MAGNETIC_FIELD_UNCALIBRATED "android.sensor.magnetic_field_uncalibrated"
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#define SENSOR_STRING_TYPE_GAME_ROTATION_VECTOR "android.sensor.game_rotation_vector"
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#define SENSOR_STRING_TYPE_GYROSCOPE_UNCALIBRATED "android.sensor.gyroscope_uncalibrated"
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#define SENSOR_STRING_TYPE_SIGNIFICANT_MOTION "android.sensor.significant_motion"
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#define SENSOR_STRING_TYPE_STEP_DETECTOR "android.sensor.step_detector"
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#define SENSOR_STRING_TYPE_STEP_COUNTER "android.sensor.step_counter"
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#define SENSOR_STRING_TYPE_GEOMAGNETIC_ROTATION_VECTOR "android.sensor.geomagnetic_rotation_vector"
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#define SENSOR_STRING_TYPE_HEART_RATE "android.sensor.heart_rate"
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#define SENSOR_STRING_TYPE_TILT_DETECTOR "android.sensor.tilt_detector"
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#define SENSOR_STRING_TYPE_WAKE_GESTURE "android.sensor.wake_gesture"
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#define SENSOR_STRING_TYPE_GLANCE_GESTURE "android.sensor.glance_gesture"
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#define SENSOR_STRING_TYPE_PICK_UP_GESTURE "android.sensor.pick_up_gesture"
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#define SENSOR_STRING_TYPE_WRIST_TILT_GESTURE "android.sensor.wrist_tilt_gesture"
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#define SENSOR_STRING_TYPE_DEVICE_ORIENTATION "android.sensor.device_orientation"
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#define SENSOR_STRING_TYPE_POSE_6DOF "android.sensor.pose_6dof"
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#define SENSOR_STRING_TYPE_STATIONARY_DETECT "android.sensor.stationary_detect"
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#define SENSOR_STRING_TYPE_MOTION_DETECT "android.sensor.motion_detect"
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#define SENSOR_STRING_TYPE_HEART_BEAT "android.sensor.heart_beat"
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#define SENSOR_STRING_TYPE_DYNAMIC_SENSOR_META "android.sensor.dynamic_sensor_meta"
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#define SENSOR_STRING_TYPE_ADDITIONAL_INFO "android.sensor.additional_info"
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#define SENSOR_STRING_TYPE_LOW_LATENCY_OFFBODY_DETECT "android.sensor.low_latency_offbody"
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#define SENSOR_STRING_TYPE_ACCELEROMETER_UNCALIBRATED "android.sensor.accelerometer_uncalibrated"
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/**
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* Values returned by the accelerometer in various locations in the universe.
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* all values are in SI units (m/s^2)
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*/
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#define GRAVITY_SUN (275.0f)
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#define GRAVITY_EARTH (9.80665f)
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/** Maximum magnetic field on Earth's surface */
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#define MAGNETIC_FIELD_EARTH_MAX (60.0f)
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/** Minimum magnetic field on Earth's surface */
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#define MAGNETIC_FIELD_EARTH_MIN (30.0f)
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struct sensor_t;
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/**
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* sensor event data
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*/
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typedef struct {
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union {
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float v[3];
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struct {
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float x;
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float y;
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float z;
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};
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struct {
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float azimuth;
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float pitch;
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float roll;
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};
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};
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int8_t status;
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uint8_t reserved[3];
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} sensors_vec_t;
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/**
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* uncalibrated accelerometer, gyroscope and magnetometer event data
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*/
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typedef struct {
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union {
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float uncalib[3];
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struct {
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float x_uncalib;
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float y_uncalib;
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float z_uncalib;
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};
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};
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union {
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float bias[3];
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struct {
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float x_bias;
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float y_bias;
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float z_bias;
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};
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};
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} uncalibrated_event_t;
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/**
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* Meta data event data
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*/
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typedef struct meta_data_event {
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int32_t what;
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int32_t sensor;
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} meta_data_event_t;
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/**
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* Dynamic sensor meta event. See the description of SENSOR_TYPE_DYNAMIC_SENSOR_META type for
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* details.
