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 | |
| 29 | /** |
| 30 | * The id of this module |
| 31 | */ |
| 32 | #define SENSORS_HARDWARE_MODULE_ID "sensors" |
| 33 | |
| 34 | /** |
| 35 | * Name of the sensors device to open |
| 36 | */ |
| 37 | #define SENSORS_HARDWARE_CONTROL "control" |
| 38 | #define SENSORS_HARDWARE_DATA "data" |
| 39 | |
| 40 | /** |
| 41 | * Handles must be higher than SENSORS_HANDLE_BASE and must be unique. |
| 42 | * A Handle identifies a given sensors. The handle is used to activate |
| 43 | * and/or deactivate sensors. |
| 44 | * In this version of the API there can only be 256 handles. |
| 45 | */ |
| 46 | #define SENSORS_HANDLE_BASE 0 |
| 47 | #define SENSORS_HANDLE_BITS 8 |
| 48 | #define SENSORS_HANDLE_COUNT (1<<SENSORS_HANDLE_BITS) |
| 49 | |
| 50 | |
| 51 | /** |
| 52 | * Sensor types |
| 53 | */ |
| 54 | #define SENSOR_TYPE_ACCELEROMETER 1 |
| 55 | #define SENSOR_TYPE_MAGNETIC_FIELD 2 |
| 56 | #define SENSOR_TYPE_ORIENTATION 3 |
| 57 | #define SENSOR_TYPE_GYROSCOPE 4 |
| 58 | #define SENSOR_TYPE_LIGHT 5 |
| 59 | #define SENSOR_TYPE_PRESSURE 6 |
| 60 | #define SENSOR_TYPE_TEMPERATURE 7 |
| 61 | #define SENSOR_TYPE_PROXIMITY 8 |
Kevin Powell | b01a043 | 2010-07-19 19:12:15 -0700 | [diff] [blame^] | 62 | #define SENSOR_TYPE_GRAVITY 9 |
| 63 | #define SENSOR_TYPE_LINEAR_ACCELERATION 10 |
| 64 | #define SENSOR_TYPE_ROTATION_VECTOR 11 |
The Android Open Source Project | f53ebec | 2009-03-03 19:32:14 -0800 | [diff] [blame] | 65 | |
| 66 | /** |
| 67 | * Values returned by the accelerometer in various locations in the universe. |
| 68 | * all values are in SI units (m/s^2) |
| 69 | */ |
| 70 | |
| 71 | #define GRAVITY_SUN (275.0f) |
| 72 | #define GRAVITY_MERCURY (3.70f) |
| 73 | #define GRAVITY_VENUS (8.87f) |
| 74 | #define GRAVITY_EARTH (9.80665f) |
| 75 | #define GRAVITY_MOON (1.6f) |
| 76 | #define GRAVITY_MARS (3.71f) |
| 77 | #define GRAVITY_JUPITER (23.12f) |
| 78 | #define GRAVITY_SATURN (8.96f) |
| 79 | #define GRAVITY_URANUS (8.69f) |
| 80 | #define GRAVITY_NEPTUNE (11.0f) |
| 81 | #define GRAVITY_PLUTO (0.6f) |
| 82 | #define GRAVITY_DEATH_STAR_I (0.000000353036145f) |
| 83 | #define GRAVITY_THE_ISLAND (4.815162342f) |
| 84 | |
| 85 | /** Maximum magnetic field on Earth's surface */ |
| 86 | #define MAGNETIC_FIELD_EARTH_MAX (60.0f) |
| 87 | |
| 88 | /** Minimum magnetic field on Earth's surface */ |
| 89 | #define MAGNETIC_FIELD_EARTH_MIN (30.0f) |
| 90 | |
| 91 | |
| 92 | /** |
| 93 | * status of each sensor |
| 94 | */ |
| 95 | |
| 96 | #define SENSOR_STATUS_UNRELIABLE 0 |
| 97 | #define SENSOR_STATUS_ACCURACY_LOW 1 |
| 98 | #define SENSOR_STATUS_ACCURACY_MEDIUM 2 |
| 99 | #define SENSOR_STATUS_ACCURACY_HIGH 3 |
| 100 | |
| 101 | /** |
| 102 | * Definition of the axis |
| 103 | * ---------------------- |
| 104 | * |
| 105 | * This API is relative to the screen of the device in its default orientation, |
| 106 | * that is, if the device can be used in portrait or landscape, this API |
| 107 | * is only relative to the NATURAL orientation of the screen. In other words, |
| 108 | * the axis are not swapped when the device's screen orientation changes. |
| 109 | * Higher level services /may/ perform this transformation. |
| 110 | * |
| 111 | * x<0 x>0 |
| 112 | * ^ |
| 113 | * | |
| 114 | * +-----------+--> y>0 |
| 115 | * | | |
| 116 | * | | |
| 117 | * | | |
| 118 | * | | / z<0 |
| 119 | * | | / |
| 120 | * | | / |
| 121 | * O-----------+/ |
| 122 | * |[] [ ] []/ |
| 123 | * +----------/+ y<0 |
| 124 | * / |
| 125 | * / |
| 126 | * |/ z>0 (toward the sky) |
| 127 | * |
| 128 | * O: Origin (x=0,y=0,z=0) |
| 129 | * |
| 130 | * |
| 131 | * Orientation |
| 132 | * ----------- |
| 133 | * |
