The Android Open Source Project | f53ebec | 2009-03-03 19:32:14 -0800 | [diff] [blame] | 1 | /* |
| 2 | * Copyright (C) 2008 The Android Open Source Project |
| 3 | * |
| 4 | * Licensed under the Apache License, Version 2.0 (the "License"); |
| 5 | * you may not use this file except in compliance with the License. |
| 6 | * You may obtain a copy of the License at |
| 7 | * |
| 8 | * http://www.apache.org/licenses/LICENSE-2.0 |
| 9 | * |
| 10 | * Unless required by applicable law or agreed to in writing, software |
| 11 | * distributed under the License is distributed on an "AS IS" BASIS, |
| 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| 13 | * See the License for the specific language governing permissions and |
| 14 | * limitations under the License. |
| 15 | */ |
| 16 | |
| 17 | #ifndef ANDROID_SENSORS_INTERFACE_H |
| 18 | #define ANDROID_SENSORS_INTERFACE_H |
| 19 | |
| 20 | #include <stdint.h> |
| 21 | #include <sys/cdefs.h> |
| 22 | #include <sys/types.h> |
| 23 | |
| 24 | #include <hardware/hardware.h> |
Mike Lockwood | 21b652f | 2009-05-22 10:05:48 -0400 | [diff] [blame] | 25 | #include <cutils/native_handle.h> |
The Android Open Source Project | f53ebec | 2009-03-03 19:32:14 -0800 | [diff] [blame] | 26 | |
| 27 | __BEGIN_DECLS |
| 28 | |
Mathias Agopian | 56f66cc | 2012-11-08 15:57:38 -0800 | [diff] [blame^] | 29 | /*****************************************************************************/ |
| 30 | |
| 31 | #define SENSORS_HEADER_VERSION 1 |
| 32 | #define SENSORS_MODULE_API_VERSION_0_1 HARDWARE_MODULE_API_VERSION(0, 1) |
| 33 | #define SENSORS_DEVICE_API_VERSION_0_1 HARDWARE_DEVICE_API_VERSION_2(0, 1, SENSORS_HEADER_VERSION) |
| 34 | |
The Android Open Source Project | f53ebec | 2009-03-03 19:32:14 -0800 | [diff] [blame] | 35 | /** |
| 36 | * The id of this module |
| 37 | */ |
| 38 | #define SENSORS_HARDWARE_MODULE_ID "sensors" |
| 39 | |
| 40 | /** |
| 41 | * Name of the sensors device to open |
| 42 | */ |
Mathias Agopian | b1e212e | 2010-07-08 16:44:54 -0700 | [diff] [blame] | 43 | #define SENSORS_HARDWARE_POLL "poll" |
The Android Open Source Project | f53ebec | 2009-03-03 19:32:14 -0800 | [diff] [blame] | 44 | |
| 45 | /** |
| 46 | * Handles must be higher than SENSORS_HANDLE_BASE and must be unique. |
| 47 | * A Handle identifies a given sensors. The handle is used to activate |
| 48 | * and/or deactivate sensors. |
| 49 | * In this version of the API there can only be 256 handles. |
| 50 | */ |
| 51 | #define SENSORS_HANDLE_BASE 0 |
| 52 | #define SENSORS_HANDLE_BITS 8 |
| 53 | #define SENSORS_HANDLE_COUNT (1<<SENSORS_HANDLE_BITS) |
| 54 | |
| 55 | |
| 56 | /** |
Mathias Agopian | 56f66cc | 2012-11-08 15:57:38 -0800 | [diff] [blame^] | 57 | * Definition of the axis used by the sensor HAL API |
The Android Open Source Project | f53ebec | 2009-03-03 19:32:14 -0800 | [diff] [blame] | 58 | * |
| 59 | * This API is relative to the screen of the device in its default orientation, |
| 60 | * that is, if the device can be used in portrait or landscape, this API |
| 61 | * is only relative to the NATURAL orientation of the screen. In other words, |
| 62 | * the axis are not swapped when the device's screen orientation changes. |
| 63 | * Higher level services /may/ perform this transformation. |
| 64 | * |
| 65 | * x<0 x>0 |
| 66 | * ^ |
| 67 | * | |
| 68 | * +-----------+--> y>0 |
| 69 | * | | |
| 70 | * | | |
| 71 | * | | |
| 72 | * | | / z<0 |
| 73 | * | | / |
| 74 | * | | / |
| 75 | * O-----------+/ |
| 76 | * |[] [ ] []/ |
| 77 | * +----------/+ y<0 |
| 78 | * / |
| 79 | * / |
| 80 | * |/ z>0 (toward the sky) |