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*/
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typedef struct dynamic_sensor_meta_event {
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int32_t connected;
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int32_t handle;
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const struct sensor_t * sensor; // should be NULL if connected == false
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uint8_t uuid[16]; // UUID of a dynamic sensor (using RFC 4122 byte order)
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// For UUID 12345678-90AB-CDEF-1122-334455667788 the uuid field
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// should be initialized as:
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// {0x12, 0x34, 0x56, 0x78, 0x90, 0xAB, 0xCD, 0xEF, 0x11, ...}
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} dynamic_sensor_meta_event_t;
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/**
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* Heart rate event data
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*/
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typedef struct {
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// Heart rate in beats per minute.
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// Set to 0 when status is SENSOR_STATUS_UNRELIABLE or ..._NO_CONTACT
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float bpm;
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// Status of the sensor for this reading. Set to one SENSOR_STATUS_...
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// Note that this value should only be set for sensors that explicitly define
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// the meaning of this field. This field is not piped through the framework
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// for other sensors.
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int8_t status;
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} heart_rate_event_t;
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typedef struct {
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int32_t type; // type of payload data, see additional_info_type_t
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int32_t serial; // sequence number of this frame for this type
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union {
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// for each frame, a single data type, either int32_t or float, should be used.
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int32_t data_int32[14];
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float data_float[14];
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};
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} additional_info_event_t;
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/**
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* Union of the various types of sensor data
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* that can be returned.
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*/
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typedef struct sensors_event_t {
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/* must be sizeof(struct sensors_event_t) */
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int32_t version;
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/* sensor identifier */
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int32_t sensor;
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/* sensor type */
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int32_t type;
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/* reserved */
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int32_t reserved0;
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/* time is in nanosecond */
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int64_t timestamp;
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union {
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union {
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float data[16];
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/* acceleration values are in meter per second per second (m/s^2) */
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sensors_vec_t acceleration;
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/* magnetic vector values are in micro-Tesla (uT) */
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sensors_vec_t magnetic;
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/* orientation values are in degrees */
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sensors_vec_t orientation;
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/* gyroscope values are in rad/s */
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sensors_vec_t gyro;
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/* temperature is in degrees centigrade (Celsius) */
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float temperature;
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/* distance in centimeters */
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float distance;
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/* light in SI lux units */
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float light;
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/* pressure in hectopascal (hPa) */
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float pressure;
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/* relative humidity in percent */
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float relative_humidity;
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/* uncalibrated gyroscope values are in rad/s */
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uncalibrated_event_t uncalibrated_gyro;
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/* uncalibrated magnetometer values are in micro-Teslas */
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uncalibrated_event_t uncalibrated_magnetic;
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/* uncalibrated accelerometer values are in meter per second per second (m/s^2) */
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uncalibrated_event_t uncalibrated_accelerometer;
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/* heart rate data containing value in bpm and status */
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heart_rate_event_t heart_rate;
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/* this is a special event. see SENSOR_TYPE_META_DATA above.
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* sensors_meta_data_event_t events are all reported with a type of
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* SENSOR_TYPE_META_DATA. The handle is ignored and must be zero.
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*/
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meta_data_event_t meta_data;
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/* dynamic sensor meta event. See SENSOR_TYPE_DYNAMIC_SENSOR_META type for details */
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dynamic_sensor_meta_event_t dynamic_sensor_meta;
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/*
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* special additional sensor information frame, see
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* SENSOR_TYPE_ADDITIONAL_INFO for details.
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*/
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additional_info_event_t additional_info;
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};
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union {
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uint64_t data[8];
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/* step-counter */
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uint64_t step_counter;
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} u64;
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};
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/* Reserved flags for internal use. Set to zero. */
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uint32_t flags;
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uint32_t reserved1[3];
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} sensors_event_t;
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/* see SENSOR_TYPE_META_DATA */
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typedef sensors_event_t sensors_meta_data_event_t;
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/**
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* Every hardware module must have a data structure named HAL_MODULE_INFO_SYM
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* and the fields of this data structure must begin with hw_module_t
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* followed by module specific information.
