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- /*
- * Copyright (C) 2008 The Android Open Source Project
- *
- * 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_INTERFACE_H
- #define ANDROID_SENSORS_INTERFACE_H
- #include <stdint.h>
- #include <sys/cdefs.h>
- #include <sys/types.h>
- #include <hardware/hardware.h>
- #include <cutils/native_handle.h>
- __BEGIN_DECLS
- /**
- * The id of this module
- */
- #define SENSORS_HARDWARE_MODULE_ID "sensors"
- /**
- * Name of the sensors device to open
- */
- #define SENSORS_HARDWARE_POLL "poll"
- /**
- * Handles must be higher than SENSORS_HANDLE_BASE and must be unique.
- * A Handle identifies a given sensors. The handle is used to activate
- * and/or deactivate sensors.
- * In this version of the API there can only be 256 handles.
- */
- #define SENSORS_HANDLE_BASE 0
- #define SENSORS_HANDLE_BITS 8
- #define SENSORS_HANDLE_COUNT (1<<SENSORS_HANDLE_BITS)
- /**
- * Sensor types
- */
- #define SENSOR_TYPE_ACCELEROMETER 1
- #define SENSOR_TYPE_MAGNETIC_FIELD 2
- #define SENSOR_TYPE_ORIENTATION 3
- #define SENSOR_TYPE_GYROSCOPE 4
- #define SENSOR_TYPE_LIGHT 5
- #define SENSOR_TYPE_PRESSURE 6
- #define SENSOR_TYPE_TEMPERATURE 7
- #define SENSOR_TYPE_PROXIMITY 8
- #define SENSOR_TYPE_GRAVITY 9
- #define SENSOR_TYPE_LINEAR_ACCELERATION 10
- #define SENSOR_TYPE_ROTATION_VECTOR 11
- /**
- * Values returned by the accelerometer in various locations in the universe.
- * all values are in SI units (m/s^2)
- */
- #define GRAVITY_SUN (275.0f)
- #define GRAVITY_EARTH (9.80665f)
- /** Maximum magnetic field on Earth's surface */
- #define MAGNETIC_FIELD_EARTH_MAX (60.0f)
- /** Minimum magnetic field on Earth's surface */
- #define MAGNETIC_FIELD_EARTH_MIN (30.0f)
- /**
- * status of each sensor
- */
- #define SENSOR_STATUS_UNRELIABLE 0
- #define SENSOR_STATUS_ACCURACY_LOW 1
- #define SENSOR_STATUS_ACCURACY_MEDIUM 2
- #define SENSOR_STATUS_ACCURACY_HIGH 3
- /**
- * Definition of the axis
- * ----------------------
- *
- * This API is relative to the screen of the device in its default orientation,
- * that is, if the device can be used in portrait or landscape, this API
- * is only relative to the NATURAL orientation of the screen. In other words,
- * the axis are not swapped when the device's screen orientation changes.
- * Higher level services /may/ perform this transformation.
- *
- * x<0 x>0
- * ^
- * |
- * +-----------+--> y>0
- * | |
- * | |
- * | |
- * | | / z<0
- * | | /
- * | | /
- * O-----------+/
- * |[] [ ] []/
- * +----------/+ y<0
- * /
- * /
- * |/ z>0 (toward the sky)
- *
- * O: Origin (x=0,y=0,z=0)
- *
- *
- * Orientation
- * -----------
- *
- * All values are angles in degrees.
- *
- * Orientation sensors return sensor events for all 3 axes at a constant
- * rate defined by setDelay().
- *
- * azimuth: angle between the magnetic north direction and the Y axis, around
- * the Z axis (0<=azimuth<360).
- * 0=North, 90=East, 180=South, 270=West
- *
- * pitch: Rotation around X axis (-180<=pitch<=180), with positive values when
- * the z-axis moves toward the y-axis.
- *
- * roll: Rotation around Y axis (-90<=roll<=90), with positive values when
- * the x-axis moves towards the z-axis.
- *
- * Note: For historical reasons the roll angle is positive in the clockwise
- * direction (mathematically speaking, it should be positive in the
- * counter-clockwise direction):
- *
- * Z
- * ^
- * (+roll) .--> |
- * / |
- * | | roll: rotation around Y axis
- * X <-------(.)
- * Y
- * note that +Y == -roll
- *
- *
- *
- * Note: This definition is different from yaw, pitch and roll used in aviation
- * where the X axis is along the long side of the plane (tail to nose).