| 81 | * |
| 82 | * O: Origin (x=0,y=0,z=0) |
| 83 | * |
Mathias Agopian | 56f66cc | 2012-11-08 15:57:38 -0800 | [diff] [blame^] | 84 | */ |
| 85 | |
| 86 | |
| 87 | /* |
| 88 | * SENSOR_TYPE_ACCELEROMETER |
The Android Open Source Project | f53ebec | 2009-03-03 19:32:14 -0800 | [diff] [blame] | 89 | * |
Mathias Agopian | 56f66cc | 2012-11-08 15:57:38 -0800 | [diff] [blame^] | 90 | * All values are in SI units (m/s^2) and measure the acceleration of the |
| 91 | * device minus the force of gravity. |
| 92 | * |
| 93 | * Acceleration sensors return sensor events for all 3 axes at a constant |
| 94 | * rate defined by setDelay(). |
| 95 | * |
| 96 | * x: Acceleration on the x-axis |
| 97 | * y: Acceleration on the y-axis |
| 98 | * z: Acceleration on the z-axis |
| 99 | * |
| 100 | * Note that the readings from the accelerometer include the acceleration |
| 101 | * due to gravity (which is opposite to the direction of the gravity vector). |
| 102 | * |
| 103 | * Examples: |
| 104 | * The norm of <x, y, z> should be close to 0 when in free fall. |
| 105 | * |
| 106 | * When the device lies flat on a table and is pushed on its left side |
| 107 | * toward the right, the x acceleration value is positive. |
| 108 | * |
| 109 | * When the device lies flat on a table, the acceleration value is +9.81, |
| 110 | * which correspond to the acceleration of the device (0 m/s^2) minus the |
| 111 | * force of gravity (-9.81 m/s^2). |
| 112 | * |
| 113 | * When the device lies flat on a table and is pushed toward the sky, the |
| 114 | * acceleration value is greater than +9.81, which correspond to the |
| 115 | * acceleration of the device (+A m/s^2) minus the force of |
| 116 | * gravity (-9.81 m/s^2). |
| 117 | */ |
| 118 | #define SENSOR_TYPE_ACCELEROMETER (1) |
| 119 | |
| 120 | /* |
| 121 | * SENSOR_TYPE_GEOMAGNETIC_FIELD |
| 122 | * |
| 123 | * All values are in micro-Tesla (uT) and measure the geomagnetic |
| 124 | * field in the X, Y and Z axis. |
| 125 | * |
| 126 | * Returned values include calibration mechanisms such that the vector is |
| 127 | * aligned with the magnetic declination and heading of the earth's |
| 128 | * geomagnetic field. |
| 129 | * |
| 130 | * Magnetic Field sensors return sensor events for all 3 axes at a constant |
| 131 | * rate defined by setDelay(). |
| 132 | */ |
| 133 | #define SENSOR_TYPE_GEOMAGNETIC_FIELD (2) |
| 134 | #define SENSOR_TYPE_MAGNETIC_FIELD SENSOR_TYPE_GEOMAGNETIC_FIELD |
| 135 | |
| 136 | /* |
Mathias Agopian | e9eaf37 | 2011-11-07 21:32:34 -0800 | [diff] [blame] | 137 | * SENSOR_TYPE_ORIENTATION |
The Android Open Source Project | f53ebec | 2009-03-03 19:32:14 -0800 | [diff] [blame] | 138 | * |
| 139 | * All values are angles in degrees. |
| 140 | * |
Mathias Agopian | 66a4095 | 2010-07-22 17:11:50 -0700 | [diff] [blame] | 141 | * Orientation sensors return sensor events for all 3 axes at a constant |
| 142 | * rate defined by setDelay(). |
| 143 | * |
The Android Open Source Project | f53ebec | 2009-03-03 19:32:14 -0800 | [diff] [blame] | 144 | * azimuth: angle between the magnetic north direction and the Y axis, around |
| 145 | * the Z axis (0<=azimuth<360). |
| 146 | * 0=North, 90=East, 180=South, 270=West |
| 147 | * |
| 148 | * pitch: Rotation around X axis (-180<=pitch<=180), with positive values when |
| 149 | * the z-axis moves toward the y-axis. |
| 150 | * |
| 151 | * roll: Rotation around Y axis (-90<=roll<=90), with positive values when |
Mathias Agopian | 19ea59f | 2010-02-26 13:15:18 -0800 | [diff] [blame] | 152 | * the x-axis moves towards the z-axis. |
