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openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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openpilot_comma/phonelibs/android_hardware_libhardware/include/hardware/sensors.h

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/*
* Copyright (C) 2012 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
/*****************************************************************************/
#define SENSORS_HEADER_VERSION 1
#define SENSORS_MODULE_API_VERSION_0_1 HARDWARE_MODULE_API_VERSION(0, 1)
#define SENSORS_DEVICE_API_VERSION_0_1 HARDWARE_DEVICE_API_VERSION_2(0, 1, SENSORS_HEADER_VERSION)
#define SENSORS_DEVICE_API_VERSION_1_0 HARDWARE_DEVICE_API_VERSION_2(1, 0, SENSORS_HEADER_VERSION)
#define SENSORS_DEVICE_API_VERSION_1_1 HARDWARE_DEVICE_API_VERSION_2(1, 1, SENSORS_HEADER_VERSION)
#define SENSORS_DEVICE_API_VERSION_1_2 HARDWARE_DEVICE_API_VERSION_2(1, 2, SENSORS_HEADER_VERSION)
#define SENSORS_DEVICE_API_VERSION_1_3 HARDWARE_DEVICE_API_VERSION_2(1, 3, SENSORS_HEADER_VERSION)
#define SENSORS_DEVICE_API_VERSION_1_4 HARDWARE_DEVICE_API_VERSION_2(1, 4, SENSORS_HEADER_VERSION)
/**
* Please see the Sensors section of source.android.com for an
* introduction to and detailed descriptions of Android sensor types:
* http://source.android.com/devices/sensors/index.html
*/
/**
* 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)
/*
* **** Deprecated *****
* flags for (*batch)()
* Availability: SENSORS_DEVICE_API_VERSION_1_0
* see (*batch)() documentation for details.
* Deprecated as of SENSORS_DEVICE_API_VERSION_1_3.
* WAKE_UP_* sensors replace WAKE_UPON_FIFO_FULL concept.
*/
enum {
SENSORS_BATCH_DRY_RUN = 0x00000001,
SENSORS_BATCH_WAKE_UPON_FIFO_FULL = 0x00000002
};
/*
* what field for meta_data_event_t
*/
enum {
/* a previous flush operation has completed */
META_DATA_FLUSH_COMPLETE = 1,
META_DATA_VERSION /* always last, leave auto-assigned */
};
/*
* The permission to use for body sensors (like heart rate monitors).
* See sensor types for more details on what sensors should require this
* permission.
*/
#define SENSOR_PERMISSION_BODY_SENSORS "android.permission.BODY_SENSORS"
/*
* Availability: SENSORS_DEVICE_API_VERSION_1_4
* Sensor HAL modes used in set_operation_mode method
*/
enum {
/*
* Operating modes for the HAL.
*/
/*
* Normal mode operation. This is the default state of operation.
* The HAL shall initialize into this mode on device startup.
*/
SENSOR_HAL_NORMAL_MODE = 0,
/*
* Data Injection mode. In this mode, the device shall not source data from the
* physical sensors as it would in normal mode. Instead sensor data is
* injected by the sensor service.
*/
SENSOR_HAL_DATA_INJECTION_MODE = 0x1
};
/*
* Availability: SENSORS_DEVICE_API_VERSION_1_3
* Sensor flags used in sensor_t.flags.
*/
enum {
/*
* Whether this sensor wakes up the AP from suspend mode when data is available. Whenever
* sensor events are delivered from a wake_up sensor, the driver needs to hold a wake_lock till
* the events are read by the SensorService i.e till sensors_poll_device_t.poll() is called the
* next time. Once poll is called again it means events have been read by the SensorService, the
* driver can safely release the wake_lock. SensorService will continue to hold a wake_lock till
* the app actually reads the events.
*/
SENSOR_FLAG_WAKE_UP = 1U << 0,
/*
* Reporting modes for various sensors. Each sensor will have exactly one of these modes set.
* The least significant 2nd, 3rd and 4th bits are used to represent four possible reporting
* modes.
*/
SENSOR_FLAG_CONTINUOUS_MODE = 0, // 0000
SENSOR_FLAG_ON_CHANGE_MODE = 0x2, // 0010
SENSOR_FLAG_ONE_SHOT_MODE = 0x4, // 0100
SENSOR_FLAG_SPECIAL_REPORTING_MODE = 0x6, // 0110
/*
* Set this flag if the sensor supports data_injection mode and allows data to be injected
* from the SensorService. When in data_injection ONLY sensors with this flag set are injected
* sensor data and only sensors with this flag set are activated. Eg: Accelerometer and Step
* Counter sensors can be set with this flag and SensorService will inject accelerometer data
* and read the corresponding step counts.
