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@@ -5,1125 +5,188 @@
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*
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* Change Logs:
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* Date Author Notes
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- * 2014-08-03 Bernard the first version
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+ * 2019-01-31 flybreak first version
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*/
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+
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+#ifndef __SENSOR_H__
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+#define __SENSOR_H__
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-/* Modified from: https://github.com/android/platform_hardware_libhardware/blob/master/include/hardware/sensors.h */
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-
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-/*
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- * Copyright (C) 2012 The Android Open Source Project
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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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-
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-#ifndef SENSORS_H__
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-#define SENSORS_H__
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-
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+#include <rtthread.h>
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#include <rtdevice.h>
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-#include <stdint.h>
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-#ifdef __CC_ARM /* skip warning in armcc */
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-#pragma anon_unions
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+#ifdef RT_USING_RTC
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+#define rt_sen_get_timestamp() time() /* API for the sensor to get the timestamp */
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+#else
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+#define rt_sen_get_timestamp() rt_tick_get() /* API for the sensor to get the timestamp */
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#endif
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-/**
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- * Handles must be higher than SENSORS_HANDLE_BASE and must be unique.
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- * A Handle identifies a given sensors. The handle is used to activate
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- * and/or deactivate sensors.
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- * In this version of the API there can only be 256 handles.
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- */
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-#define SENSORS_HANDLE_BASE 0
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-#define SENSORS_HANDLE_BITS 8
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-#define SENSORS_HANDLE_COUNT (1<<SENSORS_HANDLE_BITS)
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-
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-
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-/*
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- * flags for (*batch)()
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- * Availability: SENSORS_DEVICE_API_VERSION_1_0
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- * see (*batch)() documentation for details
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- */
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-enum
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+#define RT_PIN_NONE 0xFFFF /* RT PIN NONE */
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+#define RT_SEN_FLAG_FIFO 0x200 /* Flag to use when the sensor is open by fifo mode */
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+
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+#define RT_SEN_MODULE_MAX (3) /* The maximum number of members of a sensor module */
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+
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+/* Sensor types */
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+
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+#define RT_SEN_CLASS_NONE (0)
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+#define RT_SEN_CLASS_ACCE (1) /* Accelerometer */
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+#define RT_SEN_CLASS_GYRO (2) /* Gyroscope */
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+#define RT_SEN_CLASS_MAG (3) /* Magnetometer */
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+#define RT_SEN_CLASS_TEMP (4) /* Temperature */
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+#define RT_SEN_CLASS_HUMI (5) /* Relative Humidity */
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+#define RT_SEN_CLASS_BARO (6) /* Barometer */
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+#define RT_SEN_CLASS_LIGHT (7) /* Ambient light */
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+#define RT_SEN_CLASS_PROXIMITY (8) /* Proximity */
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+#define RT_SEN_CLASS_HR (9) /* Heart Rate */
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+#define RT_SEN_CLASS_TVOC (10) /* TVOC Level */
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+#define RT_SEN_CLASS_NOISE (11) /* Noise Loudness */
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+#define RT_SEN_CLASS_STEP (12) /* Step sensor */
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+
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+/* Sensor vendor types */
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+
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+#define RT_SEN_VENDOR_UNKNOWN (0)
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+#define RT_SEN_VENDOR_STM (1) /* STMicroelectronics */
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+#define RT_SEN_VENDOR_BOSCH (2) /* Bosch */
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+#define RT_SEN_VENDOR_INVENSENSE (3) /* Invensense */
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+#define RT_SEN_VENDOR_SEMTECH (4) /* Semtech */
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+#define RT_SEN_VENDOR_GOERTEK (5) /* Goertek */
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+
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+/* Sensor unit types */
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+
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+#define RT_SEN_UNIT_NONE (0)
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+#define RT_SEN_UNIT_MG (1) /* Accelerometer unit: mG */
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+#define RT_SEN_UNIT_MDPS (2) /* Gyroscope unit: mdps */
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+#define RT_SEN_UNIT_MGAUSS (3) /* Magnetometer unit: mGauss */
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+#define RT_SEN_UNIT_LUX (4) /* Ambient light unit: lux */
