sensors.h revision 8857714a5b23734eebfcfab171021d9220475a08 
1/*
2* Copyright (C) 2014 Invensense, Inc.
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_H
18#define ANDROID_SENSORS_H
19
20#include <stdint.h>
21#include <errno.h>
22#include <sys/cdefs.h>
23#include <sys/types.h>
24
25#include <linux/input.h>
26
27#include <hardware/hardware.h>
28#include <hardware/sensors.h>
29
30__BEGIN_DECLS
31
32/*****************************************************************************/
33
34#ifndef ARRAY_SIZE
35#define ARRAY_SIZE(a) (sizeof(a) / sizeof(a[0]))
36#endif
37
38#undef ENABLE_PRESSURE
39
40enum {
41    ID_GY = 0,
42    ID_RG,
43    ID_A,
44    ID_M,
45    ID_RM,
46    ID_PS,
47    ID_O,
48    ID_RV,
49    ID_GRV,
50    ID_LA,
51    ID_GR,
52    ID_SM,
53    ID_P,
54    ID_SC,
55    ID_GMRV,
56    ID_SO
57};
58
59enum {
60    Gyro = 0,
61    RawGyro,
62    Accelerometer,
63    MagneticField,
64    RawMagneticField,
65    Pressure,
66    Orientation,
67    RotationVector,
68    GameRotationVector,
69    LinearAccel,
70    Gravity,
71    SignificantMotion,
72    StepDetector,
73    StepCounter,
74    GeomagneticRotationVector,
75    NumSensors
76};
77
78/* Physical parameters of the sensors supported by Invensense MPL */
79#define SENSORS_GYROSCOPE_HANDLE                   (ID_GY)
80#define SENSORS_RAW_GYROSCOPE_HANDLE               (ID_RG)
81#define SENSORS_ACCELERATION_HANDLE                (ID_A)
82#define SENSORS_MAGNETIC_FIELD_HANDLE              (ID_M)
83#define SENSORS_RAW_MAGNETIC_FIELD_HANDLE          (ID_RM)
84#define SENSORS_PRESSURE_HANDLE                    (ID_PS)
85#define SENSORS_ORIENTATION_HANDLE                 (ID_O)
86#define SENSORS_ROTATION_VECTOR_HANDLE             (ID_RV)
87#define SENSORS_GAME_ROTATION_VECTOR_HANDLE        (ID_GRV)
88#define SENSORS_LINEAR_ACCEL_HANDLE                (ID_LA)
89#define SENSORS_GRAVITY_HANDLE                     (ID_GR)
90#define SENSORS_SIGNIFICANT_MOTION_HANDLE          (ID_SM)
91#define SENSORS_PEDOMETER_HANDLE                   (ID_P)
92#define SENSORS_STEP_COUNTER_HANDLE                (ID_SC)
93#define SENSORS_GEOMAGNETIC_ROTATION_VECTOR_HANDLE (ID_GMRV)
94#define SENSORS_SCREEN_ORIENTATION_HANDLE          (ID_SO)
95
96/*****************************************************************************/
97
98/*
99   Android KitKat
100   Populate sensor_t structure according to hardware sensors.h
101   {    name, vendor, version, handle, type, maxRange, resolution, power, minDelay,
102    fifoReservedEventCount, fifoMaxEventCount, reserved[]    }
103*/
104#if defined ANDROID_KITKAT
105static struct sensor_t sBaseSensorList[] =
106{
107    {"MPL Gyroscope", "Invensense", 1,
108     SENSORS_GYROSCOPE_HANDLE,
