438 lines
13 KiB
C
438 lines
13 KiB
C
/*
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* Copyright (C) 2008 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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__BEGIN_DECLS
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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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* Sensor types
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*/
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#define SENSOR_TYPE_ACCELEROMETER 1
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#define SENSOR_TYPE_MAGNETIC_FIELD 2
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#define SENSOR_TYPE_ORIENTATION 3
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#define SENSOR_TYPE_GYROSCOPE 4
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#define SENSOR_TYPE_LIGHT 5
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#define SENSOR_TYPE_PRESSURE 6
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#define SENSOR_TYPE_TEMPERATURE 7
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#define SENSOR_TYPE_PROXIMITY 8
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#define SENSOR_TYPE_GRAVITY 9
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#define SENSOR_TYPE_LINEAR_ACCELERATION 10
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#define SENSOR_TYPE_ROTATION_VECTOR 11
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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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/**
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* status of each sensor
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*/
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#define SENSOR_STATUS_UNRELIABLE 0
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#define SENSOR_STATUS_ACCURACY_LOW 1
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#define SENSOR_STATUS_ACCURACY_MEDIUM 2
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#define SENSOR_STATUS_ACCURACY_HIGH 3
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/**
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* Definition of the axis
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* ----------------------
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*
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* This API is relative to the screen of the device in its default orientation,
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* that is, if the device can be used in portrait or landscape, this API
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* is only relative to the NATURAL orientation of the screen. In other words,
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* the axis are not swapped when the device's screen orientation changes.
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* Higher level services /may/ perform this transformation.
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*
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* x<0 x>0
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* ^
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* |
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* +-----------+--> y>0
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* | |
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* | |
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* | |
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* | | / z<0
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* | | /
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* | | /
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* O-----------+/
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* |[] [ ] []/
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* +----------/+ y<0
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* /
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* /
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* |/ z>0 (toward the sky)
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*
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* O: Origin (x=0,y=0,z=0)
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*
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*
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* Orientation
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* -----------
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*
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* All values are angles in degrees.
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*
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* Orientation sensors return sensor events for all 3 axes at a constant
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* rate defined by setDelay().
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*
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* azimuth: angle between the magnetic north direction and the Y axis, around
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* the Z axis (0<=azimuth<360).
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* 0=North, 90=East, 180=South, 270=West
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*
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* pitch: Rotation around X axis (-180<=pitch<=180), with positive values when
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* the z-axis moves toward the y-axis.
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*
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* roll: Rotation around Y axis (-90<=roll<=90), with positive values when
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* the x-axis moves towards the z-axis.
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*
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* Note: For historical reasons the roll angle is positive in the clockwise
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* direction (mathematically speaking, it should be positive in the
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* counter-clockwise direction):
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*
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* Z
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* ^
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* (+roll) .--> |
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* / |
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* | | roll: rotation around Y axis
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* X <-------(.)
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* Y
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* note that +Y == -roll
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*
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*
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*
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* Note: This definition is different from yaw, pitch and roll used in aviation
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* where the X axis is along the long side of the plane (tail to nose).
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*
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*
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* Acceleration
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* ------------
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*
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* All values are in SI units (m/s^2) and measure the acceleration of the
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* device minus the force of gravity.
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*
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* Acceleration sensors return sensor events for all 3 axes at a constant
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* rate defined by setDelay().
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*
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* x: Acceleration minus Gx on the x-axis
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* y: Acceleration minus Gy on the y-axis
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* z: Acceleration minus Gz on the z-axis
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*
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* Examples:
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* When the device lies flat on a table and is pushed on its left side
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* toward the right, the x acceleration value is positive.
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*
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* When the device lies flat on a table, the acceleration value is +9.81,
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* which correspond to the acceleration of the device (0 m/s^2) minus the
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* force of gravity (-9.81 m/s^2).
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*
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* When the device lies flat on a table and is pushed toward the sky, the
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* acceleration value is greater than +9.81, which correspond to the
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* acceleration of the device (+A m/s^2) minus the force of
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* gravity (-9.81 m/s^2).
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*
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*
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* Magnetic Field
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* --------------
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*
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* All values are in micro-Tesla (uT) and measure the ambient magnetic
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* field in the X, Y and Z axis.
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*
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* Magnetic Field sensors return sensor events for all 3 axes at a constant
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* rate defined by setDelay().
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*
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* Gyroscope
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* ---------
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* All values are in radians/second and measure the rate of rotation
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* around the X, Y and Z axis. The coordinate system is the same as is
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* used for the acceleration sensor. Rotation is positive in the counter-clockwise
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* direction. That is, an observer looking from some positive location on the x, y.
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* or z axis at a device positioned on the origin would report positive rotation
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* if the device appeared to be rotating counter clockwise. Note that this is the
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* standard mathematical definition of positive rotation and does not agree with the
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* definition of roll given earlier.