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*/
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struct sensors_module_t {
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struct hw_module_t common;
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/**
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* Enumerate all available sensors. The list is returned in "list".
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* return number of sensors in the list
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*/
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int (*get_sensors_list)(struct sensors_module_t* module,
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struct sensor_t const** list);
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/**
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* Place the module in a specific mode. The following modes are defined
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*
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* 0 - Normal operation. Default state of the module.
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* 1 - Loopback mode. Data is injected for the supported
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* sensors by the sensor service in this mode.
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* return 0 on success
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* -EINVAL if requested mode is not supported
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* -EPERM if operation is not allowed
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*/
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int (*set_operation_mode)(unsigned int mode);
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};
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struct sensor_t {
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/* Name of this sensor.
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* All sensors of the same "type" must have a different "name".
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*/
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const char* name;
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/* vendor of the hardware part */
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const char* vendor;
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/* version of the hardware part + driver. The value of this field
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* must increase when the driver is updated in a way that changes the
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* output of this sensor. This is important for fused sensors when the
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* fusion algorithm is updated.
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*/
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int version;
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/* handle that identifies this sensors. This handle is used to reference
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* this sensor throughout the HAL API.
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*/
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int handle;
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/* this sensor's type. */
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int type;
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/* maximum range of this sensor's value in SI units */
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float maxRange;
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/* smallest difference between two values reported by this sensor */
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float resolution;
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/* rough estimate of this sensor's power consumption in mA */
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float power;
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/* this value depends on the reporting mode:
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*
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* continuous: minimum sample period allowed in microseconds
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* on-change : 0
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* one-shot :-1
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* special : 0, unless otherwise noted
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*/
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int32_t minDelay;
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/* number of events reserved for this sensor in the batch mode FIFO.
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* If there is a dedicated FIFO for this sensor, then this is the
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* size of this FIFO. If the FIFO is shared with other sensors,
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* this is the size reserved for that sensor and it can be zero.
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*/
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uint32_t fifoReservedEventCount;
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/* maximum number of events of this sensor that could be batched.
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* This is especially relevant when the FIFO is shared between
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* several sensors; this value is then set to the size of that FIFO.
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*/
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uint32_t fifoMaxEventCount;
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/* type of this sensor as a string. Set to corresponding
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* SENSOR_STRING_TYPE_*.
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* When defining an OEM specific sensor or sensor manufacturer specific
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* sensor, use your reserve domain name as a prefix.
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* ex: com.google.glass.onheaddetector
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* For sensors of known type, the android framework might overwrite this
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* string automatically.
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*/
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const char* stringType;
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/* permission required to see this sensor, register to it and receive data.
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* Set to "" if no permission is required. Some sensor types like the
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* heart rate monitor have a mandatory require_permission.
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* For sensors that always require a specific permission, like the heart
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* rate monitor, the android framework might overwrite this string
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* automatically.
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*/
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const char* requiredPermission;
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/* This value is defined only for continuous mode and on-change sensors. It is the delay between
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* two sensor events corresponding to the lowest frequency that this sensor supports. When lower
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* frequencies are requested through batch()/setDelay() the events will be generated at this
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* frequency instead. It can be used by the framework or applications to estimate when the batch
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* FIFO may be full.
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*
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* NOTE: 1) period_ns is in nanoseconds where as maxDelay/minDelay are in microseconds.
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* continuous, on-change: maximum sampling period allowed in microseconds.
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* one-shot, special : 0
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* 2) maxDelay should always fit within a 32 bit signed integer. It is declared as 64 bit
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* on 64 bit architectures only for binary compatibility reasons.