*/
SENSOR_FLAG_SUPPORTS_DATA_INJECTION = 0x10 // 1 0000
};
/*
* Mask and shift for reporting mode sensor flags defined above.
*/
#define REPORTING_MODE_MASK (0xE)
#define REPORTING_MODE_SHIFT (1)
/*
* Mask and shift for data_injection mode sensor flags defined above.
*/
#define DATA_INJECTION_MASK (0x10)
#define DATA_INJECTION_SHIFT (4)
/*
* Sensor type
*
* Each sensor has a type which defines what this sensor measures and how
* measures are reported. See the Base sensors and Composite sensors lists
* for complete descriptions:
* http://source.android.com/devices/sensors/base_triggers.html
* http://source.android.com/devices/sensors/composite_sensors.html
*
* Device manufacturers (OEMs) can define their own sensor types, for
* their private use by applications or services provided by them. Such
* sensor types are specific to an OEM and can't be exposed in the SDK.
* These types must start at SENSOR_TYPE_DEVICE_PRIVATE_BASE.
*
* All sensors defined outside of the device private range must correspond to
* a type defined in this file, and must satisfy the characteristics listed in
* the description of the sensor type.
*
* Starting with version SENSORS_DEVICE_API_VERSION_1_2, each sensor also
* has a stringType.
* - StringType of sensors inside of the device private range MUST be prefixed
* by the sensor provider's or OEM reverse domain name. In particular, they
* cannot use the "android.sensor" prefix.
* - StringType of sensors outside of the device private range MUST correspond
* to the one defined in this file (starting with "android.sensor").
* For example, accelerometers must have
* type=SENSOR_TYPE_ACCELEROMETER and
* stringType=SENSOR_STRING_TYPE_ACCELEROMETER
*
* When android introduces a new sensor type that can replace an OEM-defined
* sensor type, the OEM must use the official sensor type and stringType on
* versions of the HAL that support this new official sensor type.
*
* Example (made up): Suppose Google's Glass team wants to surface a sensor
* detecting that Glass is on a head.
* - Such a sensor is not officially supported in android KitKat
* - Glass devices launching on KitKat can implement a sensor with
* type = 0x10001 and stringType = "com.google.glass.onheaddetector"
* - In L android release, if android decides to define
* SENSOR_TYPE_ON_HEAD_DETECTOR and STRING_SENSOR_TYPE_ON_HEAD_DETECTOR,
* those types should replace the Glass-team-specific types in all future
* launches.
* - When launching Glass on the L release, Google should now use the official
* type (SENSOR_TYPE_ON_HEAD_DETECTOR) and stringType.
* - This way, all applications can now use this sensor.
*/
/*
* Base for device manufacturers private sensor types.
* These sensor types can't be exposed in the SDK.
*/
#define SENSOR_TYPE_DEVICE_PRIVATE_BASE 0x10000
/*
* SENSOR_TYPE_META_DATA
* reporting-mode: n/a
* wake-up sensor: n/a
*
* NO SENSOR OF THAT TYPE MUST BE RETURNED (*get_sensors_list)()
*
* SENSOR_TYPE_META_DATA is a special token used to populate the
* sensors_meta_data_event structure. It doesn't correspond to a physical
* sensor. sensors_meta_data_event are special, they exist only inside
* the HAL and are generated spontaneously, as opposed to be related to
* a physical sensor.
*
* sensors_meta_data_event_t.version must be META_DATA_VERSION
* sensors_meta_data_event_t.sensor must be 0
* sensors_meta_data_event_t.type must be SENSOR_TYPE_META_DATA
* sensors_meta_data_event_t.reserved must be 0
* sensors_meta_data_event_t.timestamp must be 0
*
* The payload is a meta_data_event_t, where:
* meta_data_event_t.what can take the following values:
*
* META_DATA_FLUSH_COMPLETE
* This event indicates that a previous (*flush)() call has completed for the sensor
* handle specified in meta_data_event_t.sensor.
* see (*flush)() for more details
*
* All other values for meta_data_event_t.what are reserved and
* must not be used.
*
*/
#define SENSOR_TYPE_META_DATA (0)
/*
* Wake up sensors.