| 134 | * All values are angles in degrees. |
| 135 | * |
| 136 | * azimuth: angle between the magnetic north direction and the Y axis, around |
| 137 | * the Z axis (0<=azimuth<360). |
| 138 | * 0=North, 90=East, 180=South, 270=West |
| 139 | * |
| 140 | * pitch: Rotation around X axis (-180<=pitch<=180), with positive values when |
| 141 | * the z-axis moves toward the y-axis. |
| 142 | * |
| 143 | * roll: Rotation around Y axis (-90<=roll<=90), with positive values when |
Mathias Agopian | 19ea59f | 2010-02-26 13:15:18 -0800 | [diff] [blame] | 144 | * the x-axis moves towards the z-axis. |
| 145 | * |
| 146 | * Note: For historical reasons the roll angle is positive in the clockwise |
| 147 | * direction (mathematically speaking, it should be positive in the |
| 148 | * counter-clockwise direction): |
| 149 | * |
| 150 | * Z |
| 151 | * ^ |
| 152 | * (+roll) .--> | |
| 153 | * / | |
| 154 | * | | roll: rotation around Y axis |
| 155 | * X <-------(.) |
| 156 | * Y |
| 157 | * note that +Y == -roll |
| 158 | * |
| 159 | * |
| 160 | * |
The Android Open Source Project | f53ebec | 2009-03-03 19:32:14 -0800 | [diff] [blame] | 161 | * Note: This definition is different from yaw, pitch and roll used in aviation |
| 162 | * where the X axis is along the long side of the plane (tail to nose). |
| 163 | * |
| 164 | * |
| 165 | * Acceleration |
| 166 | * ------------ |
| 167 | * |
| 168 | * All values are in SI units (m/s^2) and measure the acceleration of the |
| 169 | * device minus the force of gravity. |
| 170 | * |
| 171 | * x: Acceleration minus Gx on the x-axis |
| 172 | * y: Acceleration minus Gy on the y-axis |
| 173 | * z: Acceleration minus Gz on the z-axis |
| 174 | * |
| 175 | * Examples: |
| 176 | * When the device lies flat on a table and is pushed on its left side |
| 177 | * toward the right, the x acceleration value is positive. |
| 178 | * |
| 179 | * When the device lies flat on a table, the acceleration value is +9.81, |
| 180 | * which correspond to the acceleration of the device (0 m/s^2) minus the |
| 181 | * force of gravity (-9.81 m/s^2). |
| 182 | * |
| 183 | * When the device lies flat on a table and is pushed toward the sky, the |
| 184 | * acceleration value is greater than +9.81, which correspond to the |
| 185 | * acceleration of the device (+A m/s^2) minus the force of |
| 186 | * gravity (-9.81 m/s^2). |
| 187 | * |
| 188 | * |
| 189 | * Magnetic Field |
| 190 | * -------------- |
| 191 | * |
| 192 | * All values are in micro-Tesla (uT) and measure the ambient magnetic |
| 193 | * field in the X, Y and Z axis. |
Mike Lockwood | a241431 | 2009-11-03 10:29:50 -0500 | [diff] [blame] | 194 | * |
Kevin Powell | b01a043 | 2010-07-19 19:12:15 -0700 | [diff] [blame^] | 195 | * Gyroscope |
| 196 | * --------- |
| 197 | * All values are in radians/second and measure the rate of rotation |
| 198 | * around the X, Y and Z axis. The coordinate system is the same as is |
| 199 | * used for the acceleration sensor. Rotation is positive in the counter-clockwise |
| 200 | * direction. That is, an observer looking from some positive location on the x, y. |
| 201 | * or z axis at a device positioned on the origin would report positive rotation |
| 202 | * if the device appeared to be rotating counter clockwise. Note that this is the |
| 203 | * standard mathematical definition of positive rotation and does not agree with the |
| 204 | * definition of roll given earlier. |
| 205 | * |
Mike Lockwood | a241431 | 2009-11-03 10:29:50 -0500 | [diff] [blame] | 206 | * Proximity |
| 207 | * --------- |
| 208 | * |
| 209 | * The distance value is measured in centimeters. Note that some proximity |
| 210 | * sensors only support a binary "close" or "far" measurement. In this case, |