109     SENSOR_TYPE_GYROSCOPE, 2000.0f, 1.0f, 0.5f, 10000, 0, 124, {}},
110    {"MPL Raw Gyroscope", "Invensense", 1,
111     SENSORS_RAW_GYROSCOPE_HANDLE,
112     SENSOR_TYPE_GYROSCOPE_UNCALIBRATED, 2000.0f, 1.0f, 0.5f, 10000, 0, 124, {}},
113    {"MPL Accelerometer", "Invensense", 1,
114     SENSORS_ACCELERATION_HANDLE,
115     SENSOR_TYPE_ACCELEROMETER, 10240.0f, 1.0f, 0.5f, 10000, 0, 124, {}},
116    {"MPL Magnetic Field", "Invensense", 1,
117     SENSORS_MAGNETIC_FIELD_HANDLE,
118     SENSOR_TYPE_MAGNETIC_FIELD, 10240.0f, 1.0f, 0.5f, 10000, 0, 124, {}},
119    {"MPL Raw Magnetic Field", "Invensense", 1,
120     SENSORS_RAW_MAGNETIC_FIELD_HANDLE,
121     SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED, 10240.0f, 1.0f, 0.5f, 10000, 0, 124, {}},
122#ifdef ENABLE_PRESSURE
123    {"MPL Pressure", "Invensense", 1,
124     SENSORS_PRESSURE_HANDLE,
125     SENSOR_TYPE_PRESSURE, 10240.0f, 1.0f, 0.5f, 10000, 0, 165, {}},
126#endif
127    {"MPL Orientation", "Invensense", 1,
128     SENSORS_ORIENTATION_HANDLE,
129     SENSOR_TYPE_ORIENTATION, 360.0f, 1.0f, 9.7f, 10000, 0, 0, {}},
130    {"MPL Rotation Vector", "Invensense", 1,
131     SENSORS_ROTATION_VECTOR_HANDLE,
132     SENSOR_TYPE_ROTATION_VECTOR, 10240.0f, 1.0f, 0.5f, 10000, 0, 0, {}},
133    {"MPL Game Rotation Vector", "Invensense", 1,
134     SENSORS_GAME_ROTATION_VECTOR_HANDLE,
135     SENSOR_TYPE_GAME_ROTATION_VECTOR, 10240.0f, 1.0f, 0.5f, 10000, 0, 62, {}},
136    {"MPL Linear Acceleration", "Invensense", 1,
137     SENSORS_LINEAR_ACCEL_HANDLE,
138     SENSOR_TYPE_LINEAR_ACCELERATION, 10240.0f, 1.0f, 0.5f, 10000, 0, 0, {}},
139    {"MPL Gravity", "Invensense", 1,
140     SENSORS_GRAVITY_HANDLE,
141     SENSOR_TYPE_GRAVITY, 10240.0f, 1.0f, 0.5f, 10000, 0, 0, {}},
142    {"MPL Significant Motion", "Invensense", 1,
143     SENSORS_SIGNIFICANT_MOTION_HANDLE,
144     SENSOR_TYPE_SIGNIFICANT_MOTION, 100.0f, 1.0f, 1.1f, 0, 0, 0, {}},
145    {"MPL Step Detector", "Invensense", 1,
146     SENSORS_PEDOMETER_HANDLE,
147     SENSOR_TYPE_STEP_DETECTOR, 100.0f, 1.0f, 1.1f, 0, 0, 124, {}},
148    {"MPL Step Counter", "Invensense", 1,
149     SENSORS_STEP_COUNTER_HANDLE,
150     SENSOR_TYPE_STEP_COUNTER, 100.0f, 1.0f, 1.1f, 0, 0, 0, {}},
151    {"MPL Geomagnetic Rotation Vector", "Invensense", 1,
152     SENSORS_GEOMAGNETIC_ROTATION_VECTOR_HANDLE,
153     SENSOR_TYPE_GEOMAGNETIC_ROTATION_VECTOR, 10240.0f, 1.0f, 0.5f, 5000, 0, 0, {}},
154#ifdef ENABLE_DMP_SCREEN_AUTO_ROTATION
155    {"MPL Screen Orientation", "Invensense ", 1,
156     SENSORS_SCREEN_ORIENTATION_HANDLE,
157     SENSOR_TYPE_SCREEN_ORIENTATION, 100.0f, 1.0f, 1.1f, 0, 0, 0, {}},
158#endif
159};
160#else  //ANDROID_KITKAT END
161static struct sensor_t sBaseSensorList[] =
162{