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+#define RT_SEN_UNIT_CM (5) /* Distance unit: cm */
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+#define RT_SEN_UNIT_PA (6) /* Barometer unit: pa */
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+#define RT_SEN_UNIT_PERMILLAGE (7) /* Relative Humidity unit: permillage */
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+#define RT_SEN_UNIT_DCELSIUS (8) /* Temperature unit: dCelsius */
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+#define RT_SEN_UNIT_HZ (9) /* Frequency unit: HZ */
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+#define RT_SEN_UNIT_ONE (10) /* Dimensionless quantity unit: 1 */
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+
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+/* Sensor communication interface types */
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+
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+#define RT_SEN_INTF_I2C (1 << 0)
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+#define RT_SEN_INTF_SPI (1 << 1)
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+#define RT_SEN_INTF_UART (1 << 2)
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+#define RT_SEN_INTF_ONEWIRE (1 << 3)
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+
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+/* Sensor power mode types */
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+
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+#define RT_SEN_POWER_NONE (0)
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+#define RT_SEN_POWER_DOWN (1) /* power down mode */
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+#define RT_SEN_POWER_NORMAL (2) /* normal-power mode */
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+#define RT_SEN_POWER_LOW (3) /* low-power mode */
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+#define RT_SEN_POWER_HIGH (4) /* high-power mode */
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+
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+/* Sensor work mode types */
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+
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+#define RT_SEN_MODE_NONE (0)
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+#define RT_SEN_MODE_POLLING (1) /* One shot only read a data */
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+#define RT_SEN_MODE_INT (2) /* TODO: One shot interrupt only read a data */
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+#define RT_SEN_MODE_FIFO (3) /* TODO: One shot interrupt read all fifo data */
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+
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+/* Sensor control cmd types */
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+
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+#define RT_SEN_CTRL_GET_ID (0) /* Get device id */
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+#define RT_SEN_CTRL_GET_INFO (1) /* Get sensor info */
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+#define RT_SEN_CTRL_SET_RANGE (2) /* Set the measure range of sensor. unit is info of sensor */
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+#define RT_SEN_CTRL_SET_ODR (3) /* Set output date rate. unit is HZ */
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+#define RT_SEN_CTRL_SET_MODE (4) /* Set sensor's work mode. ex. RT_SEN_MODE_POLLING,RT_SEN_MODE_INT */
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+#define RT_SEN_CTRL_SET_POWER (5) /* Set power mode. args type of sensor power mode. ex. RT_SEN_POWER_DOWN,RT_SEN_POWER_NORMAL */
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+#define RT_SEN_CTRL_SELF_TEST (6) /* Take a self test */
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+
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+struct rt_sensor_info
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{
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- SENSORS_BATCH_DRY_RUN = 0x00000001,
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- SENSORS_BATCH_WAKE_UPON_FIFO_FULL = 0x00000002
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+ rt_uint8_t type; /* The sensor type */
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+ rt_uint8_t vendor; /* Vendor of sensors */
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+ const char *model; /* model name of sensor */
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+ rt_uint8_t unit; /* unit of measurement */
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+ rt_uint8_t intf_type; /* Communication interface type */
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+ rt_int32_t range_max; /* maximum range of this sensor's value. unit is 'unit' */
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+ rt_int32_t range_min; /* minimum range of this sensor's value. unit is 'unit' */
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+ rt_uint32_t period_min; /* Minimum measurement period,unit:ms. zero = not a constant rate */
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+ rt_uint8_t fifo_max;
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};
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-/*
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- * what field for meta_data_event_t
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- */
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-enum
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+struct rt_sensor_intf
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{
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- /* a previous flush operation has completed */
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- META_DATA_FLUSH_COMPLETE = 1,
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- META_DATA_VERSION /* always last, leave auto-assigned */
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+ char *dev_name; /* The name of the communication device */
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+ rt_uint8_t type; /* Communication interface type */
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+ void *user_data; /* Private data for the sensor. ex. i2c addr,spi cs,control I/O */
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};
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-/**
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- * Definition of the axis used by the sensor HAL API
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- *
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- * This API is relative to the screen of the device in its default orientation,
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- * that is, if the device can be used in portrait or landscape, this API
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- * is only relative to the NATURAL orientation of the screen. In other words,
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- * the axis are not swapped when the device's screen orientation changes.
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- * Higher level services /may/ perform this transformation.