| 211 | * the sensor should report its maxRange value in the "far" state and a value |
| 212 | * less than maxRange in the "near" state. |
| 213 | * |
| 214 | * Light |
| 215 | * ----- |
| 216 | * |
| 217 | * The light sensor value is returned in SI lux units. |
| 218 | * |
Kevin Powell | b01a043 | 2010-07-19 19:12:15 -0700 | [diff] [blame^] | 219 | * Gravity |
| 220 | * ------- |
| 221 | * A gravity output indicates the direction of and magnitude of gravity in the devices's |
| 222 | * coordinates. On Earth, the magnitude is 9.8. Units are m/s^2. The coordinate system |
| 223 | * is the same as is used for the acceleration sensor. |
| 224 | * |
| 225 | * Linear Acceleration |
| 226 | * ------------------- |
| 227 | * Indicates the linear acceleration of the device in device coordinates, not including gravity. |
| 228 | * This output is essentially Acceleration - Gravity. Units are m/s^2. The coordinate system is |
| 229 | * the same as is used for the acceleration sensor. |
| 230 | * |
| 231 | * Rotation Vector |
| 232 | * --------------- |
| 233 | * A rotation vector represents the orientation of the device as a combination |
| 234 | * of an angle and an axis, in which the device has rotated through an angle |
| 235 | * theta around an axis <x, y, z>. The three elements of the rotation vector |
| 236 | * are <x*sin(theta/2), y*sin(theta/2), z*sin(theta/2)>, such that the magnitude |
| 237 | * of the rotation vector is equal to sin(theta/2), and the direction of the |
| 238 | * rotation vector is equal to the direction of the axis of rotation. The three |
| 239 | * elements of the rotation vector are equal to the last three components of a |
| 240 | * unit quaternion <cos(theta/2), x*sin(theta/2), y*sin(theta/2), z*sin(theta/2)>. |
| 241 | * Elements of the rotation vector are unitless. The x, y, and z axis are defined |
| 242 | * in the same was as for the acceleration sensor. |
The Android Open Source Project | f53ebec | 2009-03-03 19:32:14 -0800 | [diff] [blame] | 243 | */ |
Kevin Powell | b01a043 | 2010-07-19 19:12:15 -0700 | [diff] [blame^] | 244 | |
The Android Open Source Project | f53ebec | 2009-03-03 19:32:14 -0800 | [diff] [blame] | 245 | typedef struct { |
| 246 | union { |
| 247 | float v[3]; |
| 248 | struct { |
| 249 | float x; |
| 250 | float y; |
| 251 | float z; |
| 252 | }; |
| 253 | struct { |
| 254 | float azimuth; |
| 255 | float pitch; |
| 256 | float roll; |
| 257 | }; |
| 258 | }; |
| 259 | int8_t status; |
| 260 | uint8_t reserved[3]; |
| 261 | } sensors_vec_t; |
| 262 | |
| 263 | /** |
| 264 | * Union of the various types of sensor data |
| 265 | * that can be returned. |
| 266 | */ |
| 267 | typedef struct { |
| 268 | /* sensor identifier */ |
| 269 | int sensor; |
| 270 | |
| 271 | union { |
| 272 | /* x,y,z values of the given sensor */ |
| 273 | sensors_vec_t vector; |
| 274 | |
| 275 | /* orientation values are in degrees */ |
| 276 | sensors_vec_t orientation; |
| 277 | |
| 278 | /* acceleration values are in meter per second per second (m/s^2) */ |
| 279 | sensors_vec_t acceleration; |
| 280 | |
| 281 | /* magnetic vector values are in micro-Tesla (uT) */ |
| 282 | sensors_vec_t magnetic; |
| 283 | |
| 284 | /* temperature is in degrees centigrade (Celsius) */ |
| 285 | float temperature; |
Iliyan Malchev | f5a22bc | 2009-07-08 13:54:17 -0700 | [diff] [blame] | 286 | |
| 287 | /* distance in centimeters */ |
| 288 | float distance; |
Iliyan Malchev | 61fee89 | 2009-08-20 16:47:17 -0700 | [diff] [blame] | 289 | |
Mike Lockwood | a241431 | 2009-11-03 10:29:50 -0500 | [diff] [blame] | 290 | /* light in SI lux units */ |
Mike Lockwood | 2bedac6 | 2009-09-04 12:09:05 -0400 | [diff] [blame] | 291 | float light; |
