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/*
* Copyright (C) 2014 Invensense, Inc.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef ANDROID_SENSORS_H
#define ANDROID_SENSORS_H
#include <stdint.h>
#include <errno.h>
#include <sys/cdefs.h>
#include <sys/types.h>
#include <linux/input.h>
#include <hardware/hardware.h>
#include <hardware/sensors.h>
__BEGIN_DECLS
/*****************************************************************************/
#ifndef ARRAY_SIZE
#define ARRAY_SIZE(a) (sizeof(a) / sizeof(a[0]))
#endif
#undef ENABLE_PRESSURE
enum {
ID_GY = 0,
ID_RG,
ID_A,
ID_M,
ID_RM,
#ifdef ENABLE_PRESSURE
ID_PS,
#endif
ID_O,
ID_RV,
ID_GRV,
ID_LA,
ID_GR,
ID_SM,
ID_P,
ID_SC,
ID_GMRV,
ID_SO
};
enum {
Gyro = 0,
RawGyro,
Accelerometer,
MagneticField,
RawMagneticField,
#ifdef ENABLE_PRESSURE
Pressure,
#endif
Orientation,
RotationVector,
GameRotationVector,
LinearAccel,
Gravity,
SignificantMotion,
StepDetector,
StepCounter,
GeomagneticRotationVector,
NumSensors
};
#ifdef ENABLE_PRESSURE
#define LAST_HW_SENSOR Pressure
#else
#define LAST_HW_SENSOR RawMagneticField
#endif
/* Physical parameters of the sensors supported by Invensense MPL */
#define SENSORS_GYROSCOPE_HANDLE (ID_GY)
#define SENSORS_RAW_GYROSCOPE_HANDLE (ID_RG)
#define SENSORS_ACCELERATION_HANDLE (ID_A)
#define SENSORS_MAGNETIC_FIELD_HANDLE (ID_M)
#define SENSORS_RAW_MAGNETIC_FIELD_HANDLE (ID_RM)
#define SENSORS_PRESSURE_HANDLE (ID_PS)
#define SENSORS_ORIENTATION_HANDLE (ID_O)
#define SENSORS_ROTATION_VECTOR_HANDLE (ID_RV)
#define SENSORS_GAME_ROTATION_VECTOR_HANDLE (ID_GRV)
#define SENSORS_LINEAR_ACCEL_HANDLE (ID_LA)
#define SENSORS_GRAVITY_HANDLE (ID_GR)
#define SENSORS_SIGNIFICANT_MOTION_HANDLE (ID_SM)
#define SENSORS_PEDOMETER_HANDLE (ID_P)
#define SENSORS_STEP_COUNTER_HANDLE (ID_SC)
#define SENSORS_GEOMAGNETIC_ROTATION_VECTOR_HANDLE (ID_GMRV)
#define SENSORS_SCREEN_ORIENTATION_HANDLE (ID_SO)
/*****************************************************************************/
/*
Android Lollipop
Populate sensor_t structure according to hardware sensors.h
{name, vendor, version, handle,
type, maxRange, resolution, power, minDelay, fifoReservedEventCount, fifoMaxEventCount,
stringType, requiredPermission, maxDelay, flags, reserved[]}
*/
#if defined ANDROID_LOLLIPOP
static struct sensor_t sBaseSensorList[] =
{
{"MPL Gyroscope", "Invensense", 1, SENSORS_GYROSCOPE_HANDLE,