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*
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* Proximity
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* ---------
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*
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* The distance value is measured in centimeters. Note that some proximity
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* sensors only support a binary "close" or "far" measurement. In this case,
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* the sensor should report its maxRange value in the "far" state and a value
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* less than maxRange in the "near" state.
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*
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* Proximity sensors report a value only when it changes and each time the
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* sensor is enabled. setDelay() is ignored.
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*
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* Light
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* -----
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*
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* The light sensor value is returned in SI lux units.
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*
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* Light sensors report a value only when it changes and each time the
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* sensor is enabled. setDelay() is ignored.
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*
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* Pressure
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* --------
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*
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* The pressure sensor value is returned in hectopascal (hPa)
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*
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* Pressure sensors report events at a constant rate defined by setDelay().
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*
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* Gyro
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* --------
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*
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* The gyroscope sensor values are returned in degrees per second (dps)
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*
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* Gyroscope sensor report events at a constant rate defined by setDelay().
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*
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* Gravity
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* -------
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* A gravity output indicates the direction of and magnitude of gravity in the devices's
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* coordinates. On Earth, the magnitude is 9.8. Units are m/s^2. The coordinate system
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* is the same as is used for the acceleration sensor.
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*
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* Linear Acceleration
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* -------------------
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* Indicates the linear acceleration of the device in device coordinates, not including gravity.
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* This output is essentially Acceleration - Gravity. Units are m/s^2. The coordinate system is
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* the same as is used for the acceleration sensor.
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*
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* Rotation Vector
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* ---------------
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* A rotation vector represents the orientation of the device as a combination
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* of an angle and an axis, in which the device has rotated through an angle
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* theta around an axis <x, y, z>. The three elements of the rotation vector
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* are <x*sin(theta/2), y*sin(theta/2), z*sin(theta/2)>, such that the magnitude
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* of the rotation vector is equal to sin(theta/2), and the direction of the
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* rotation vector is equal to the direction of the axis of rotation. The three
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* elements of the rotation vector are equal to the last three components of a
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* unit quaternion <cos(theta/2), x*sin(theta/2), y*sin(theta/2), z*sin(theta/2)>.
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* Elements of the rotation vector are unitless. The x, y, and z axis are defined
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* in the same was as for the acceleration sensor.
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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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* 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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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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/* angular velocity in degrees per second (dps) */
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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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};
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uint32_t reserved1[4];
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} sensors_event_t;
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struct sensor_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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struct sensor_t {
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/* name of this sensors */
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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 is
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* left to the implementation and doesn't have to be monotonically
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* increasing.
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*/
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int version;
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/* handle that identifies this sensors. This handle is used to activate
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* and deactivate this sensor. The value of the handle must be 8 bits
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* in this version of the 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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/* maximaum 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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/* minimum delay allowed between events in microseconds. A value of zero
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* means that this sensor doesn't report events at a constant rate, but
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* rather only when a new data is available */
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int32_t minDelay;
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/* reserved fields, must be zero */
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void* reserved[8];
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};
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/**
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* Every device data structure must begin with hw_device_t
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* followed by module specific public methods and attributes.
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*/
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struct sensors_poll_device_t {
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struct hw_device_t common;
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/** Activate/deactivate one sensor.
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*
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* @param handle is the handle of the sensor to change.
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* @param enabled set to 1 to enable, or 0 to disable the sensor.
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*
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* @return 0 on success, negative errno code otherwise
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*/
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int (*activate)(struct sensors_poll_device_t *dev,
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int handle, int enabled);
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/**
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* Set the delay between sensor events in nanoseconds for a given sensor.
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* It is an error to set a delay inferior to the value defined by
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* sensor_t::minDelay. If sensor_t::minDelay is zero, setDelay() is
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* ignored and returns 0.
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*
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* @return 0 if successful, < 0 on error
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*/
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int (*setDelay)(struct sensors_poll_device_t *dev,
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int handle, int64_t ns);
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/**
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* Returns an array of sensor data.
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* This function must block until events are available.
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*
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* @return the number of events read on success, or -errno in case of an error.
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* This function should never return 0 (no event).
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*
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*/
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int (*poll)(struct sensors_poll_device_t *dev,
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sensors_event_t* data, int count);
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};
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/** convenience API for opening and closing a device */
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static inline int sensors_open(const struct hw_module_t* module,
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struct sensors_poll_device_t** device) {
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return module->methods->open(module,
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SENSORS_HARDWARE_POLL, (struct hw_device_t**)device);
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}
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static inline int sensors_close(struct sensors_poll_device_t* device) {
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return device->common.close(&device->common);
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}
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__END_DECLS
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#include <hardware/sensors_deprecated.h>
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#endif // ANDROID_SENSORS_INTERFACE_H
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