The Android Open Source Project | f53ebec | 2009-03-03 19:32:14 -0800 | [diff] [blame] | 292 | }; |
| 293 | |
| 294 | /* time is in nanosecond */ |
| 295 | int64_t time; |
| 296 | |
| 297 | uint32_t reserved; |
| 298 | } sensors_data_t; |
| 299 | |
| 300 | |
| 301 | struct sensor_t; |
| 302 | |
| 303 | /** |
| 304 | * Every hardware module must have a data structure named HAL_MODULE_INFO_SYM |
| 305 | * and the fields of this data structure must begin with hw_module_t |
| 306 | * followed by module specific information. |
| 307 | */ |
| 308 | struct sensors_module_t { |
| 309 | struct hw_module_t common; |
| 310 | |
| 311 | /** |
| 312 | * Enumerate all available sensors. The list is returned in "list". |
| 313 | * @return number of sensors in the list |
| 314 | */ |
| 315 | int (*get_sensors_list)(struct sensors_module_t* module, |
| 316 | struct sensor_t const** list); |
| 317 | }; |
| 318 | |
| 319 | struct sensor_t { |
| 320 | /* name of this sensors */ |
| 321 | const char* name; |
| 322 | /* vendor of the hardware part */ |
| 323 | const char* vendor; |
| 324 | /* version of the hardware part + driver. The value of this field is |
| 325 | * left to the implementation and doesn't have to be monotonicaly |
| 326 | * increasing. |
| 327 | */ |
| 328 | int version; |
| 329 | /* handle that identifies this sensors. This handle is used to activate |
| 330 | * and deactivate this sensor. The value of the handle must be 8 bits |
| 331 | * in this version of the API. |
| 332 | */ |
| 333 | int handle; |
| 334 | /* this sensor's type. */ |
| 335 | int type; |
| 336 | /* maximaum range of this sensor's value in SI units */ |
| 337 | float maxRange; |
| 338 | /* smallest difference between two values reported by this sensor */ |
| 339 | float resolution; |
| 340 | /* rough estimate of this sensor's power consumption in mA */ |
| 341 | float power; |
| 342 | /* reserved fields, must be zero */ |
| 343 | void* reserved[9]; |
| 344 | }; |
| 345 | |
| 346 | |
| 347 | /** |
| 348 | * Every device data structure must begin with hw_device_t |
| 349 | * followed by module specific public methods and attributes. |
| 350 | */ |
| 351 | struct sensors_control_device_t { |
| 352 | struct hw_device_t common; |
| 353 | |
| 354 | /** |
Mike Lockwood | 21b652f | 2009-05-22 10:05:48 -0400 | [diff] [blame] | 355 | * Returns a native_handle_t, which will be the parameter to |
The Android Open Source Project | f53ebec | 2009-03-03 19:32:14 -0800 | [diff] [blame] | 356 | * sensors_data_device_t::open_data(). |
Mike Lockwood | 21b652f | 2009-05-22 10:05:48 -0400 | [diff] [blame] | 357 | * The caller takes ownership of this handle. This is intended to be |
The Android Open Source Project | f53ebec | 2009-03-03 19:32:14 -0800 | [diff] [blame] | 358 | * passed cross processes. |
| 359 | * |
Bill Napier | 8d56748 | 2009-06-02 17:45:08 -0700 | [diff] [blame] | 360 | * @return a native_handle_t if successful, NULL on error |
The Android Open Source Project | f53ebec | 2009-03-03 19:32:14 -0800 | [diff] [blame] | 361 | */ |
Mike Lockwood | 21b652f | 2009-05-22 10:05:48 -0400 | [diff] [blame] | 362 | native_handle_t* (*open_data_source)(struct sensors_control_device_t *dev); |
Mike Lockwood | fbbb347 | 2009-08-29 11:55:27 -0400 | [diff] [blame] | 363 | |
| 364 | /** |
| 365 | * Releases any resources that were created by open_data_source. |
| 366 | * This call is optional and can be NULL if not implemented |
| 367 | * by the sensor HAL. |
| 368 | * |
| 369 | * @return 0 if successful, < 0 on error |
| 370 | */ |
| 371 | int (*close_data_source)(struct sensors_control_device_t *dev); |
| 372 | |
The Android Open Source Project | f53ebec | 2009-03-03 19:32:14 -0800 | [diff] [blame] | 373 | /** Activate/deactivate one sensor. |