* Each sensor may have either or both a wake-up and a non-wake variant.
* When registered in batch mode, wake-up sensors will wake up the AP when
* their FIFOs are full or when the batch timeout expires. A separate FIFO has
* to be maintained for wake up sensors and non wake up sensors. The non wake-up
* sensors need to overwrite their FIFOs when they are full till the AP wakes up
* and the wake-up sensors will wake-up the AP when their FIFOs are full or when
* the batch timeout expires without losing events. Wake-up and non wake-up variants
* of each sensor can be activated at different rates independently of each other.
*
* Note: Proximity sensor and significant motion sensor which were defined in previous
* releases are also wake-up sensors and should be treated as such. Wake-up one-shot
* sensors like SIGNIFICANT_MOTION cannot be batched, hence the text about batch above
* doesn't apply to them. See the definitions of SENSOR_TYPE_PROXIMITY and
* SENSOR_TYPE_SIGNIFICANT_MOTION for more info.
*
* Set SENSOR_FLAG_WAKE_UP flag for all wake-up sensors.
*
* For example, A device can have two sensors both of SENSOR_TYPE_ACCELEROMETER and
* one of them can be a wake_up sensor (with SENSOR_FLAG_WAKE_UP flag set) and the other
* can be a regular non wake_up sensor. Both of these sensors must be activated/deactivated
* independently of the other.
*/
/*
* SENSOR_TYPE_ACCELEROMETER
* reporting-mode: continuous
*
* All values are in SI units (m/s^2) and measure the acceleration of the
* device minus the force of gravity.
*
* Implement the non-wake-up version of this sensor and implement the wake-up
* version if the system possesses a wake up fifo.
*/
#define SENSOR_TYPE_ACCELEROMETER (1)
#define SENSOR_STRING_TYPE_ACCELEROMETER "android.sensor.accelerometer"
/*
* SENSOR_TYPE_GEOMAGNETIC_FIELD
* reporting-mode: continuous
*
* All values are in micro-Tesla (uT) and measure the geomagnetic
* field in the X, Y and Z axis.
*
* Implement the non-wake-up version of this sensor and implement the wake-up
* version if the system possesses a wake up fifo.
*/
#define SENSOR_TYPE_GEOMAGNETIC_FIELD (2)
#define SENSOR_TYPE_MAGNETIC_FIELD SENSOR_TYPE_GEOMAGNETIC_FIELD
#define SENSOR_STRING_TYPE_MAGNETIC_FIELD "android.sensor.magnetic_field"
/*
* SENSOR_TYPE_ORIENTATION
* reporting-mode: continuous
*
* All values are angles in degrees.
*
* Orientation sensors return sensor events for all 3 axes at a constant
* rate defined by setDelay().
*
* Implement the non-wake-up version of this sensor and implement the wake-up
* version if the system possesses a wake up fifo.
*/
#define SENSOR_TYPE_ORIENTATION (3)
#define SENSOR_STRING_TYPE_ORIENTATION "android.sensor.orientation"
/*
* SENSOR_TYPE_GYROSCOPE
* reporting-mode: continuous
*
* All values are in radians/second and measure the rate of rotation
* around the X, Y and Z axis.
*
* Implement the non-wake-up version of this sensor and implement the wake-up
* version if the system possesses a wake up fifo.
*/
#define SENSOR_TYPE_GYROSCOPE (4)
#define SENSOR_STRING_TYPE_GYROSCOPE "android.sensor.gyroscope"
/*
* SENSOR_TYPE_LIGHT
* reporting-mode: on-change
*
* The light sensor value is returned in SI lux units.
*
* Both wake-up and non wake-up versions are useful.
*/
#define SENSOR_TYPE_LIGHT (5)
#define SENSOR_STRING_TYPE_LIGHT "android.sensor.light"
/*
* SENSOR_TYPE_PRESSURE
* reporting-mode: continuous
*
* The pressure sensor return the athmospheric pressure in hectopascal (hPa)
*
* Implement the non-wake-up version of this sensor and implement the wake-up
* version if the system possesses a wake up fifo.
