/* * 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 #include #include #include #include #include #include __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