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* Availability: SENSORS_DEVICE_API_VERSION_1_3
|
||
*/
|
||
#ifdef __LP64__
|
||
int64_t maxDelay;
|
||
#else
|
||
int32_t maxDelay;
|
||
#endif
|
||
|
||
/* Flags for sensor. See SENSOR_FLAG_* above. Only the least significant 32 bits are used here.
|
||
* It is declared as 64 bit on 64 bit architectures only for binary compatibility reasons.
|
||
* Availability: SENSORS_DEVICE_API_VERSION_1_3
|
||
*/
|
||
#ifdef __LP64__
|
||
uint64_t flags;
|
||
#else
|
||
uint32_t flags;
|
||
#endif
|
||
|
||
/* reserved fields, must be zero */
|
||
void* reserved[2];
|
||
};
|
||
|
||
|
||
/*
|
||
* 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 sensor_handle, int enabled);
|
||
int (*setDelay)(struct sensors_poll_device_t *dev,
|
||
int sensor_handle, int64_t sampling_period_ns);
|
||
int (*poll)(struct sensors_poll_device_t *dev,
|
||
sensors_event_t* data, int count);
|
||
};
|
||
|
||
/*
|
||
* struct sensors_poll_device_1 is used in HAL versions >= 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.
|
||
*
|
||
* sensor_handle is the handle of the sensor to change.
|
||
* enabled set to 1 to enable, or 0 to disable the sensor.
|
||
*
|
||
* After sensor de-activation, existing sensor events that have not
|
||
* been picked up by poll() should be abandoned immediately so that
|
||
* subsequent activation will not get stale sensor events (events
|
||
* that is generated prior to the latter activation).
|
||
*
|
||
* Return 0 on success, negative errno code otherwise.
|
||
*/
|
||
int (*activate)(struct sensors_poll_device_t *dev,
|
||
int sensor_handle, int enabled);
|
||
|
||
/**
|
||
* Set the events's period in nanoseconds for a given sensor.
|
||
* If sampling_period_ns > max_delay it will be truncated to
|
||
* max_delay and if sampling_period_ns < min_delay it will be
|
||
* replaced by min_delay.
|
||
*/
|
||
int (*setDelay)(struct sensors_poll_device_t *dev,
|
||
int sensor_handle, int64_t sampling_period_ns);
|
||
|
||
/**
|
||
* Write an array of sensor_event_t to data. The size of the
|
||
* available buffer is specified by count. Returns number of
|
||
* valid sensor_event_t.
|
||
*
|
||
* This function should block if there is no sensor event
|
||
* available when being called. Thus, return value should always be
|
||
* positive.
|
||
*/
|
||
int (*poll)(struct sensors_poll_device_t *dev,
|
||
sensors_event_t* data, int count);
|
||
};
|
||
};
|
||
|
||
|
||
/*
|
||
* Sets a sensor’s parameters, including sampling frequency and maximum
|
||
* report latency. This function can be called while the sensor is
|
||
* activated, in which case it must not cause any sensor measurements to
|
||
* be lost: transitioning from one sampling rate to the other cannot cause
|
||
* lost events, nor can transitioning from a high maximum report latency to
|
||
* a low maximum report latency.
|
||
* 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 sensor_handle, int flags, int64_t sampling_period_ns,
|
||
int64_t max_report_latency_ns);
|
||
|
||
/*
|
||
* 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.
|
||
* If the FIFO is empty or if the sensor doesn't support batching (FIFO size zero),
|
||
* it should return SUCCESS along with a trivial META_DATA_FLUSH_COMPLETE event added to the
|
||
* event stream. This applies to all sensors other than one-shot sensors.
|
||
* If the sensor is a one-shot sensor, flush must return -EINVAL and not generate
|
||
* any flush complete metadata.
|
||
* If the sensor is not active at the time flush() is called, flush() should return
|
||
* -EINVAL.
|
||
*/
|
||
int (*flush)(struct sensors_poll_device_1* dev, int sensor_handle);
|
||
|
||
/*
|
||
* Inject a single sensor sample to be to this device.
|
||
* data points to the sensor event to be injected
|
||
* return 0 on success
|
||
* -EPERM if operation is not allowed
|
||
* -EINVAL if sensor event cannot be injected
|
||
*/
|
||
int (*inject_sensor_data)(struct sensors_poll_device_1 *dev, const sensors_event_t *data);
|
||
|
||
void (*reserved_procs[7])(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, TO_HW_DEVICE_T_OPEN(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, TO_HW_DEVICE_T_OPEN(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
|