*/
#define SENSOR_TYPE_PRESSURE (6)
#define SENSOR_STRING_TYPE_PRESSURE "android.sensor.pressure"
/* SENSOR_TYPE_TEMPERATURE is deprecated in the HAL */
#define SENSOR_TYPE_TEMPERATURE (7)
#define SENSOR_STRING_TYPE_TEMPERATURE "android.sensor.temperature"
/*
* SENSOR_TYPE_PROXIMITY
* reporting-mode: on-change
*
* The proximity sensor which turns the screen off and back on during calls is the
* wake-up proximity sensor. Implement wake-up proximity sensor before implementing
* a non wake-up proximity sensor. For the wake-up proximity sensor set the flag
* SENSOR_FLAG_WAKE_UP.
* The value corresponds to the distance to the nearest object in centimeters.
*/
#define SENSOR_TYPE_PROXIMITY (8)
#define SENSOR_STRING_TYPE_PROXIMITY "android.sensor.proximity"
/*
* SENSOR_TYPE_GRAVITY
* reporting-mode: continuous
*
* A gravity output indicates the direction of and magnitude of gravity in
* the devices's coordinates.
*
* Implement the non-wake-up version of this sensor and implement the wake-up
* version if the system possesses a wake up fifo.
*/
#define SENSOR_TYPE_GRAVITY (9)
#define SENSOR_STRING_TYPE_GRAVITY "android.sensor.gravity"
/*
* SENSOR_TYPE_LINEAR_ACCELERATION
* reporting-mode: continuous
*
* Indicates the linear acceleration of the device in device coordinates,
* not including gravity.
*
* Implement the non-wake-up version of this sensor and implement the wake-up
* version if the system possesses a wake up fifo.
*/
#define SENSOR_TYPE_LINEAR_ACCELERATION (10)
#define SENSOR_STRING_TYPE_LINEAR_ACCELERATION "android.sensor.linear_acceleration"
/*
* SENSOR_TYPE_ROTATION_VECTOR
* reporting-mode: continuous
*
* The rotation vector symbolizes the orientation of the device relative to the
* East-North-Up coordinates frame.
*
* Implement the non-wake-up version of this sensor and implement the wake-up
* version if the system possesses a wake up fifo.
*/
#define SENSOR_TYPE_ROTATION_VECTOR (11)
#define SENSOR_STRING_TYPE_ROTATION_VECTOR "android.sensor.rotation_vector"
/*
* SENSOR_TYPE_RELATIVE_HUMIDITY
* reporting-mode: on-change
*
* A relative humidity sensor measures relative ambient air humidity and
* returns a value in percent.
*
* Both wake-up and non wake-up versions are useful.
*/
#define SENSOR_TYPE_RELATIVE_HUMIDITY (12)
#define SENSOR_STRING_TYPE_RELATIVE_HUMIDITY "android.sensor.relative_humidity"
/*
* SENSOR_TYPE_AMBIENT_TEMPERATURE
* reporting-mode: on-change
*
* The ambient (room) temperature in degree Celsius.
*
* Both wake-up and non wake-up versions are useful.
*/
#define SENSOR_TYPE_AMBIENT_TEMPERATURE (13)
#define SENSOR_STRING_TYPE_AMBIENT_TEMPERATURE "android.sensor.ambient_temperature"
/*
* SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED
* reporting-mode: continuous
*
* Similar to SENSOR_TYPE_MAGNETIC_FIELD, but the hard iron calibration is
* reported separately instead of being included in the measurement.
*
* Implement the non-wake-up version of this sensor and implement the wake-up
* version if the system possesses a wake up fifo.
*/
#define SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED (14)
#define SENSOR_STRING_TYPE_MAGNETIC_FIELD_UNCALIBRATED "android.sensor.magnetic_field_uncalibrated"
/*
* SENSOR_TYPE_GAME_ROTATION_VECTOR
* reporting-mode: continuous
*
* Similar to SENSOR_TYPE_ROTATION_VECTOR, but not using the geomagnetic
* field.
*
* Implement the non-wake-up version of this sensor and implement the wake-up
* version if the system possesses a wake up fifo.
*/
#define SENSOR_TYPE_GAME_ROTATION_VECTOR (15)
#define SENSOR_STRING_TYPE_GAME_ROTATION_VECTOR "android.sensor.game_rotation_vector"
/*
* SENSOR_TYPE_GYROSCOPE_UNCALIBRATED
* reporting-mode: continuous
*
* All values are in radians/second and measure the rate of rotation
* around the X, Y and Z axis.
*
* Implement the non-wake-up version of this sensor and implement the wake-up
* version if the system possesses a wake up fifo.