| 153 | * |
| 154 | * Note: For historical reasons the roll angle is positive in the clockwise |
| 155 | * direction (mathematically speaking, it should be positive in the |
| 156 | * counter-clockwise direction): |
| 157 | * |
| 158 | * Z |
| 159 | * ^ |
| 160 | * (+roll) .--> | |
| 161 | * / | |
| 162 | * | | roll: rotation around Y axis |
| 163 | * X <-------(.) |
| 164 | * Y |
| 165 | * note that +Y == -roll |
| 166 | * |
| 167 | * |
| 168 | * |
The Android Open Source Project | f53ebec | 2009-03-03 19:32:14 -0800 | [diff] [blame] | 169 | * Note: This definition is different from yaw, pitch and roll used in aviation |
| 170 | * where the X axis is along the long side of the plane (tail to nose). |
Mathias Agopian | 56f66cc | 2012-11-08 15:57:38 -0800 | [diff] [blame^] | 171 | */ |
| 172 | #define SENSOR_TYPE_ORIENTATION (3) |
| 173 | |
| 174 | /* |
Mathias Agopian | e9eaf37 | 2011-11-07 21:32:34 -0800 | [diff] [blame] | 175 | * SENSOR_TYPE_GYROSCOPE |
Mathias Agopian | e9eaf37 | 2011-11-07 21:32:34 -0800 | [diff] [blame] | 176 | * |
Kevin Powell | b01a043 | 2010-07-19 19:12:15 -0700 | [diff] [blame] | 177 | * All values are in radians/second and measure the rate of rotation |
| 178 | * around the X, Y and Z axis. The coordinate system is the same as is |
Mathias Agopian | c04e5f6 | 2010-09-14 10:53:55 -0700 | [diff] [blame] | 179 | * used for the acceleration sensor. Rotation is positive in the |
| 180 | * counter-clockwise direction (right-hand rule). That is, an observer |
| 181 | * looking from some positive location on the x, y or z axis at a device |
| 182 | * positioned on the origin would report positive rotation if the device |
| 183 | * appeared to be rotating counter clockwise. Note that this is the |
| 184 | * standard mathematical definition of positive rotation and does not agree |
| 185 | * with the definition of roll given earlier. |
| 186 | * The range should at least be 17.45 rad/s (ie: ~1000 deg/s). |
Kevin Powell | b01a043 | 2010-07-19 19:12:15 -0700 | [diff] [blame] | 187 | * |
Mathias Agopian | 56f66cc | 2012-11-08 15:57:38 -0800 | [diff] [blame^] | 188 | * automatic gyro-drift compensation is allowed but not required. |
| 189 | */ |
| 190 | #define SENSOR_TYPE_GYROSCOPE (4) |
| 191 | |
| 192 | /* |
| 193 | * SENSOR_TYPE_LIGHT |
| 194 | * |
| 195 | * The light sensor value is returned in SI lux units. |
| 196 | * |
| 197 | * Light sensors report a value only when it changes and each time the |
| 198 | * sensor is enabled. |
| 199 | */ |
| 200 | #define SENSOR_TYPE_LIGHT (5) |
| 201 | |
| 202 | /* |
| 203 | * SENSOR_TYPE_PRESSURE |
| 204 | * |
| 205 | * The pressure sensor return the athmospheric pressure in hectopascal (hPa) |
| 206 | * |
| 207 | * Pressure sensors report events at a constant rate defined by setDelay(). |
| 208 | */ |
| 209 | #define SENSOR_TYPE_PRESSURE (6) |
| 210 | |
| 211 | /* SENSOR_TYPE_TEMPERATURE is deprecated in the HAL */ |
| 212 | #define SENSOR_TYPE_TEMPERATURE (7) |
| 213 | |
| 214 | /* |
Mathias Agopian | e9eaf37 | 2011-11-07 21:32:34 -0800 | [diff] [blame] | 215 | * SENSOR_TYPE_PROXIMITY |
Mike Lockwood | a241431 | 2009-11-03 10:29:50 -0500 | [diff] [blame] | 216 | * |
| 217 | * The distance value is measured in centimeters. Note that some proximity |
| 218 | * sensors only support a binary "close" or "far" measurement. In this case, |
| 219 | * the sensor should report its maxRange value in the "far" state and a value |
| 220 | * less than maxRange in the "near" state. |
| 221 | * |
Mathias Agopian | 478994a | 2010-07-23 17:23:43 -0700 | [diff] [blame] | 222 | * Proximity sensors report a value only when it changes and each time the |
