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+/*
+* Copyright (C) 2012 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
+
+#define ENABLE_PRESSURE
+
+enum {
+ ID_GY = 0,
+ ID_RG,
+ ID_A,
+ ID_M,
+ ID_RM,
+ ID_PS,
+ 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,
+ Pressure,
+ Orientation,
+ RotationVector,
+ GameRotationVector,
+ LinearAccel,
+ Gravity,
+ SignificantMotion,
+ StepDetector,
+ StepCounter,
+ GeomagneticRotationVector,
+ NumSensors
+};
+
+/* 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 KitKat
+ Populate sensor_t structure according to hardware sensors.h
+ { name, vendor, version, handle, type, maxRange, resolution, power, minDelay,
+ fifoReservedEventCount, fifoMaxEventCount, reserved[] }
+*/
+#if 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, 128, {}},
+ {"MPL Raw Gyroscope", "Invensense", 1,
+ SENSORS_RAW_GYROSCOPE_HANDLE,
+ SENSOR_TYPE_GYROSCOPE_UNCALIBRATED, 2000.0f, 1.0f, 0.5f, 10000, 0, 128, {}},
+ {"MPL Accelerometer", "Invensense", 1,
+ SENSORS_ACCELERATION_HANDLE,
+ SENSOR_TYPE_ACCELEROMETER, 10240.0f, 1.0f, 0.5f, 10000, 0, 128, {}},
+ {"MPL Magnetic Field", "Invensense", 1,
+ SENSORS_MAGNETIC_FIELD_HANDLE,
+ SENSOR_TYPE_MAGNETIC_FIELD, 10240.0f, 1.0f, 0.5f, 10000, 0, 128, {}},
+ {"MPL Raw Magnetic Field", "Invensense", 1,
+ SENSORS_RAW_MAGNETIC_FIELD_HANDLE,
+ SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED, 10240.0f, 1.0f, 0.5f, 10000, 0, 128, {}},
+#ifdef ENABLE_PRESSURE
+ {"MPL Pressure", "Invensense", 1,
+ SENSORS_PRESSURE_HANDLE,
+ SENSOR_TYPE_PRESSURE, 10240.0f, 1.0f, 0.5f, 10000, 0, 128, {}},
+#endif
+ {"MPL Orientation", "Invensense", 1,
+ SENSORS_ORIENTATION_HANDLE,
+ SENSOR_TYPE_ORIENTATION, 360.0f, 1.0f, 9.7f, 10000, 0, 0, {}},
+ {"MPL Rotation Vector", "Invensense", 1,
+ SENSORS_ROTATION_VECTOR_HANDLE,
+ SENSOR_TYPE_ROTATION_VECTOR, 10240.0f, 1.0f, 0.5f, 10000, 0, 0, {}},
+ {"MPL Game Rotation Vector", "Invensense", 1,
+ SENSORS_GAME_ROTATION_VECTOR_HANDLE,
+ SENSOR_TYPE_GAME_ROTATION_VECTOR, 10240.0f, 1.0f, 0.5f, 10000, 0, 64, {}},
+ {"MPL Linear Acceleration", "Invensense", 1,
+ SENSORS_LINEAR_ACCEL_HANDLE,
+ SENSOR_TYPE_LINEAR_ACCELERATION, 10240.0f, 1.0f, 0.5f, 10000, 0, 0, {}},
+ {"MPL Gravity", "Invensense", 1,
+ SENSORS_GRAVITY_HANDLE,
+ SENSOR_TYPE_GRAVITY, 10240.0f, 1.0f, 0.5f, 10000, 0, 0, {}},
+ {"MPL Significant Motion", "Invensense", 1,
+ SENSORS_SIGNIFICANT_MOTION_HANDLE,
+ SENSOR_TYPE_SIGNIFICANT_MOTION, 100.0f, 1.0f, 1.1f, 0, 0, 0, {}},
+ {"MPL Step Detector", "Invensense", 1,
+ SENSORS_PEDOMETER_HANDLE,
+ SENSOR_TYPE_STEP_DETECTOR, 100.0f, 1.0f, 1.1f, 0, 0, 128, {}},
+ {"MPL Step Counter", "Invensense", 1,
+ SENSORS_STEP_COUNTER_HANDLE,
+ SENSOR_TYPE_STEP_COUNTER, 100.0f, 1.0f, 1.1f, 0, 0, 0, {}},
+ {"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, {}},
+#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, {}},
+#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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