*/
#define SENSOR_TYPE_GYROSCOPE_UNCALIBRATED (16)
#define SENSOR_STRING_TYPE_GYROSCOPE_UNCALIBRATED "android.sensor.gyroscope_uncalibrated"
/*
* SENSOR_TYPE_SIGNIFICANT_MOTION
* reporting-mode: one-shot
*
* A sensor of this type triggers an event each time significant motion
* is detected and automatically disables itself.
* For Significant Motion sensor to be useful, it must be defined as a
* wake-up sensor. (set SENSOR_FLAG_WAKE_UP). Implement the wake-up significant motion
* sensor. A non wake-up version is not useful.
* The only allowed value to return is 1.0.
*/
#define SENSOR_TYPE_SIGNIFICANT_MOTION (17)
#define SENSOR_STRING_TYPE_SIGNIFICANT_MOTION "android.sensor.significant_motion"
/*
* SENSOR_TYPE_STEP_DETECTOR
* reporting-mode: special
*
* A sensor of this type triggers an event each time a step is taken
* by the user. The only allowed value to return is 1.0 and an event
* is generated for each step.
*
* Both wake-up and non wake-up versions are useful.
*/
#define SENSOR_TYPE_STEP_DETECTOR (18)
#define SENSOR_STRING_TYPE_STEP_DETECTOR "android.sensor.step_detector"
/*
* SENSOR_TYPE_STEP_COUNTER
* reporting-mode: on-change
*
* A sensor of this type returns the number of steps taken by the user since
* the last reboot while activated. The value is returned as a uint64_t and is
* reset to zero only on a system / android reboot.
*
* Implement the non-wake-up version of this sensor and implement the wake-up
* version if the system possesses a wake up fifo.
*/
#define SENSOR_TYPE_STEP_COUNTER (19)
#define SENSOR_STRING_TYPE_STEP_COUNTER "android.sensor.step_counter"
/*
* SENSOR_TYPE_GEOMAGNETIC_ROTATION_VECTOR
* reporting-mode: continuous
*
* Similar to SENSOR_TYPE_ROTATION_VECTOR, but using a magnetometer instead
* of using a gyroscope.
*
* Implement the non-wake-up version of this sensor and implement the wake-up
* version if the system possesses a wake up fifo.
*/
#define SENSOR_TYPE_GEOMAGNETIC_ROTATION_VECTOR (20)
#define SENSOR_STRING_TYPE_GEOMAGNETIC_ROTATION_VECTOR "android.sensor.geomagnetic_rotation_vector"
/*
* SENSOR_TYPE_HEART_RATE
* reporting-mode: on-change
*
* A sensor of this type returns the current heart rate.
* The events contain the current heart rate in beats per minute (BPM) and the
* status of the sensor during the measurement. See heart_rate_event_t for more
* details.
*
* Because this sensor is on-change, events must be generated when and only
* when heart_rate.bpm or heart_rate.status have changed since the last
* event. In particular, upon the first activation, unless the device is known
* to not be on the body, the status field of the first event must be set to
* SENSOR_STATUS_UNRELIABLE. The event should be generated no faster than every
* period_ns passed to setDelay() or to batch().
* See the definition of the on-change reporting mode for more information.
*
* sensor_t.requiredPermission must be set to SENSOR_PERMISSION_BODY_SENSORS.
*
* Both wake-up and non wake-up versions are useful.
*/
#define SENSOR_TYPE_HEART_RATE (21)
#define SENSOR_STRING_TYPE_HEART_RATE "android.sensor.heart_rate"
/*
* SENSOR_TYPE_WAKE_UP_TILT_DETECTOR
* reporting-mode: special (setDelay has no impact)
*
* A sensor of this type generates an event each time a tilt event is detected. A tilt event
* should be generated if the direction of the 2-seconds window average gravity changed by at least
* 35 degrees since the activation or the last trigger of the sensor.
* reference_estimated_gravity = average of accelerometer measurements over the first
* 1 second after activation or the estimated gravity at the last
* trigger.
* current_estimated_gravity = average of accelerometer measurements over the last 2 seconds.
* trigger when angle (reference_estimated_gravity, current_estimated_gravity) > 35 degrees
*
* Large accelerations without a change in phone orientation should not trigger a tilt event.
* For example, a sharp turn or strong acceleration while driving a car should not trigger a tilt
* event, even though the angle of the average acceleration might vary by more than 35 degrees.
*
* Typically, this sensor is implemented with the help of only an accelerometer. Other sensors can
* be used as well if they do not increase the power consumption significantly. This is a low power
* sensor that should allow the AP to go into suspend mode. Do not emulate this sensor in the HAL.