Mathias Agopian | 15879d8 | 2011-11-01 19:17:58 -0700 | [diff] [blame] | 223 | * sensor is enabled. |
Mathias Agopian | 56f66cc | 2012-11-08 15:57:38 -0800 | [diff] [blame^] | 224 | */ |
| 225 | #define SENSOR_TYPE_PROXIMITY (8) |
| 226 | |
| 227 | /* |
Mathias Agopian | e9eaf37 | 2011-11-07 21:32:34 -0800 | [diff] [blame] | 228 | * SENSOR_TYPE_GRAVITY |
Mathias Agopian | 42b743c | 2010-11-22 15:55:32 -0800 | [diff] [blame] | 229 | * |
Mathias Agopian | e9eaf37 | 2011-11-07 21:32:34 -0800 | [diff] [blame] | 230 | * A gravity output indicates the direction of and magnitude of gravity in |
| 231 | * the devices's coordinates. On Earth, the magnitude is 9.8 m/s^2. |
| 232 | * Units are m/s^2. The coordinate system is the same as is used for the |
| 233 | * acceleration sensor. When the device is at rest, the output of the |
| 234 | * gravity sensor should be identical to that of the accelerometer. |
Mathias Agopian | 56f66cc | 2012-11-08 15:57:38 -0800 | [diff] [blame^] | 235 | */ |
| 236 | #define SENSOR_TYPE_GRAVITY (9) |
| 237 | |
| 238 | /* |
Mathias Agopian | e9eaf37 | 2011-11-07 21:32:34 -0800 | [diff] [blame] | 239 | * SENSOR_TYPE_LINEAR_ACCELERATION |
Mathias Agopian | e9eaf37 | 2011-11-07 21:32:34 -0800 | [diff] [blame] | 240 | * |
| 241 | * Indicates the linear acceleration of the device in device coordinates, |
| 242 | * not including gravity. |
Mathias Agopian | 56f66cc | 2012-11-08 15:57:38 -0800 | [diff] [blame^] | 243 | * |
| 244 | * The output is conceptually: |
| 245 | * output of TYPE_ACCELERATION - output of TYPE_GRAVITY |
| 246 | * |
| 247 | * Readings on all axes should be close to 0 when device lies on a table. |
| 248 | * Units are m/s^2. |
Mathias Agopian | e9eaf37 | 2011-11-07 21:32:34 -0800 | [diff] [blame] | 249 | * The coordinate system is the same as is used for the acceleration sensor. |
Mathias Agopian | 56f66cc | 2012-11-08 15:57:38 -0800 | [diff] [blame^] | 250 | */ |
| 251 | #define SENSOR_TYPE_LINEAR_ACCELERATION (10) |
| 252 | |
| 253 | |
| 254 | /* |
Mathias Agopian | e9eaf37 | 2011-11-07 21:32:34 -0800 | [diff] [blame] | 255 | * SENSOR_TYPE_ROTATION_VECTOR |
Mathias Agopian | e9eaf37 | 2011-11-07 21:32:34 -0800 | [diff] [blame] | 256 | * |
Kevin Powell | b01a043 | 2010-07-19 19:12:15 -0700 | [diff] [blame] | 257 | * A rotation vector represents the orientation of the device as a combination |
| 258 | * of an angle and an axis, in which the device has rotated through an angle |
| 259 | * theta around an axis <x, y, z>. The three elements of the rotation vector |
| 260 | * are <x*sin(theta/2), y*sin(theta/2), z*sin(theta/2)>, such that the magnitude |
| 261 | * of the rotation vector is equal to sin(theta/2), and the direction of the |
| 262 | * rotation vector is equal to the direction of the axis of rotation. The three |
| 263 | * elements of the rotation vector are equal to the last three components of a |
| 264 | * unit quaternion <cos(theta/2), x*sin(theta/2), y*sin(theta/2), z*sin(theta/2)>. |
| 265 | * Elements of the rotation vector are unitless. The x, y, and z axis are defined |
| 266 | * in the same was as for the acceleration sensor. |
Mathias Agopian | 42b743c | 2010-11-22 15:55:32 -0800 | [diff] [blame] | 267 | * |
Mathias Agopian | d93ff97 | 2011-05-02 19:10:31 -0700 | [diff] [blame] | 268 | * The reference coordinate system is defined as a direct orthonormal basis, |
| 269 | * where: |
| 270 | * |
| 271 | * - X is defined as the vector product Y.Z (It is tangential to |
| 272 | * the ground at the device's current location and roughly points East). |