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- *
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- * x<0 x>0
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- * ^
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- * |
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- * +-----------+--> y>0
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- * | |
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- * | |
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- * | |
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- * | | / z<0
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- * | | /
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- * | | /
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- * O-----------+/
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- * |[] [ ] []/
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- * +----------/+ y<0
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- * /
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- * /
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- * |/ z>0 (toward the sky)
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- *
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- * O: Origin (x=0,y=0,z=0)
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- *
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- */
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-
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-/*
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- * Interaction with suspend mode
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- *
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- * Unless otherwise noted, an enabled sensor shall not prevent the
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- * SoC to go into suspend mode. It is the responsibility of applications
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- * to keep a partial wake-lock should they wish to receive sensor
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- * events while the screen is off. While in suspend mode, and unless
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- * otherwise noted (batch mode, sensor particularities, ...), enabled sensors'
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- * events are lost.
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- *
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- * Note that conceptually, the sensor itself is not de-activated while in
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- * suspend mode -- it's just that the data it returns are lost. As soon as
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- * the SoC gets out of suspend mode, operations resume as usual. Of course,
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- * in practice sensors shall be disabled while in suspend mode to
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- * save power, unless batch mode is active, in which case they must
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- * continue fill their internal FIFO (see the documentation of batch() to
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- * learn how suspend interacts with batch mode).
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- *
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- * In batch mode, and only when the flag SENSORS_BATCH_WAKE_UPON_FIFO_FULL is
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- * set and supported, the specified sensor must be able to wake-up the SoC and
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- * be able to buffer at least 10 seconds worth of the requested sensor events.
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- *
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- * There are notable exceptions to this behavior, which are sensor-dependent
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- * (see sensor types definitions below)
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- *
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- *
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- * The sensor type documentation below specifies the wake-up behavior of
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- * each sensor:
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- * wake-up: yes this sensor must wake-up the SoC to deliver events
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- * wake-up: no this sensor shall not wake-up the SoC, events are dropped
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- *
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- */
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-
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-/*
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- * Sensor type
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- *
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- * Each sensor has a type which defines what this sensor measures and how
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- * measures are reported. All types are defined below.
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- *
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- * Device manufacturers (OEMs) can define their own sensor types, for
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- * their private use by applications or services provided by them. Such
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- * sensor types are specific to an OEM and can't be exposed in the SDK.
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- * These types must start at SENSOR_TYPE_DEVICE_PRIVATE_BASE.
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- */
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-
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-/*
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- * Base for device manufacturers private sensor types.
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- * These sensor types can't be exposed in the SDK.
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- */
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-#define SENSOR_TYPE_DEVICE_PRIVATE_BASE 0x10000
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-
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-/*
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- * Sensor fusion and virtual sensors
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- *
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- * Many sensor types are or can be implemented as virtual sensors from
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- * physical sensors on the device. For instance the rotation vector sensor,
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- * orientation sensor, step-detector, step-counter, etc...
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- *
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- * From the point of view of this API these virtual sensors MUST appear as
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- * real, individual sensors. It is the responsibility of the driver and HAL
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- * to make sure this is the case.
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- *
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- * In particular, all sensors must be able to function concurrently.
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- * For example, if defining both an accelerometer and a step counter,
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- * then both must be able to work concurrently.
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- */
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-
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-/*
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- * Trigger modes
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- *
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- * Sensors can report events in different ways called trigger modes,
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- * each sensor type has one and only one trigger mode associated to it.
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- * Currently there are four trigger modes defined:
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- *
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- * continuous: events are reported at a constant rate defined by setDelay().
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- * eg: accelerometers, gyroscopes.
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- * on-change: events are reported only if the sensor's value has changed.
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- * setDelay() is used to set a lower limit to the reporting
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- * period (minimum time between two events).
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- * The HAL must return an event immediately when an on-change
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- * sensor is activated.
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- * eg: proximity, light sensors
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- * one-shot: upon detection of an event, the sensor deactivates itself and
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- * then sends a single event. Order matters to avoid race
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- * conditions. No other event is sent until the sensor get
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- * reactivated. setDelay() is ignored.
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- * eg: significant motion sensor
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- * special: see details in the sensor type specification below
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- *
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- */
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-
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-/*
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- * SENSOR_TYPE_META_DATA
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- * trigger-mode: n/a
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- * wake-up sensor: n/a
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- *
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- * NO SENSOR OF THAT TYPE MUST BE RETURNED (*get_sensors_list)()
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- *
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- * SENSOR_TYPE_META_DATA is a special token used to populate the
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- * sensors_meta_data_event structure. It doesn't correspond to a physical
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- * sensor. sensors_meta_data_event are special, they exist only inside
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- * the HAL and are generated spontaneously, as opposed to be related to
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- * a physical sensor.