* Like other wake up sensors, the driver is expected to a hold a wake_lock with a timeout of 200 ms
* while reporting this event. The only allowed return value is 1.0.
*
* Implement only the wake-up version of this sensor.
*/
#define SENSOR_TYPE_TILT_DETECTOR (22)
#define SENSOR_STRING_TYPE_TILT_DETECTOR "android.sensor.tilt_detector"
/*
* SENSOR_TYPE_WAKE_GESTURE
* reporting-mode: one-shot
*
* A sensor enabling waking up the device based on a device specific motion.
*
* When this sensor triggers, the device behaves as if the power button was
* pressed, turning the screen on. This behavior (turning on the screen when
* this sensor triggers) might be deactivated by the user in the device
* settings. Changes in settings do not impact the behavior of the sensor:
* only whether the framework turns the screen on when it triggers.
*
* The actual gesture to be detected is not specified, and can be chosen by
* the manufacturer of the device.
* This sensor must be low power, as it is likely to be activated 24/7.
* The only allowed value to return is 1.0.
*
* Implement only the wake-up version of this sensor.
*/
#define SENSOR_TYPE_WAKE_GESTURE (23)
#define SENSOR_STRING_TYPE_WAKE_GESTURE "android.sensor.wake_gesture"
/*
* SENSOR_TYPE_GLANCE_GESTURE
* reporting-mode: one-shot
*
* A sensor enabling briefly turning the screen on to enable the user to
* glance content on screen based on a specific motion. The device should
* turn the screen off after a few moments.
*
* When this sensor triggers, the device turns the screen on momentarily
* to allow the user to glance notifications or other content while the
* device remains locked in a non-interactive state (dozing). This behavior
* (briefly turning on the screen when this sensor triggers) might be deactivated
* by the user in the device settings. Changes in settings do not impact the
* behavior of the sensor: only whether the framework briefly turns the screen on
* when it triggers.
*
* The actual gesture to be detected is not specified, and can be chosen by
* the manufacturer of the device.
* This sensor must be low power, as it is likely to be activated 24/7.
* The only allowed value to return is 1.0.
*
* Implement only the wake-up version of this sensor.
*/
#define SENSOR_TYPE_GLANCE_GESTURE (24)
#define SENSOR_STRING_TYPE_GLANCE_GESTURE "android.sensor.glance_gesture"
/**
* SENSOR_TYPE_PICK_UP_GESTURE
* reporting-mode: one-shot
*
* A sensor of this type triggers when the device is picked up regardless of wherever is was
* before (desk, pocket, bag). The only allowed return value is 1.0.
* This sensor de-activates itself immediately after it triggers.
*
* Implement only the wake-up version of this sensor.
*/
#define SENSOR_TYPE_PICK_UP_GESTURE (25)
#define SENSOR_STRING_TYPE_PICK_UP_GESTURE "android.sensor.pick_up_gesture"
/*
* SENSOR_TYPE_WRIST_TILT_GESTURE
* trigger-mode: special
* wake-up sensor: yes
*
* A sensor of this type triggers an event each time a tilt of the wrist-worn
* device is detected.
*
* This sensor must be low power, as it is likely to be activated 24/7.
* The only allowed value to return is 1.0.
*
* Implement only the wake-up version of this sensor.
*/
#define SENSOR_TYPE_WRIST_TILT_GESTURE (26)
#define SENSOR_STRING_TYPE_WRIST_TILT_GESTURE "android.sensor.wrist_tilt_gesture"
/**
* 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)
/**
* Possible values of the status field of sensor events.
*/
#define SENSOR_STATUS_NO_CONTACT -1
#define SENSOR_STATUS_UNRELIABLE 0
#define SENSOR_STATUS_ACCURACY_LOW 1
#define SENSOR_STATUS_ACCURACY_MEDIUM 2
#define SENSOR_STATUS_ACCURACY_HIGH 3
/**
* sensor event data
*/
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;
/**
* uncalibrated gyroscope and magnetometer event data
*/
typedef struct {
union {
float uncalib[3];
struct {
float x_uncalib;
float y_uncalib;
float z_uncalib;
};
};
union {
float bias[3];
struct {
float x_bias;
float y_bias;
float z_bias;
};
};
} uncalibrated_event_t;
/**
* Meta data event data
*/
typedef struct meta_data_event {
int32_t what;
int32_t sensor;
} meta_data_event_t;
/**
* Heart rate event data
*/
typedef struct {
// Heart rate in beats per minute.