163    {"MPL Gyroscope", "Invensense", 1,
164     SENSORS_GYROSCOPE_HANDLE,
165     SENSOR_TYPE_GYROSCOPE, 2000.0f, 1.0f, 0.5f, 10000, {}},
166    {"MPL Raw Gyroscope", "Invensense", 1,
167     SENSORS_RAW_GYROSCOPE_HANDLE,
168     SENSOR_TYPE_GYROSCOPE_UNCALIBRATED, 2000.0f, 1.0f, 0.5f, 10000, {}},
169    {"MPL Accelerometer", "Invensense", 1,
170     SENSORS_ACCELERATION_HANDLE,
171     SENSOR_TYPE_ACCELEROMETER, 10240.0f, 1.0f, 0.5f, 10000, {}},
172    {"MPL Magnetic Field", "Invensense", 1,
173     SENSORS_MAGNETIC_FIELD_HANDLE,
174     SENSOR_TYPE_MAGNETIC_FIELD, 10240.0f, 1.0f, 0.5f, 10000, {}},
175    {"MPL Raw Magnetic Field", "Invensense", 1,
176     SENSORS_RAW_MAGNETIC_FIELD_HANDLE,
177     SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED, 10240.0f, 1.0f, 0.5f, 10000, {}},
178#ifdef ENABLE_PRESSURE
179    {"MPL Pressure", "Invensense", 1,
180     SENSORS_PRESSURE_HANDLE,
181     SENSOR_TYPE_PRESSURE, 10240.0f, 1.0f, 0.5f, 10000, {}},
182#endif
183    {"MPL Orientation", "Invensense", 1,
184     SENSORS_ORIENTATION_HANDLE,
185     SENSOR_TYPE_ORIENTATION, 360.0f, 1.0f, 9.7f, 10000, {}},
186    {"MPL Rotation Vector", "Invensense", 1,
187     SENSORS_ROTATION_VECTOR_HANDLE,
188     SENSOR_TYPE_ROTATION_VECTOR, 10240.0f, 1.0f, 0.5f, 10000, {}},
189    {"MPL Game Rotation Vector", "Invensense", 1,
190     SENSORS_GAME_ROTATION_VECTOR_HANDLE,
191     SENSOR_TYPE_GAME_ROTATION_VECTOR, 10240.0f, 1.0f, 0.5f, 10000, {}},
192    {"MPL Linear Acceleration", "Invensense", 1,
193     SENSORS_LINEAR_ACCEL_HANDLE,
194     SENSOR_TYPE_LINEAR_ACCELERATION, 10240.0f, 1.0f, 0.5f, 10000, {}},
195    {"MPL Gravity", "Invensense", 1,
196     SENSORS_GRAVITY_HANDLE,
197     SENSOR_TYPE_GRAVITY, 10240.0f, 1.0f, 0.5f, 10000, {}},
198    {"MPL Significant Motion", "Invensense", 1,
199     SENSORS_SIGNIFICANT_MOTION_HANDLE,
200     SENSOR_TYPE_SIGNIFICANT_MOTION, 100.0f, 1.0f, 1.1f, 0, {}},
201    {"MPL Step Detector", "Invensense", 1,
202     SENSORS_PEDOMETER_HANDLE,
203     SENSOR_TYPE_STEP_DETECTOR, 100.0f, 1.0f, 1.1f, 0, {}},
204    {"MPL Step Counter", "Invensense", 1,
205     SENSORS_STEP_COUNTER_HANDLE,
206     SENSOR_TYPE_STEP_COUNTER, 100.0f, 1.0f, 1.1f, 0, {}},
207    {"MPL Geomagnetic Rotation Vector", "Invensense", 1,
208     SENSORS_GEOMAGNETIC_ROTATION_VECTOR_HANDLE,
209     SENSOR_TYPE_GEOMAGNETIC_ROTATION_VECTOR, 10240.0f, 1.0f, 0.5f, 10000, {}},
210#ifdef ENABLE_DMP_SCREEN_AUTO_ROTATION
211    {"MPL Screen Orientation", "Invensense ", 1,
212     SENSORS_SCREEN_ORIENTATION_HANDLE,
213     SENSOR_TYPE_SCREEN_ORIENTATION, 100.0f, 1.0f, 1.1f, 0, {}},
214#endif
215};
216#endif //ANDROID_JELLYBEAN END
217
218/*****************************************************************************/
219