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- *
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- * sensors_meta_data_event_t.version must be META_DATA_VERSION
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- * sensors_meta_data_event_t.sensor must be 0
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- * sensors_meta_data_event_t.type must be SENSOR_TYPE_META_DATA
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- * sensors_meta_data_event_t.reserved must be 0
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- * sensors_meta_data_event_t.timestamp must be 0
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- *
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- * The payload is a meta_data_event_t, where:
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- * meta_data_event_t.what can take the following values:
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- *
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- * META_DATA_FLUSH_COMPLETE
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- * This event indicates that a previous (*flush)() call has completed for the sensor
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- * handle specified in meta_data_event_t.sensor.
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- * see (*flush)() for more details
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- *
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- * All other values for meta_data_event_t.what are reserved and
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- * must not be used.
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- *
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- */
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-#define SENSOR_TYPE_META_DATA (0)
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-
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-/*
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- * SENSOR_TYPE_ACCELEROMETER
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- * trigger-mode: continuous
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- * wake-up sensor: no
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- *
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- * All values are in SI units (m/s^2) and measure the acceleration of the
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- * device minus the force of gravity.
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- *
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- * Acceleration sensors return sensor events for all 3 axes at a constant
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- * rate defined by setDelay().
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- *
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- * x: Acceleration on the x-axis
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- * y: Acceleration on the y-axis
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- * z: Acceleration on the z-axis
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- *
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- * Note that the readings from the accelerometer include the acceleration
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- * due to gravity (which is opposite to the direction of the gravity vector).
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- *
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- * Examples:
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- * The norm of <x, y, z> should be close to 0 when in free fall.
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- *
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- * When the device lies flat on a table and is pushed on its left side
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- * toward the right, the x acceleration value is positive.
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- *
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- * When the device lies flat on a table, the acceleration value is +9.81,
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- * which correspond to the acceleration of the device (0 m/s^2) minus the
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- * force of gravity (-9.81 m/s^2).
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- *
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- * When the device lies flat on a table and is pushed toward the sky, the
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- * acceleration value is greater than +9.81, which correspond to the
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- * acceleration of the device (+A m/s^2) minus the force of
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- * gravity (-9.81 m/s^2).
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- */
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-#define SENSOR_TYPE_ACCELEROMETER (1)
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-
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-/*
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- * SENSOR_TYPE_GEOMAGNETIC_FIELD
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- * trigger-mode: continuous
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- * wake-up sensor: no
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- *
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- * All values are in micro-Tesla (uT) and measure the geomagnetic
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- * field in the X, Y and Z axis.
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- *
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- * Returned values include calibration mechanisms such that the vector is
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- * aligned with the magnetic declination and heading of the earth's
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- * geomagnetic field.
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- *
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- * Magnetic Field sensors return sensor events for all 3 axes at a constant
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- * rate defined by setDelay().
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- */
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-#define SENSOR_TYPE_GEOMAGNETIC_FIELD (2)
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-#define SENSOR_TYPE_MAGNETIC_FIELD SENSOR_TYPE_GEOMAGNETIC_FIELD
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-
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-/*
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- * SENSOR_TYPE_ORIENTATION
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- * trigger-mode: continuous
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- * wake-up sensor: no
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- *
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- * All values are angles in degrees.
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- *
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- * Orientation sensors return sensor events for all 3 axes at a constant
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- * rate defined by setDelay().
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- *
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- * azimuth: angle between the magnetic north direction and the Y axis, around
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- * the Z axis (0<=azimuth<360).
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- * 0=North, 90=East, 180=South, 270=West
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- *
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- * pitch: Rotation around X axis (-180<=pitch<=180), with positive values when
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- * the z-axis moves toward the y-axis.
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- *
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- * roll: Rotation around Y axis (-90<=roll<=90), with positive values when
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- * the x-axis moves towards the z-axis.
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- *
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- * Note: For historical reasons the roll angle is positive in the clockwise
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- * direction (mathematically speaking, it should be positive in the
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- * counter-clockwise direction):
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- *
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- * Z
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- * ^
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- * (+roll) .--> |
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- * / |
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- * | | roll: rotation around Y axis
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- * X <-------(.)