SENSOR_TYPE_GYROSCOPE, 2000.0f, 1.0f, 0.5f, 10000, 0, 124,
SENSOR_STRING_TYPE_GYROSCOPE, "", 200000, SENSOR_FLAG_CONTINUOUS_MODE, {}},
{"MPL Raw Gyroscope", "Invensense", 1, SENSORS_RAW_GYROSCOPE_HANDLE,
SENSOR_TYPE_GYROSCOPE_UNCALIBRATED, 2000.0f, 1.0f, 0.5f, 10000, 0, 124,
SENSOR_STRING_TYPE_GYROSCOPE_UNCALIBRATED, "", 200000, SENSOR_FLAG_CONTINUOUS_MODE, {}},
{"MPL Accelerometer", "Invensense", 1, SENSORS_ACCELERATION_HANDLE,
SENSOR_TYPE_ACCELEROMETER, 10240.0f, 1.0f, 0.5f, 10000, 0, 124,
SENSOR_STRING_TYPE_ACCELEROMETER, "", 200000, SENSOR_FLAG_CONTINUOUS_MODE, {}},
{"MPL Magnetic Field", "Invensense", 1, SENSORS_MAGNETIC_FIELD_HANDLE,
SENSOR_TYPE_MAGNETIC_FIELD, 10240.0f, 1.0f, 0.5f, 10000, 0, 124,
SENSOR_STRING_TYPE_MAGNETIC_FIELD, "", 200000, SENSOR_FLAG_CONTINUOUS_MODE, {}},
{"MPL Raw Magnetic Field", "Invensense", 1, SENSORS_RAW_MAGNETIC_FIELD_HANDLE,
SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED, 10240.0f, 1.0f, 0.5f, 10000, 0, 124,
SENSOR_STRING_TYPE_MAGNETIC_FIELD_UNCALIBRATED, "", 200000, SENSOR_FLAG_CONTINUOUS_MODE, {}},
#ifdef ENABLE_PRESSURE
{"MPL Pressure", "Invensense", 1, SENSORS_PRESSURE_HANDLE,
SENSOR_TYPE_PRESSURE, 10240.0f, 1.0f, 0.5f, 10000, 0, 165,
SENSOR_STRING_TYPE_PRESSURE, "", 200000, SENSOR_FLAG_CONTINUOUS_MODE, {}},
#endif
{"MPL Orientation", "Invensense", 1, SENSORS_ORIENTATION_HANDLE,
SENSOR_TYPE_ORIENTATION, 360.0f, 1.0f, 9.7f, 10000, 0, 0,
SENSOR_STRING_TYPE_ORIENTATION, "", 200000, SENSOR_FLAG_CONTINUOUS_MODE, {}},
{"MPL Rotation Vector", "Invensense", 1, SENSORS_ROTATION_VECTOR_HANDLE,
SENSOR_TYPE_ROTATION_VECTOR, 10240.0f, 1.0f, 0.5f, 10000, 0, 0,
SENSOR_STRING_TYPE_ROTATION_VECTOR, "", 200000, SENSOR_FLAG_CONTINUOUS_MODE, {}},
{"MPL Game Rotation Vector", "Invensense", 1, SENSORS_GAME_ROTATION_VECTOR_HANDLE,
SENSOR_TYPE_GAME_ROTATION_VECTOR, 10240.0f, 1.0f, 0.5f, 10000, 0, 62,
SENSOR_STRING_TYPE_GAME_ROTATION_VECTOR, "", 200000, SENSOR_FLAG_CONTINUOUS_MODE, {}},
{"MPL Linear Acceleration", "Invensense", 1, SENSORS_LINEAR_ACCEL_HANDLE,
SENSOR_TYPE_LINEAR_ACCELERATION, 10240.0f, 1.0f, 0.5f, 10000, 0, 0,
SENSOR_STRING_TYPE_LINEAR_ACCELERATION, "", 200000, SENSOR_FLAG_CONTINUOUS_MODE, {}},
{"MPL Gravity", "Invensense", 1, SENSORS_GRAVITY_HANDLE,
SENSOR_TYPE_GRAVITY, 10240.0f, 1.0f, 0.5f, 10000, 0, 0,
SENSOR_STRING_TYPE_GRAVITY, "", 200000, SENSOR_FLAG_CONTINUOUS_MODE, {}},