// Set to 0 when status is SENSOR_STATUS_UNRELIABLE or ..._NO_CONTACT
float bpm;
// Status of the sensor for this reading. Set to one SENSOR_STATUS_...
// Note that this value should only be set for sensors that explicitly define
// the meaning of this field. This field is not piped through the framework
// for other sensors.
int8_t status;
} heart_rate_event_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 {
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;
/* relative humidity in percent */
float relative_humidity;
/* uncalibrated gyroscope values are in rad/s */
uncalibrated_event_t uncalibrated_gyro;
/* uncalibrated magnetometer values are in micro-Teslas */
uncalibrated_event_t uncalibrated_magnetic;
/* heart rate data containing value in bpm and status */
heart_rate_event_t heart_rate;
/* this is a special event. see SENSOR_TYPE_META_DATA above.
* sensors_meta_data_event_t events are all reported with a type of
* SENSOR_TYPE_META_DATA. The handle is ignored and must be zero.
*/
meta_data_event_t meta_data;
};
union {
uint64_t data[8];
/* step-counter */
uint64_t step_counter;
} u64;
};
/* Reserved flags for internal use. Set to zero. */
uint32_t flags;
uint32_t reserved1[3];
} sensors_event_t;
/* see SENSOR_TYPE_META_DATA */
typedef sensors_event_t sensors_meta_data_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);
/**
* Place the module in a specific mode. The following modes are defined
*
* 0 - Normal operation. Default state of the module.
* 1 - Loopback mode. Data is injected for the the supported
* sensors by the sensor service in this mode.
* @return 0 on success
* -EINVAL if requested mode is not supported
* -EPERM if operation is not allowed
*/
int (*set_operation_mode)(unsigned int mode);
};
struct sensor_t {
/* Name of this sensor.
* All sensors of the same "type" must have a different "name".
*/
const char* name;
/* vendor of the hardware part */
const char* vendor;
/* version of the hardware part + driver. The value of this field
* must increase when the driver is updated in a way that changes the
* output of this sensor. This is important for fused sensors when the
* fusion algorithm is updated.
*/
int version;
/* handle that identifies this sensors. This handle is used to reference
* this sensor throughout the HAL API.
*/
int handle;
/* this sensor's type. */
int type;
/* maximum 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;
/* this value depends on the reporting mode:
*
* continuous: minimum sample period allowed in microseconds
* on-change : 0
* one-shot :-1
* special : 0, unless otherwise noted
*/
int32_t minDelay;
/* number of events reserved for this sensor in the batch mode FIFO.
* If there is a dedicated FIFO for this sensor, then this is the
* size of this FIFO. If the FIFO is shared with other sensors,
* this is the size reserved for that sensor and it can be zero.
*/
uint32_t fifoReservedEventCount;
/* maximum number of events of this sensor that could be batched.
* This is especially relevant when the FIFO is shared between
* several sensors; this value is then set to the size of that FIFO.
*/
uint32_t fifoMaxEventCount;
/* type of this sensor as a string. Set to corresponding
* SENSOR_STRING_TYPE_*.
* When defining an OEM specific sensor or sensor manufacturer specific
* sensor, use your reserve domain name as a prefix.
* ex: com.google.glass.onheaddetector
* For sensors of known type, the android framework might overwrite this
* string automatically.
*/
const char* stringType;
/* permission required to see this sensor, register to it and receive data.
* Set to "" if no permission is required. Some sensor types like the
* heart rate monitor have a mandatory require_permission.
* For sensors that always require a specific permission, like the heart
* rate monitor, the android framework might overwrite this string
* automatically.
*/
const char* requiredPermission;
/* This value is defined only for continuous mode and on-change sensors. It is the delay between
* two sensor events corresponding to the lowest frequency that this sensor supports. When lower
* frequencies are requested through batch()/setDelay() the events will be generated at this
* frequency instead. It can be used by the framework or applications to estimate when the batch
* FIFO may be full.
*
* NOTE: 1) period_ns is in nanoseconds where as maxDelay/minDelay are in microseconds.
* continuous, on-change: maximum sampling period allowed in microseconds.
* one-shot, special : 0
* 2) maxDelay should always fit within a 32 bit signed integer. It is declared as 64 bit
* on 64 bit architectures only for binary compatibility reasons.