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- * Y
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- * note that +Y == -roll
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- *
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- *
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- *
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- * Note: This definition is different from yaw, pitch and roll used in aviation
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- * where the X axis is along the long side of the plane (tail to nose).
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- */
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-#define SENSOR_TYPE_ORIENTATION (3)
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-
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-/*
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- * SENSOR_TYPE_GYROSCOPE
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- * trigger-mode: continuous
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- * wake-up sensor: no
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- *
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- * All values are in radians/second and measure the rate of rotation
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- * around the X, Y and Z axis. The coordinate system is the same as is
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- * used for the acceleration sensor. Rotation is positive in the
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- * counter-clockwise direction (right-hand rule). That is, an observer
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- * looking from some positive location on the x, y or z axis at a device
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- * positioned on the origin would report positive rotation if the device
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- * appeared to be rotating counter clockwise. Note that this is the
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- * standard mathematical definition of positive rotation and does not agree
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- * with the definition of roll given earlier.
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- * The range should at least be 17.45 rad/s (ie: ~1000 deg/s).
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- *
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- * automatic gyro-drift compensation is allowed but not required.
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- */
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-#define SENSOR_TYPE_GYROSCOPE (4)
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-
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-/*
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- * SENSOR_TYPE_LIGHT
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- * trigger-mode: on-change
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- * wake-up sensor: no
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- *
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- * The light sensor value is returned in SI lux units.
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- */
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-#define SENSOR_TYPE_LIGHT (5)
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-
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-/*
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- * SENSOR_TYPE_PRESSURE
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- * trigger-mode: continuous
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- * wake-up sensor: no
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- *
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- * The pressure sensor return the athmospheric pressure in hectopascal (hPa)
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- */
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-#define SENSOR_TYPE_PRESSURE (6)
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-
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-/* SENSOR_TYPE_TEMPERATURE is deprecated in the HAL */
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-#define SENSOR_TYPE_TEMPERATURE (7)
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-
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-/*
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- * SENSOR_TYPE_PROXIMITY
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- * trigger-mode: on-change
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- * wake-up sensor: yes
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- *
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- * The distance value is measured in centimeters. Note that some proximity
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- * sensors only support a binary "close" or "far" measurement. In this case,
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- * the sensor should report its maxRange value in the "far" state and a value
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- * less than maxRange in the "near" state.
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- */
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-#define SENSOR_TYPE_PROXIMITY (8)
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-
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-/*
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- * SENSOR_TYPE_GRAVITY
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- * trigger-mode: continuous
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- * wake-up sensor: no
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- *
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- * A gravity output indicates the direction of and magnitude of gravity in
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- * the devices's coordinates. On Earth, the magnitude is 9.8 m/s^2.
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- * Units are m/s^2. The coordinate system is the same as is used for the
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- * acceleration sensor. When the device is at rest, the output of the
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- * gravity sensor should be identical to that of the accelerometer.
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- */
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-#define SENSOR_TYPE_GRAVITY (9)
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-
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-/*
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- * SENSOR_TYPE_LINEAR_ACCELERATION
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- * trigger-mode: continuous
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- * wake-up sensor: no
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- *
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- * Indicates the linear acceleration of the device in device coordinates,
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- * not including gravity.
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- *
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- * The output is conceptually:
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- * output of TYPE_ACCELERATION - output of TYPE_GRAVITY
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- *
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- * Readings on all axes should be close to 0 when device lies on a table.
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- * Units are m/s^2.
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- * The coordinate system is the same as is used for the acceleration sensor.
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- */
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-#define SENSOR_TYPE_LINEAR_ACCELERATION (10)
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-
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-/*
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- * SENSOR_TYPE_ROTATION_VECTOR
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- * trigger-mode: continuous
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- * wake-up sensor: no
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- *
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- * The rotation vector symbolizes the orientation of the device relative to the
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- * East-North-Up coordinates frame. It is usually obtained by integration of
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- * accelerometer, gyroscope and magnetometer readings.
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- *
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- * The East-North-Up coordinate system is defined as a direct orthonormal basis
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- * where:
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- * - X points east and is tangential to the ground.
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- * - Y points north and is tangential to the ground.
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- * - Z points towards the sky and is perpendicular to the ground.
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- *
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- * The orientation of the phone is represented by the rotation necessary to
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- * align the East-North-Up coordinates with the phone's coordinates. That is,
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- * applying the rotation to the world frame (X,Y,Z) would align them with the
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- * phone coordinates (x,y,z).