{"MPL Significant Motion", "Invensense", 1, SENSORS_SIGNIFICANT_MOTION_HANDLE,
SENSOR_TYPE_SIGNIFICANT_MOTION, 100.0f, 1.0f, 1.1f, 0, 0, 0,
SENSOR_STRING_TYPE_SIGNIFICANT_MOTION, "", 0,
SENSOR_FLAG_ONE_SHOT_MODE | SENSOR_FLAG_WAKE_UP, {}},
{"MPL Step Detector", "Invensense", 1, SENSORS_PEDOMETER_HANDLE,
SENSOR_TYPE_STEP_DETECTOR, 100.0f, 1.0f, 1.1f, 0, 0, 124,
SENSOR_STRING_TYPE_STEP_DETECTOR, "", 0, SENSOR_FLAG_SPECIAL_REPORTING_MODE, {}},
{"MPL Step Counter", "Invensense", 1, SENSORS_STEP_COUNTER_HANDLE,
SENSOR_TYPE_STEP_COUNTER, 100.0f, 1.0f, 1.1f, 0, 0, 0,
SENSOR_STRING_TYPE_STEP_COUNTER, "", 0, SENSOR_FLAG_ON_CHANGE_MODE, {}},
{"MPL Geomagnetic Rotation Vector", "Invensense", 1,
SENSORS_GEOMAGNETIC_ROTATION_VECTOR_HANDLE,
SENSOR_TYPE_GEOMAGNETIC_ROTATION_VECTOR, 10240.0f, 1.0f, 0.5f, 5000, 0, 0,
SENSOR_STRING_TYPE_GEOMAGNETIC_ROTATION_VECTOR, "", 200000, SENSOR_FLAG_CONTINUOUS_MODE, {}},
#ifdef ENABLE_DMP_SCREEN_AUTO_ROTATION
{"MPL Screen Orientation", "Invensense ", 1, SENSORS_SCREEN_ORIENTATION_HANDLE,
SENSOR_TYPE_SCREEN_ORIENTATION, 100.0f, 1.0f, 1.1f, 0, 0, 0,
SENSOR_STRING_TYPE_SCREEN_ORIENTATION, "", 0, SENSOR_FLAG_ON_CHANGE_MODE, {}},
#endif
};
/*
Android KitKat
Populate sensor_t structure according to hardware sensors.h
{name, vendor, version,
handle,
type, maxRange, resolution, power, minDelay, fifoReservedEventCount, fifoMaxEventCount, reserved[]}
*/
#elif defined ANDROID_KITKAT
static struct sensor_t sBaseSensorList[] =
{
{"MPL Gyroscope", "Invensense", 1, SENSORS_GYROSCOPE_HANDLE,
SENSOR_TYPE_GYROSCOPE, 2000.0f, 1.0f, 0.5f, 10000, 0, 124,
SENSOR_STRING_TYPE_GYROSCOPE, 0, 0, SENSOR_FLAG_CONTINUOUS_MODE, {}},
{"MPL Raw Gyroscope", "Invensense", 1, SENSORS_RAW_GYROSCOPE_HANDLE,
SENSOR_TYPE_GYROSCOPE_UNCALIBRATED, 2000.0f, 1.0f, 0.5f, 10000, 0, 124,
SENSOR_STRING_TYPE_GYROSCOPE_UNCALIBRATED, 0, 0, SENSOR_FLAG_CONTINUOUS_MODE, {}},
{"MPL Accelerometer", "Invensense", 1, SENSORS_ACCELERATION_HANDLE,
SENSOR_TYPE_ACCELEROMETER, 10240.0f, 1.0f, 0.5f, 10000, 0, 124,
SENSOR_STRING_TYPE_ACCELEROMETER, 0, 0, SENSOR_FLAG_CONTINUOUS_MODE, {}},
{"MPL Magnetic Field", "Invensense", 1, SENSORS_MAGNETIC_FIELD_HANDLE,
SENSOR_TYPE_MAGNETIC_FIELD, 10240.0f, 1.0f, 0.5f, 10000, 0, 124,
SENSOR_STRING_TYPE_MAGNETIC_FIELD, 0, 0, SENSOR_FLAG_CONTINUOUS_MODE, {}},
{"MPL Raw Magnetic Field", "Invensense", 1, SENSORS_RAW_MAGNETIC_FIELD_HANDLE,
SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED, 10240.0f, 1.0f, 0.5f, 10000, 0, 124,
SENSOR_STRING_TYPE_MAGNETIC_FIELD_UNCALIBRATED, 0, 0, SENSOR_FLAG_CONTINUOUS_MODE, {}},
#ifdef ENABLE_PRESSURE
{"MPL Pressure", "Invensense", 1, SENSORS_PRESSURE_HANDLE,
SENSOR_TYPE_PRESSURE, 10240.0f, 1.0f, 0.5f, 10000, 0, 165,
SENSOR_STRING_TYPE_PRESSURE, 0, 0, SENSOR_FLAG_CONTINUOUS_MODE, {}},
#endif
{"MPL Orientation", "Invensense", 1, SENSORS_ORIENTATION_HANDLE,
SENSOR_TYPE_ORIENTATION, 360.0f, 1.0f, 9.7f, 10000, 0, 0,
SENSOR_STRING_TYPE_ORIENTATION, 0, 0, SENSOR_FLAG_CONTINUOUS_MODE, {}},
{"MPL Rotation Vector", "Invensense", 1, SENSORS_ROTATION_VECTOR_HANDLE,
SENSOR_TYPE_ROTATION_VECTOR, 10240.0f, 1.0f, 0.5f, 10000, 0, 0,
SENSOR_STRING_TYPE_ROTATION_VECTOR, 0, 0, SENSOR_FLAG_CONTINUOUS_MODE, {}},
{"MPL Game Rotation Vector", "Invensense", 1, SENSORS_GAME_ROTATION_VECTOR_HANDLE,
SENSOR_TYPE_GAME_ROTATION_VECTOR, 10240.0f, 1.0f, 0.5f, 10000, 0, 62,
SENSOR_STRING_TYPE_GAME_ROTATION_VECTOR, 0, 0, SENSOR_FLAG_CONTINUOUS_MODE, {}},
{"MPL Linear Acceleration", "Invensense", 1, SENSORS_LINEAR_ACCEL_HANDLE,
SENSOR_TYPE_LINEAR_ACCELERATION, 10240.0f, 1.0f, 0.5f, 10000, 0, 0,
SENSOR_STRING_TYPE_LINEAR_ACCELERATION, 0, 0, SENSOR_FLAG_CONTINUOUS_MODE, {}},
{"MPL Gravity", "Invensense", 1, SENSORS_GRAVITY_HANDLE,
SENSOR_TYPE_GRAVITY, 10240.0f, 1.0f, 0.5f, 10000, 0, 0,
SENSOR_STRING_TYPE_GRAVITY, 0, 0, SENSOR_FLAG_CONTINUOUS_MODE, {}},
{"MPL Significant Motion", "Invensense", 1, SENSORS_SIGNIFICANT_MOTION_HANDLE,
SENSOR_TYPE_SIGNIFICANT_MOTION, 100.0f, 1.0f, 1.1f, 0, 0, 0,
SENSOR_STRING_TYPE_SIGNIFICANT_MOTION, 0, 0,
SENSOR_FLAG_ONE_SHOT_MODE | SENSOR_FLAG_WAKE_UP, {}},
{"MPL Step Detector", "Invensense", 1, SENSORS_PEDOMETER_HANDLE,
SENSOR_TYPE_STEP_DETECTOR, 100.0f, 1.0f, 1.1f, 0, 0, 124,
SENSOR_STRING_TYPE_STEP_DETECTOR, 0, 0, SENSOR_FLAG_SPECIAL_REPORTING_MODE, {}},
{"MPL Step Counter", "Invensense", 1, SENSORS_STEP_COUNTER_HANDLE,
SENSOR_TYPE_STEP_COUNTER, 100.0f, 1.0f, 1.1f, 0, 0, 0,
SENSOR_STRING_TYPE_STEP_COUNTER, 0, 0, SENSOR_FLAG_ON_CHANGE_MODE, {}},
{"MPL Geomagnetic Rotation Vector", "Invensense", 1,
SENSORS_GEOMAGNETIC_ROTATION_VECTOR_HANDLE,
SENSOR_TYPE_GEOMAGNETIC_ROTATION_VECTOR, 10240.0f, 1.0f, 0.5f, 5000, 0, 0,
SENSOR_STRING_TYPE_GEOMAGNETIC_ROTATION_VECTOR, 0, 0, SENSOR_FLAG_CONTINUOUS_MODE, {}},