220/*
221 * The SENSORS Module
222 */
223
224/* ITG3500 */
225#define EVENT_TYPE_GYRO_X          REL_X
226#define EVENT_TYPE_GYRO_Y          REL_Y
227#define EVENT_TYPE_GYRO_Z          REL_Z
228/* MPU6050 MPU9150 */
229#define EVENT_TYPE_IACCEL_X        REL_RX
230#define EVENT_TYPE_IACCEL_Y        REL_RY
231#define EVENT_TYPE_IACCEL_Z        REL_RZ
232/* MPU6050 MPU9150 */
233#define EVENT_TYPE_ICOMPASS_X      REL_X
234#define EVENT_TYPE_ICOMPASS_Y      REL_Y
235#define EVENT_TYPE_ICOMPASS_Z      REL_Z
236/* MPUxxxx */
237#define EVENT_TYPE_TIMESTAMP_HI    REL_MISC
238#define EVENT_TYPE_TIMESTAMP_LO    REL_WHEEL
239
240/* Accel BMA250 */
241#define EVENT_TYPE_ACCEL_X          ABS_X
242#define EVENT_TYPE_ACCEL_Y          ABS_Y
243#define EVENT_TYPE_ACCEL_Z          ABS_Z
244#define LSG                         (1000.0f)
245
246// conversion of acceleration data to SI units (m/s^2)
247#define RANGE_A                     (4*GRAVITY_EARTH)
248#define RESOLUTION_A                (GRAVITY_EARTH / LSG)
249#define CONVERT_A                   (GRAVITY_EARTH / LSG)
250#define CONVERT_A_X                 (CONVERT_A)
251#define CONVERT_A_Y                 (CONVERT_A)
252#define CONVERT_A_Z                 (CONVERT_A)
253
254/* AKM  compasses */
255#define EVENT_TYPE_MAGV_X           ABS_RX
256#define EVENT_TYPE_MAGV_Y           ABS_RY
257#define EVENT_TYPE_MAGV_Z           ABS_RZ
258#define EVENT_TYPE_MAGV_STATUS      ABS_RUDDER
259
260/* conversion of magnetic data to uT units */
261#define CONVERT_M                   (0.06f)
262
263/* conversion of sensor rates */
264#define hertz_request = 200;
265#define DEFAULT_MPL_GYRO_RATE           (20000L)     //us
266#define DEFAULT_MPL_COMPASS_RATE        (20000L)     //us
267
268#define DEFAULT_HW_GYRO_RATE            (100)        //Hz
269#define DEFAULT_HW_ACCEL_RATE           (20)         //ms
270#define DEFAULT_HW_COMPASS_RATE         (20000000L)  //ns
271#define DEFAULT_HW_AKMD_COMPASS_RATE    (200000000L) //ns
272
273/* convert ns to hardware units */
274#define HW_GYRO_RATE_NS                 (1000000000LL / rate_request) // to Hz
275#define HW_ACCEL_RATE_NS                (rate_request / (1000000L))   // to ms
276#define HW_COMPASS_RATE_NS              (rate_request)                // to ns
277
278/* convert Hz to hardware units */
279#define HW_GYRO_RATE_HZ                 (hertz_request)
280#define HW_ACCEL_RATE_HZ                (1000 / hertz_request)
281#define HW_COMPASS_RATE_HZ              (1000000000LL / hertz_request)
282
283#define RATE_200HZ                      5000000LL
284#define RATE_15HZ                       66667000LL
285#define RATE_5HZ                        200000000LL
286__END_DECLS
287
288#endif  // ANDROID_SENSORS_H
289