| 374 | * |
| 375 | * @param handle is the handle of the sensor to change. |
| 376 | * @param enabled set to 1 to enable, or 0 to disable the sensor. |
| 377 | * |
| 378 | * @return 0 on success, negative errno code otherwise |
| 379 | */ |
| 380 | int (*activate)(struct sensors_control_device_t *dev, |
| 381 | int handle, int enabled); |
| 382 | |
| 383 | /** |
| 384 | * Set the delay between sensor events in ms |
| 385 | * |
| 386 | * @return 0 if successful, < 0 on error |
| 387 | */ |
| 388 | int (*set_delay)(struct sensors_control_device_t *dev, int32_t ms); |
| 389 | |
| 390 | /** |
| 391 | * Causes sensors_data_device_t.poll() to return -EWOULDBLOCK immediately. |
| 392 | */ |
| 393 | int (*wake)(struct sensors_control_device_t *dev); |
| 394 | }; |
| 395 | |
| 396 | struct sensors_data_device_t { |
| 397 | struct hw_device_t common; |
| 398 | |
| 399 | /** |
| 400 | * Prepare to read sensor data. |
| 401 | * |
Mike Lockwood | 21b652f | 2009-05-22 10:05:48 -0400 | [diff] [blame] | 402 | * This routine does NOT take ownership of the handle |
The Android Open Source Project | f53ebec | 2009-03-03 19:32:14 -0800 | [diff] [blame] | 403 | * and must not close it. Typically this routine would |
Mike Lockwood | 21b652f | 2009-05-22 10:05:48 -0400 | [diff] [blame] | 404 | * use a duplicate of the nh parameter. |
The Android Open Source Project | f53ebec | 2009-03-03 19:32:14 -0800 | [diff] [blame] | 405 | * |
Mike Lockwood | 21b652f | 2009-05-22 10:05:48 -0400 | [diff] [blame] | 406 | * @param nh from sensors_control_open. |
The Android Open Source Project | f53ebec | 2009-03-03 19:32:14 -0800 | [diff] [blame] | 407 | * |
| 408 | * @return 0 if successful, < 0 on error |
| 409 | */ |
Mike Lockwood | 21b652f | 2009-05-22 10:05:48 -0400 | [diff] [blame] | 410 | int (*data_open)(struct sensors_data_device_t *dev, native_handle_t* nh); |
The Android Open Source Project | f53ebec | 2009-03-03 19:32:14 -0800 | [diff] [blame] | 411 | |
| 412 | /** |
| 413 | * Caller has completed using the sensor data. |
| 414 | * The caller will not be blocked in sensors_data_poll |
| 415 | * when this routine is called. |
| 416 | * |
| 417 | * @return 0 if successful, < 0 on error |
| 418 | */ |
| 419 | int (*data_close)(struct sensors_data_device_t *dev); |
| 420 | |
| 421 | /** |
| 422 | * Return sensor data for one of the enabled sensors. |
| 423 | * |
| 424 | * @return sensor handle for the returned data, 0x7FFFFFFF when |
| 425 | * sensors_control_device_t.wake() is called and -errno on error |
| 426 | * |
| 427 | */ |
| 428 | int (*poll)(struct sensors_data_device_t *dev, |
| 429 | sensors_data_t* data); |
| 430 | }; |
| 431 | |
| 432 | |
| 433 | /** convenience API for opening and closing a device */ |
| 434 | |
| 435 | static inline int sensors_control_open(const struct hw_module_t* module, |
| 436 | struct sensors_control_device_t** device) { |
| 437 | return module->methods->open(module, |
| 438 | SENSORS_HARDWARE_CONTROL, (struct hw_device_t**)device); |
| 439 | } |
| 440 | |
| 441 | static inline int sensors_control_close(struct sensors_control_device_t* device) { |
| 442 | return device->common.close(&device->common); |
| 443 | } |
| 444 | |
| 445 | static inline int sensors_data_open(const struct hw_module_t* module, |
| 446 | struct sensors_data_device_t** device) { |
| 447 | return module->methods->open(module, |
| 448 | SENSORS_HARDWARE_DATA, (struct hw_device_t**)device); |
| 449 | } |
| 450 | |
| 451 | static inline int sensors_data_close(struct sensors_data_device_t* device) { |
| 452 | return device->common.close(&device->common); |
| 453 | } |
| 454 | |
| 455 | |
| 456 | __END_DECLS |
| 457 | |
| 458 | #endif // ANDROID_SENSORS_INTERFACE_H |