- *
- *
- * Acceleration
- * ------------
- *
- * All values are in SI units (m/s^2) and measure the acceleration of the
- * device minus the force of gravity.
- *
- * Acceleration sensors return sensor events for all 3 axes at a constant
- * rate defined by setDelay().
- *
- * x: Acceleration minus Gx on the x-axis
- * y: Acceleration minus Gy on the y-axis
- * z: Acceleration minus Gz on the z-axis
- *
- * Examples:
- * When the device lies flat on a table and is pushed on its left side
- * toward the right, the x acceleration value is positive.
- *
- * When the device lies flat on a table, the acceleration value is +9.81,
- * which correspond to the acceleration of the device (0 m/s^2) minus the
- * force of gravity (-9.81 m/s^2).
- *
- * When the device lies flat on a table and is pushed toward the sky, the
- * acceleration value is greater than +9.81, which correspond to the
- * acceleration of the device (+A m/s^2) minus the force of
- * gravity (-9.81 m/s^2).
- *
- *
- * Magnetic Field
- * --------------
- *
- * All values are in micro-Tesla (uT) and measure the ambient magnetic
- * field in the X, Y and Z axis.
- *
- * Magnetic Field sensors return sensor events for all 3 axes at a constant
- * rate defined by setDelay().
- *
- * Gyroscope
- * ---------
- * All values are in radians/second and measure the rate of rotation
- * around the X, Y and Z axis. The coordinate system is the same as is
- * used for the acceleration sensor. Rotation is positive in the
- * counter-clockwise direction (right-hand rule). That is, an observer
- * looking from some positive location on the x, y or z axis at a device
- * positioned on the origin would report positive rotation if the device
- * appeared to be rotating counter clockwise. Note that this is the
- * standard mathematical definition of positive rotation and does not agree
- * with the definition of roll given earlier.
- * The range should at least be 17.45 rad/s (ie: ~1000 deg/s).
- *
- * Proximity
- * ---------
- *
- * The distance value is measured in centimeters. Note that some proximity
- * sensors only support a binary "close" or "far" measurement. In this case,
- * the sensor should report its maxRange value in the "far" state and a value
- * less than maxRange in the "near" state.
- *
- * Proximity sensors report a value only when it changes and each time the
- * sensor is enabled. setDelay() is ignored.
- *
- * Light
- * -----
- *
- * The light sensor value is returned in SI lux units.
- *
- * Light sensors report a value only when it changes and each time the
- * sensor is enabled. setDelay() is ignored.
- *
- * Pressure
- * --------
- *
- * The pressure sensor value is returned in hectopascal (hPa)
- *
- * Pressure sensors report events at a constant rate defined by setDelay().
- *
- * Gravity
- * -------
- * A gravity output indicates the direction of and magnitude of gravity in the devices's
- * coordinates. On Earth, the magnitude is 9.8. Units are m/s^2. The coordinate system
- * is the same as is used for the acceleration sensor.
- * When the device is at rest, the output of the gravity sensor should be identical
- * to that of the accelerometer.
- *
- * Linear Acceleration
- * -------------------
- * Indicates the linear acceleration of the device in device coordinates, not including gravity.
- * This output is essentially Acceleration - Gravity. Units are m/s^2. The coordinate system is
- * the same as is used for the acceleration sensor.
- * The output of the accelerometer, gravity and linear-acceleration sensors must obey the
- * following relation:
- *
- * acceleration = gravity + linear-acceleration
- *
- *
- * Rotation Vector
- * ---------------
- * A rotation vector represents the orientation of the device as a combination
- * of an angle and an axis, in which the device has rotated through an angle
- * theta around an axis <x, y, z>. The three elements of the rotation vector
- * are <x*sin(theta/2), y*sin(theta/2), z*sin(theta/2)>, such that the magnitude
- * of the rotation vector is equal to sin(theta/2), and the direction of the
- * rotation vector is equal to the direction of the axis of rotation. The three
- * elements of the rotation vector are equal to the last three components of a
- * unit quaternion <cos(theta/2), x*sin(theta/2), y*sin(theta/2), z*sin(theta/2)>.
- * Elements of the rotation vector are unitless. The x, y, and z axis are defined
- * in the same was as for the acceleration sensor.