* Availability: SENSORS_DEVICE_API_VERSION_1_3
*/
#ifdef __LP64__
int64_t maxDelay;
#else
int32_t maxDelay;
#endif
/* Flags for sensor. See SENSOR_FLAG_* above. Only the least significant 32 bits are used here.
* It is declared as 64 bit on 64 bit architectures only for binary compatibility reasons.
* Availability: SENSORS_DEVICE_API_VERSION_1_3
*/
#ifdef __LP64__
uint64_t flags;
#else
uint32_t flags;
#endif
/* reserved fields, must be zero */
void* reserved[2];
};
/*
* sensors_poll_device_t is used with SENSORS_DEVICE_API_VERSION_0_1
* and is present for backward binary and source compatibility.
* See the Sensors HAL interface section for complete descriptions of the
* following functions:
* http://source.android.com/devices/sensors/index.html#hal
*/
struct sensors_poll_device_t {
struct hw_device_t common;
int (*activate)(struct sensors_poll_device_t *dev,
int sensor_handle, int enabled);
int (*setDelay)(struct sensors_poll_device_t *dev,
int sensor_handle, int64_t sampling_period_ns);
int (*poll)(struct sensors_poll_device_t *dev,
sensors_event_t* data, int count);
};
/*
* struct sensors_poll_device_1 is used in HAL versions >= SENSORS_DEVICE_API_VERSION_1_0
*/
typedef struct sensors_poll_device_1 {
union {
/* sensors_poll_device_1 is compatible with sensors_poll_device_t,
* and can be down-cast to it
*/
struct sensors_poll_device_t v0;
struct {
struct hw_device_t common;
/* Activate/de-activate one sensor. Return 0 on success, negative
*
* sensor_handle is the handle of the sensor to change.
* 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 sensor_handle, int enabled);
/**
* Set the events's period in nanoseconds for a given sensor.
* If sampling_period_ns > max_delay it will be truncated to
* max_delay and if sampling_period_ns < min_delay it will be
* replaced by min_delay.
*/
int (*setDelay)(struct sensors_poll_device_t *dev,
int sensor_handle, int64_t sampling_period_ns);
/**
* Returns an array of sensor data.
*/
int (*poll)(struct sensors_poll_device_t *dev,
sensors_event_t* data, int count);
};
};
/*
* Sets a sensor’s parameters, including sampling frequency and maximum
* report latency. This function can be called while the sensor is
* activated, in which case it must not cause any sensor measurements to
* be lost: transitioning from one sampling rate to the other cannot cause
* lost events, nor can transitioning from a high maximum report latency to
* a low maximum report latency.
* See the Batching sensor results page for details:
* http://source.android.com/devices/sensors/batching.html
*/
int (*batch)(struct sensors_poll_device_1* dev,
int sensor_handle, int flags, int64_t sampling_period_ns,
int64_t max_report_latency_ns);
/*
* Flush adds a META_DATA_FLUSH_COMPLETE event (sensors_event_meta_data_t)
* to the end of the "batch mode" FIFO for the specified sensor and flushes
* the FIFO.
* If the FIFO is empty or if the sensor doesn't support batching (FIFO size zero),
* it should return SUCCESS along with a trivial META_DATA_FLUSH_COMPLETE event added to the
* event stream. This applies to all sensors other than one-shot sensors.
* If the sensor is a one-shot sensor, flush must return -EINVAL and not generate
* any flush complete metadata.
* If the sensor is not active at the time flush() is called, flush() should return
* -EINVAL.
*/
int (*flush)(struct sensors_poll_device_1* dev, int sensor_handle);
/*
* Inject a single sensor sample to be to this device.
* data points to the sensor event to be injected
* @return 0 on success
* -EPERM if operation is not allowed
* -EINVAL if sensor event cannot be injected
*/
int (*inject_sensor_data)(struct sensors_poll_device_1 *dev, const sensors_event_t *data);
void (*reserved_procs[7])(void);
} sensors_poll_device_1_t;
/** 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);
}
static inline int sensors_open_1(const struct hw_module_t* module,
sensors_poll_device_1_t** device) {
return module->methods->open(module,
SENSORS_HARDWARE_POLL, (struct hw_device_t**)device);
}
static inline int sensors_close_1(sensors_poll_device_1_t* device) {
return device->common.close(&device->common);
}
__END_DECLS
#endif // ANDROID_SENSORS_INTERFACE_H