| 273 | * |
| 274 | * - Y is tangential to the ground at the device's current location and |
| 275 | * points towards the magnetic North Pole. |
| 276 | * |
| 277 | * - Z points towards the sky and is perpendicular to the ground. |
| 278 | * |
| 279 | * |
Mathias Agopian | 42b743c | 2010-11-22 15:55:32 -0800 | [diff] [blame] | 280 | * The rotation-vector is stored as: |
| 281 | * |
| 282 | * sensors_event_t.data[0] = x*sin(theta/2) |
| 283 | * sensors_event_t.data[1] = y*sin(theta/2) |
| 284 | * sensors_event_t.data[2] = z*sin(theta/2) |
| 285 | * sensors_event_t.data[3] = cos(theta/2) |
Mathias Agopian | 56f66cc | 2012-11-08 15:57:38 -0800 | [diff] [blame^] | 286 | */ |
| 287 | #define SENSOR_TYPE_ROTATION_VECTOR (11) |
| 288 | |
| 289 | /* |
Mathias Agopian | e9eaf37 | 2011-11-07 21:32:34 -0800 | [diff] [blame] | 290 | * SENSOR_TYPE_RELATIVE_HUMIDITY |
Urs Fleisch | d2ed15a | 2010-12-29 17:00:33 +0100 | [diff] [blame] | 291 | * |
| 292 | * A relative humidity sensor measures relative ambient air humidity and |
| 293 | * returns a value in percent. |
| 294 | * |
| 295 | * Relative humidity sensors report a value only when it changes and each |
Mathias Agopian | 15879d8 | 2011-11-01 19:17:58 -0700 | [diff] [blame] | 296 | * time the sensor is enabled. |
Mathias Agopian | 56f66cc | 2012-11-08 15:57:38 -0800 | [diff] [blame^] | 297 | */ |
| 298 | #define SENSOR_TYPE_RELATIVE_HUMIDITY (12) |
| 299 | |
| 300 | /* |
Mathias Agopian | e9eaf37 | 2011-11-07 21:32:34 -0800 | [diff] [blame] | 301 | * SENSOR_TYPE_AMBIENT_TEMPERATURE |
Mathias Agopian | 54f9dd0 | 2011-03-22 18:42:03 -0700 | [diff] [blame] | 302 | * |
| 303 | * The ambient (room) temperature in degree Celsius. |
| 304 | * |
| 305 | * Temperature sensors report a value only when it changes and each time the |
Mathias Agopian | 15879d8 | 2011-11-01 19:17:58 -0700 | [diff] [blame] | 306 | * sensor is enabled. |
Mathias Agopian | 56f66cc | 2012-11-08 15:57:38 -0800 | [diff] [blame^] | 307 | */ |
| 308 | #define SENSOR_TYPE_AMBIENT_TEMPERATURE (13) |
| 309 | |
| 310 | /* |
| 311 | * SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED |
Mathias Agopian | 54f9dd0 | 2011-03-22 18:42:03 -0700 | [diff] [blame] | 312 | * |
Mathias Agopian | 56f66cc | 2012-11-08 15:57:38 -0800 | [diff] [blame^] | 313 | * All values are in micro-Tesla (uT) and measure the ambient magnetic |
| 314 | * field in the X, Y and Z axis. |
| 315 | * |
| 316 | * No periodic calibration is performed (ie: there are no discontinuities |
| 317 | * in the data stream while using this sensor). Assumptions that the the |
| 318 | * magnetic field is due to the Earth's poles should be avoided. |
| 319 | * |
| 320 | * Factory calibration and temperature compensation should still be applied. |
| 321 | * |
| 322 | * Magnetic Field sensors return sensor events for all 3 axes at a constant |
| 323 | * rate defined by setDelay(). |
| 324 | */ |
| 325 | #define SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED (14) |
| 326 | |
| 327 | /* |
| 328 | * SENSOR_TYPE_GAME_ROTATION_VECTOR |
| 329 | * |
| 330 | * SENSOR_TYPE_GAME_ROTATION_VECTOR is identical to SENSOR_TYPE_ROTATION_VECTOR, |
| 331 | * except that it doesn't use the geomagnetic field. Therefore the Y axis doesn't |
| 332 | * point north, but instead to some other reference, that reference is allowed |
| 333 | * to drift by the same order of magnitude than the gyroscope drift around |
| 334 | * the Z axis. |
| 335 | * |
| 336 | * In the ideal case, a phone rotated and returning to the same real-world |