#ifdef ENABLE_DMP_SCREEN_AUTO_ROTATION
{"MPL Screen Orientation", "Invensense ", 1, SENSORS_SCREEN_ORIENTATION_HANDLE,
SENSOR_TYPE_SCREEN_ORIENTATION, 100.0f, 1.0f, 1.1f, 0, 0, 0,
SENSOR_STRING_TYPE_SCREEN_ORIENTATION, 0, 0, SENSOR_FLAG_ON_CHANGE_MODE, {}},
#endif
};
#else //ANDROID_KITKAT END
static struct sensor_t sBaseSensorList[] =
{
{"MPL Gyroscope", "Invensense", 1,
SENSORS_GYROSCOPE_HANDLE,
SENSOR_TYPE_GYROSCOPE, 2000.0f, 1.0f, 0.5f, 10000, {}},
{"MPL Raw Gyroscope", "Invensense", 1,
SENSORS_RAW_GYROSCOPE_HANDLE,
SENSOR_TYPE_GYROSCOPE_UNCALIBRATED, 2000.0f, 1.0f, 0.5f, 10000, {}},
{"MPL Accelerometer", "Invensense", 1,
SENSORS_ACCELERATION_HANDLE,
SENSOR_TYPE_ACCELEROMETER, 10240.0f, 1.0f, 0.5f, 10000, {}},
{"MPL Magnetic Field", "Invensense", 1,
SENSORS_MAGNETIC_FIELD_HANDLE,
SENSOR_TYPE_MAGNETIC_FIELD, 10240.0f, 1.0f, 0.5f, 10000, {}},
{"MPL Raw Magnetic Field", "Invensense", 1,
SENSORS_RAW_MAGNETIC_FIELD_HANDLE,
SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED, 10240.0f, 1.0f, 0.5f, 10000, {}},
#ifdef ENABLE_PRESSURE
{"MPL Pressure", "Invensense", 1,
SENSORS_PRESSURE_HANDLE,
SENSOR_TYPE_PRESSURE, 10240.0f, 1.0f, 0.5f, 10000, {}},
#endif
{"MPL Orientation", "Invensense", 1,
SENSORS_ORIENTATION_HANDLE,
SENSOR_TYPE_ORIENTATION, 360.0f, 1.0f, 9.7f, 10000, {}},
{"MPL Rotation Vector", "Invensense", 1,
SENSORS_ROTATION_VECTOR_HANDLE,
SENSOR_TYPE_ROTATION_VECTOR, 10240.0f, 1.0f, 0.5f, 10000, {}},
{"MPL Game Rotation Vector", "Invensense", 1,
SENSORS_GAME_ROTATION_VECTOR_HANDLE,
SENSOR_TYPE_GAME_ROTATION_VECTOR, 10240.0f, 1.0f, 0.5f, 10000, {}},
{"MPL Linear Acceleration", "Invensense", 1,
SENSORS_LINEAR_ACCEL_HANDLE,
SENSOR_TYPE_LINEAR_ACCELERATION, 10240.0f, 1.0f, 0.5f, 10000, {}},
{"MPL Gravity", "Invensense", 1,
SENSORS_GRAVITY_HANDLE,
SENSOR_TYPE_GRAVITY, 10240.0f, 1.0f, 0.5f, 10000, {}},
{"MPL Significant Motion", "Invensense", 1,
SENSORS_SIGNIFICANT_MOTION_HANDLE,
SENSOR_TYPE_SIGNIFICANT_MOTION, 100.0f, 1.0f, 1.1f, 0, {}},
{"MPL Step Detector", "Invensense", 1,
SENSORS_PEDOMETER_HANDLE,
SENSOR_TYPE_STEP_DETECTOR, 100.0f, 1.0f, 1.1f, 0, {}},
{"MPL Step Counter", "Invensense", 1,
SENSORS_STEP_COUNTER_HANDLE,
SENSOR_TYPE_STEP_COUNTER, 100.0f, 1.0f, 1.1f, 0, {}},
{"MPL Geomagnetic Rotation Vector", "Invensense", 1,
SENSORS_GEOMAGNETIC_ROTATION_VECTOR_HANDLE,
SENSOR_TYPE_GEOMAGNETIC_ROTATION_VECTOR, 10240.0f, 1.0f, 0.5f, 10000, {}},
