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