| 337 | * orientation should report the same game rotation vector |
| 338 | * (without using the earth's geomagnetic field). |
| 339 | * |
| 340 | * see SENSOR_TYPE_ROTATION_VECTOR for more details |
| 341 | */ |
| 342 | #define SENSOR_TYPE_GAME_ROTATION_VECTOR (15) |
| 343 | |
| 344 | /* |
| 345 | * SENSOR_TYPE_GYROSCOPE_UNCALIBRATED |
| 346 | * |
| 347 | * All values are in radians/second and measure the rate of rotation |
| 348 | * around the X, Y and Z axis. The coordinate system is the same as is |
| 349 | * used for the acceleration sensor. Rotation is positive in the |
| 350 | * counter-clockwise direction (right-hand rule). That is, an observer |
| 351 | * looking from some positive location on the x, y or z axis at a device |
| 352 | * positioned on the origin would report positive rotation if the device |
| 353 | * appeared to be rotating counter clockwise. Note that this is the |
| 354 | * standard mathematical definition of positive rotation and does not agree |
| 355 | * with the definition of roll given earlier. |
| 356 | * The range should at least be 17.45 rad/s (ie: ~1000 deg/s). |
| 357 | * |
| 358 | * No gyro-drift compensation shall be performed. |
| 359 | * Factory calibration and temperature compensation should still be applied. |
| 360 | */ |
| 361 | #define SENSOR_TYPE_GYROSCOPE_UNCALIBRATED (16) |
| 362 | |
| 363 | /** |
| 364 | * Values returned by the accelerometer in various locations in the universe. |
| 365 | * all values are in SI units (m/s^2) |
| 366 | */ |
| 367 | #define GRAVITY_SUN (275.0f) |
| 368 | #define GRAVITY_EARTH (9.80665f) |
| 369 | |
| 370 | /** Maximum magnetic field on Earth's surface */ |
| 371 | #define MAGNETIC_FIELD_EARTH_MAX (60.0f) |
| 372 | |
| 373 | /** Minimum magnetic field on Earth's surface */ |
| 374 | #define MAGNETIC_FIELD_EARTH_MIN (30.0f) |
| 375 | |
| 376 | |
| 377 | /** |
| 378 | * status of orientation sensor |
The Android Open Source Project | f53ebec | 2009-03-03 19:32:14 -0800 | [diff] [blame] | 379 | */ |
Kevin Powell | b01a043 | 2010-07-19 19:12:15 -0700 | [diff] [blame] | 380 | |
Mathias Agopian | 56f66cc | 2012-11-08 15:57:38 -0800 | [diff] [blame^] | 381 | #define SENSOR_STATUS_UNRELIABLE 0 |
| 382 | #define SENSOR_STATUS_ACCURACY_LOW 1 |
| 383 | #define SENSOR_STATUS_ACCURACY_MEDIUM 2 |
| 384 | #define SENSOR_STATUS_ACCURACY_HIGH 3 |
| 385 | |
| 386 | |
| 387 | /** |
| 388 | * sensor event data |
| 389 | */ |
The Android Open Source Project | f53ebec | 2009-03-03 19:32:14 -0800 | [diff] [blame] | 390 | typedef struct { |
| 391 | union { |
| 392 | float v[3]; |
| 393 | struct { |
| 394 | float x; |
| 395 | float y; |
| 396 | float z; |
| 397 | }; |
| 398 | struct { |
| 399 | float azimuth; |
| 400 | float pitch; |
| 401 | float roll; |
| 402 | }; |
| 403 | }; |
| 404 | int8_t status; |
| 405 | uint8_t reserved[3]; |
| 406 | } sensors_vec_t; |
| 407 | |
| 408 | /** |
| 409 | * Union of the various types of sensor data |
| 410 | * that can be returned. |
| 411 | */ |
Mathias Agopian | cdefccd | 2010-07-15 18:29:03 -0700 | [diff] [blame] | 412 | typedef struct sensors_event_t { |
| 413 | /* must be sizeof(struct sensors_event_t) */ |
| 414 | int32_t version; |
| 415 | |
| 416 | /* sensor identifier */ |
| 417 | int32_t sensor; |
| 418 | |
| 419 | /* sensor type */ |
| 420 | int32_t type; |
| 421 | |
| 422 | /* reserved */ |
| 423 | int32_t reserved0; |
| 424 | |
| 425 | /* time is in nanosecond */ |
| 426 | int64_t timestamp; |
| 427 | |
| 428 | union { |
| 429 | float data[16]; |
| 430 | |
| 431 | /* acceleration values are in meter per second per second (m/s^2) */ |