#ifdef ENABLE_DMP_SCREEN_AUTO_ROTATION
{"MPL Screen Orientation", "Invensense ", 1,
SENSORS_SCREEN_ORIENTATION_HANDLE,
SENSOR_TYPE_SCREEN_ORIENTATION, 100.0f, 1.0f, 1.1f, 0, {}},
#endif
};
#endif //ANDROID_JELLYBEAN END
/*****************************************************************************/
/*
* The SENSORS Module
*/
/* ITG3500 */
#define EVENT_TYPE_GYRO_X REL_X
#define EVENT_TYPE_GYRO_Y REL_Y
#define EVENT_TYPE_GYRO_Z REL_Z
/* MPU6050 MPU9150 */
#define EVENT_TYPE_IACCEL_X REL_RX
#define EVENT_TYPE_IACCEL_Y REL_RY
#define EVENT_TYPE_IACCEL_Z REL_RZ
/* MPU6050 MPU9150 */
#define EVENT_TYPE_ICOMPASS_X REL_X
#define EVENT_TYPE_ICOMPASS_Y REL_Y
#define EVENT_TYPE_ICOMPASS_Z REL_Z
/* MPUxxxx */
#define EVENT_TYPE_TIMESTAMP_HI REL_MISC
#define EVENT_TYPE_TIMESTAMP_LO REL_WHEEL
/* Accel BMA250 */
#define EVENT_TYPE_ACCEL_X ABS_X
#define EVENT_TYPE_ACCEL_Y ABS_Y
#define EVENT_TYPE_ACCEL_Z ABS_Z
#define LSG (1000.0f)
// conversion of acceleration data to SI units (m/s^2)
#define RANGE_A (4*GRAVITY_EARTH)
#define RESOLUTION_A (GRAVITY_EARTH / LSG)
#define CONVERT_A (GRAVITY_EARTH / LSG)
#define CONVERT_A_X (CONVERT_A)
#define CONVERT_A_Y (CONVERT_A)
#define CONVERT_A_Z (CONVERT_A)
/* AKM compasses */
#define EVENT_TYPE_MAGV_X ABS_RX
#define EVENT_TYPE_MAGV_Y ABS_RY
#define EVENT_TYPE_MAGV_Z ABS_RZ
#define EVENT_TYPE_MAGV_STATUS ABS_RUDDER
/* conversion of magnetic data to uT units */
#define CONVERT_M (0.06f)
/* conversion of sensor rates */
#define hertz_request = 200;
#define DEFAULT_MPL_GYRO_RATE (20000L) //us
#define DEFAULT_MPL_COMPASS_RATE (20000L) //us
#define DEFAULT_HW_GYRO_RATE (100) //Hz
#define DEFAULT_HW_ACCEL_RATE (20) //ms
#define DEFAULT_HW_COMPASS_RATE (20000000L) //ns
#define DEFAULT_HW_AKMD_COMPASS_RATE (200000000L) //ns
/* convert ns to hardware units */
#define HW_GYRO_RATE_NS (1000000000LL / rate_request) // to Hz
#define HW_ACCEL_RATE_NS (rate_request / (1000000L)) // to ms
#define HW_COMPASS_RATE_NS (rate_request) // to ns
/* convert Hz to hardware units */
#define HW_GYRO_RATE_HZ (hertz_request)
#define HW_ACCEL_RATE_HZ (1000 / hertz_request)
#define HW_COMPASS_RATE_HZ (1000000000LL / hertz_request)
#define RATE_200HZ 5000000LL
#define RATE_15HZ 66667000LL
#define RATE_5HZ 200000000LL
__END_DECLS
#endif // ANDROID_SENSORS_H
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