- *
- * The rotation-vector is stored as:
- *
- * sensors_event_t.data[0] = x*sin(theta/2)
- * sensors_event_t.data[1] = y*sin(theta/2)
- * sensors_event_t.data[2] = z*sin(theta/2)
- * sensors_event_t.data[3] = cos(theta/2)
- *
- */
- typedef struct {
- union {
- float v[3];
- struct {
- float x;
- float y;
- float z;
- };
- struct {
- float azimuth;
- float pitch;
- float roll;
- };
- };
- int8_t status;
- uint8_t reserved[3];
- } sensors_vec_t;
- /**
- * Union of the various types of sensor data
- * that can be returned.
- */
- typedef struct sensors_event_t {
- /* must be sizeof(struct sensors_event_t) */
- int32_t version;
- /* sensor identifier */
- int32_t sensor;
- /* sensor type */
- int32_t type;
- /* reserved */
- int32_t reserved0;
- /* time is in nanosecond */
- int64_t timestamp;
- union {
- float data[16];
- /* acceleration values are in meter per second per second (m/s^2) */
- sensors_vec_t acceleration;
- /* magnetic vector values are in micro-Tesla (uT) */
- sensors_vec_t magnetic;
- /* orientation values are in degrees */
- sensors_vec_t orientation;
- /* gyroscope values are in rad/s */
- sensors_vec_t gyro;
- /* temperature is in degrees centigrade (Celsius) */
- float temperature;
- /* distance in centimeters */
- float distance;
- /* light in SI lux units */
- float light;
- /* pressure in hectopascal (hPa) */
- float pressure;
- };
- uint32_t reserved1[4];
- } sensors_event_t;
- struct sensor_t;
- /**
- * Every hardware module must have a data structure named HAL_MODULE_INFO_SYM
- * and the fields of this data structure must begin with hw_module_t
- * followed by module specific information.
- */
- struct sensors_module_t {
- struct hw_module_t common;
- /**
- * Enumerate all available sensors. The list is returned in "list".
- * @return number of sensors in the list
- */
- int (*get_sensors_list)(struct sensors_module_t* module,
- struct sensor_t const** list);
- };
- struct sensor_t {
- /* name of this sensors */
- const char* name;
- /* vendor of the hardware part */
- const char* vendor;
- /* version of the hardware part + driver. The value of this field is
- * left to the implementation and doesn't have to be monotonically
- * increasing.
- */
- int version;
- /* handle that identifies this sensors. This handle is used to activate
- * and deactivate this sensor. The value of the handle must be 8 bits
- * in this version of the API.
- */
- int handle;
- /* this sensor's type. */
- int type;
- /* maximaum range of this sensor's value in SI units */
- float maxRange;
- /* smallest difference between two values reported by this sensor */
- float resolution;
- /* rough estimate of this sensor's power consumption in mA */
- float power;
- /* minimum delay allowed between events in microseconds. A value of zero
- * means that this sensor doesn't report events at a constant rate, but
- * rather only when a new data is available */
- int32_t minDelay;
- /* reserved fields, must be zero */
- void* reserved[8];
- };
- /**
- * Every device data structure must begin with hw_device_t
- * followed by module specific public methods and attributes.
- */
- struct sensors_poll_device_t {
- struct hw_device_t common;
- /** Activate/deactivate one sensor.
- *
- * @param handle is the handle of the sensor to change.
- * @param enabled set to 1 to enable, or 0 to disable the sensor.
- *
- * @return 0 on success, negative errno code otherwise
- */
- int (*activate)(struct sensors_poll_device_t *dev,
- int handle, int enabled);
- /**
- * Set the delay between sensor events in nanoseconds for a given sensor.
- * It is an error to set a delay inferior to the value defined by
- * sensor_t::minDelay. If sensor_t::minDelay is zero, setDelay() is
- * ignored and returns 0.
- *
- * @return 0 if successful, < 0 on error
- */
- int (*setDelay)(struct sensors_poll_device_t *dev,
- int handle, int64_t ns);
- /**
- * Returns an array of sensor data.
- * This function must block until events are available.
- *
- * @return the number of events read on success, or -errno in case of an error.
- * This function should never return 0 (no event).
- *
- */
- int (*poll)(struct sensors_poll_device_t *dev,
- sensors_event_t* data, int count);
- };
- /** convenience API for opening and closing a device */
- static inline int sensors_open(const struct hw_module_t* module,
- struct sensors_poll_device_t** device) {
- return module->methods->open(module,
- SENSORS_HARDWARE_POLL, (struct hw_device_t**)device);
- }
- static inline int sensors_close(struct sensors_poll_device_t* device) {
- return device->common.close(&device->common);
- }
- __END_DECLS
- #include <hardware/sensors_deprecated.h>
- #endif // ANDROID_SENSORS_INTERFACE_H
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