| 432 | sensors_vec_t acceleration; |
| 433 | |
| 434 | /* magnetic vector values are in micro-Tesla (uT) */ |
| 435 | sensors_vec_t magnetic; |
| 436 | |
| 437 | /* orientation values are in degrees */ |
| 438 | sensors_vec_t orientation; |
| 439 | |
Mathias Agopian | c04e5f6 | 2010-09-14 10:53:55 -0700 | [diff] [blame] | 440 | /* gyroscope values are in rad/s */ |
| 441 | sensors_vec_t gyro; |
Makarand Karvekar | 3120b58 | 2010-08-11 15:10:10 -0700 | [diff] [blame] | 442 | |
Mathias Agopian | cdefccd | 2010-07-15 18:29:03 -0700 | [diff] [blame] | 443 | /* temperature is in degrees centigrade (Celsius) */ |
| 444 | float temperature; |
| 445 | |
| 446 | /* distance in centimeters */ |
| 447 | float distance; |
| 448 | |
| 449 | /* light in SI lux units */ |
| 450 | float light; |
Mathias Agopian | 1832f55 | 2010-07-29 15:22:30 -0700 | [diff] [blame] | 451 | |
| 452 | /* pressure in hectopascal (hPa) */ |
| 453 | float pressure; |
Urs Fleisch | d2ed15a | 2010-12-29 17:00:33 +0100 | [diff] [blame] | 454 | |
| 455 | /* relative humidity in percent */ |
| 456 | float relative_humidity; |
Mathias Agopian | cdefccd | 2010-07-15 18:29:03 -0700 | [diff] [blame] | 457 | }; |
| 458 | uint32_t reserved1[4]; |
| 459 | } sensors_event_t; |
| 460 | |
| 461 | |
| 462 | |
The Android Open Source Project | f53ebec | 2009-03-03 19:32:14 -0800 | [diff] [blame] | 463 | struct sensor_t; |
| 464 | |
| 465 | /** |
| 466 | * Every hardware module must have a data structure named HAL_MODULE_INFO_SYM |
| 467 | * and the fields of this data structure must begin with hw_module_t |
| 468 | * followed by module specific information. |
| 469 | */ |
| 470 | struct sensors_module_t { |
| 471 | struct hw_module_t common; |
| 472 | |
| 473 | /** |
| 474 | * Enumerate all available sensors. The list is returned in "list". |
| 475 | * @return number of sensors in the list |
| 476 | */ |
| 477 | int (*get_sensors_list)(struct sensors_module_t* module, |
| 478 | struct sensor_t const** list); |
| 479 | }; |
| 480 | |
| 481 | struct sensor_t { |
| 482 | /* name of this sensors */ |
| 483 | const char* name; |
| 484 | /* vendor of the hardware part */ |
| 485 | const char* vendor; |
Mathias Agopian | e9eaf37 | 2011-11-07 21:32:34 -0800 | [diff] [blame] | 486 | /* version of the hardware part + driver. The value of this field |
| 487 | * must increase when the driver is updated in a way that changes the |
| 488 | * output of this sensor. This is important for fused sensors when the |
| 489 | * fusion algorithm is updated. |
The Android Open Source Project | f53ebec | 2009-03-03 19:32:14 -0800 | [diff] [blame] | 490 | */ |
| 491 | int version; |
| 492 | /* handle that identifies this sensors. This handle is used to activate |
| 493 | * and deactivate this sensor. The value of the handle must be 8 bits |
| 494 | * in this version of the API. |
| 495 | */ |
| 496 | int handle; |
| 497 | /* this sensor's type. */ |
| 498 | int type; |
| 499 | /* maximaum range of this sensor's value in SI units */ |
| 500 | float maxRange; |
| 501 | /* smallest difference between two values reported by this sensor */ |
| 502 | float resolution; |
| 503 | /* rough estimate of this sensor's power consumption in mA */ |
| 504 | float power; |
Mathias Agopian | 1511e20 | 2010-07-29 15:33:22 -0700 | [diff] [blame] | 505 | /* minimum delay allowed between events in microseconds. A value of zero |
| 506 | * means that this sensor doesn't report events at a constant rate, but |
| 507 | * rather only when a new data is available */ |
| 508 | int32_t minDelay; |
The Android Open Source Project | f53ebec | 2009-03-03 19:32:14 -0800 | [diff] [blame] | 509 | /* reserved fields, must be zero */ |
Mathias Agopian | 1511e20 | 2010-07-29 15:33:22 -0700 | [diff] [blame] | 510 | void* reserved[8]; |
The Android Open Source Project | f53ebec | 2009-03-03 19:32:14 -0800 | [diff] [blame] | 511 | }; |
| 512 | |
| 513 | |
| 514 | /** |
| 515 | * Every device data structure must begin with hw_device_t |
| 516 | * followed by module specific public methods and attributes. |
| 517 | */ |
Mathias Agopian | b1e212e | 2010-07-08 16:44:54 -0700 | [diff] [blame] | 518 | struct sensors_poll_device_t { |
| 519 | struct hw_device_t common; |
| 520 | |
| 521 | /** Activate/deactivate one sensor. |
| 522 | * |
| 523 | * @param handle is the handle of the sensor to change. |
| 524 | * @param enabled set to 1 to enable, or 0 to disable the sensor. |
| 525 | * |
| 526 | * @return 0 on success, negative errno code otherwise |
| 527 | */ |
| 528 | int (*activate)(struct sensors_poll_device_t *dev, |
| 529 | int handle, int enabled); |
| 530 | |
| 531 | /** |
Mathias Agopian | 1511e20 | 2010-07-29 15:33:22 -0700 | [diff] [blame] | 532 | * Set the delay between sensor events in nanoseconds for a given sensor. |
Mathias Agopian | 15879d8 | 2011-11-01 19:17:58 -0700 | [diff] [blame] | 533 | * |
Mathias Agopian | e9eaf37 | 2011-11-07 21:32:34 -0800 | [diff] [blame] | 534 | * If the requested value is less than sensor_t::minDelay, then it's |
| 535 | * silently clamped to sensor_t::minDelay unless sensor_t::minDelay is |
| 536 | * 0, in which case it is clamped to >= 1ms. |
Mathias Agopian | b1e212e | 2010-07-08 16:44:54 -0700 | [diff] [blame] | 537 | * |
| 538 | * @return 0 if successful, < 0 on error |
| 539 | */ |
| 540 | int (*setDelay)(struct sensors_poll_device_t *dev, |
| 541 | int handle, int64_t ns); |
| 542 | |
| 543 | /** |
| 544 | * Returns an array of sensor data. |
Mathias Agopian | 1511e20 | 2010-07-29 15:33:22 -0700 | [diff] [blame] | 545 | * This function must block until events are available. |
Mathias Agopian | b1e212e | 2010-07-08 16:44:54 -0700 | [diff] [blame] | 546 | * |
| 547 | * @return the number of events read on success, or -errno in case of an error. |
Mathias Agopian | 1511e20 | 2010-07-29 15:33:22 -0700 | [diff] [blame] | 548 | * This function should never return 0 (no event). |
Mathias Agopian | b1e212e | 2010-07-08 16:44:54 -0700 | [diff] [blame] | 549 | * |
| 550 | */ |
| 551 | int (*poll)(struct sensors_poll_device_t *dev, |
Mathias Agopian | cdefccd | 2010-07-15 18:29:03 -0700 | [diff] [blame] | 552 | sensors_event_t* data, int count); |
Mathias Agopian | b1e212e | 2010-07-08 16:44:54 -0700 | [diff] [blame] | 553 | }; |
| 554 | |
The Android Open Source Project | f53ebec | 2009-03-03 19:32:14 -0800 | [diff] [blame] | 555 | /** convenience API for opening and closing a device */ |
| 556 | |
Mathias Agopian | b1e212e | 2010-07-08 16:44:54 -0700 | [diff] [blame] | 557 | static inline int sensors_open(const struct hw_module_t* module, |
| 558 | struct sensors_poll_device_t** device) { |
| 559 | return module->methods->open(module, |
| 560 | SENSORS_HARDWARE_POLL, (struct hw_device_t**)device); |
| 561 | } |
| 562 | |
| 563 | static inline int sensors_close(struct sensors_poll_device_t* device) { |
| 564 | return device->common.close(&device->common); |
| 565 | } |
| 566 | |
The Android Open Source Project | f53ebec | 2009-03-03 19:32:14 -0800 | [diff] [blame] | 567 | __END_DECLS |
| 568 | |
The Android Open Source Project | f53ebec | 2009-03-03 19:32:14 -0800 | [diff] [blame] | 569 | #endif // ANDROID_SENSORS_INTERFACE_H |