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- *
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- * The rotation can be seen as rotating the phone by an angle theta around
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- * an axis rot_axis to go from the reference (East-North-Up aligned) device
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- * orientation to the current device orientation.
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- *
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- * The rotation is encoded as the 4 (reordered) components of a unit quaternion:
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- * sensors_event_t.data[0] = rot_axis.x*sin(theta/2)
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- * sensors_event_t.data[1] = rot_axis.y*sin(theta/2)
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- * sensors_event_t.data[2] = rot_axis.z*sin(theta/2)
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- * sensors_event_t.data[3] = cos(theta/2)
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- * where
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- * - rot_axis.x,y,z are the North-East-Up coordinates of a unit length vector
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- * representing the rotation axis
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- * - theta is the rotation angle
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- *
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- * The quaternion must be of norm 1 (it is a unit quaternion). Failure to ensure
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- * this will cause erratic client behaviour.
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- *
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- * In addition, this sensor reports an estimated heading accuracy.
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- * sensors_event_t.data[4] = estimated_accuracy (in radians)
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- * The heading error must be less than estimated_accuracy 95% of the time
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- *
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- * This sensor must use a gyroscope and an accelerometer as main orientation
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- * change input.
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- *
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- * This sensor can also include magnetometer input to make up for gyro drift,
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- * but it cannot be implemented using only a magnetometer.
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- */
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-#define SENSOR_TYPE_ROTATION_VECTOR (11)
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-
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-/*
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- * SENSOR_TYPE_RELATIVE_HUMIDITY
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- * trigger-mode: on-change
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- * wake-up sensor: no
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- *
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- * A relative humidity sensor measures relative ambient air humidity and
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- * returns a value in percent.
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- */
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-#define SENSOR_TYPE_RELATIVE_HUMIDITY (12)
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-
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-/*
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- * SENSOR_TYPE_AMBIENT_TEMPERATURE
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- * trigger-mode: on-change
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- * wake-up sensor: no
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- *
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- * The ambient (room) temperature in degree Celsius.
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- */
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-#define SENSOR_TYPE_AMBIENT_TEMPERATURE (13)
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-
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-/*
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- * SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED
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- * trigger-mode: continuous
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- * wake-up sensor: no
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- *
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- * Similar to SENSOR_TYPE_MAGNETIC_FIELD, but the hard iron calibration is
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- * reported separately instead of being included in the measurement.
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- * Factory calibration and temperature compensation should still be applied to
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- * the "uncalibrated" measurement.
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- * Separating away the hard iron calibration estimation allows the system to
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- * better recover from bad hard iron estimation.
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- *
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- * All values are in micro-Tesla (uT) and measure the ambient magnetic
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- * field in the X, Y and Z axis. Assumptions that the the magnetic field
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- * is due to the Earth's poles should be avoided.
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- *
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- * The uncalibrated_magnetic event contains
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- * - 3 fields for uncalibrated measurement: x_uncalib, y_uncalib, z_uncalib.
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- * Each is a component of the measured magnetic field, with soft iron
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- * and temperature compensation applied, but not hard iron calibration.
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- * These values should be continuous (no re-calibration should cause a jump).
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- * - 3 fields for hard iron bias estimates: x_bias, y_bias, z_bias.
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- * Each field is a component of the estimated hard iron calibration.
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- * They represent the offsets to apply to the calibrated readings to obtain
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- * uncalibrated readings (x_uncalib ~= x_calibrated + x_bias)
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- * These values are expected to jump as soon as the estimate of the hard iron
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- * changes, and they should be stable the rest of the time.
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- *
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- * If this sensor is present, then the corresponding
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- * SENSOR_TYPE_MAGNETIC_FIELD must be present and both must return the
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- * same sensor_t::name and sensor_t::vendor.
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- *
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- * Minimum filtering should be applied to this sensor. In particular, low pass
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- * filters should be avoided.
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- *
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- * See SENSOR_TYPE_MAGNETIC_FIELD for more information
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- */
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-#define SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED (14)
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-
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-/*
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- * SENSOR_TYPE_GAME_ROTATION_VECTOR
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- * trigger-mode: continuous
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- * wake-up sensor: no
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- *
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- * Similar to SENSOR_TYPE_ROTATION_VECTOR, but not using the geomagnetic
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- * field. Therefore the Y axis doesn't point north, but instead to some other
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- * reference. That reference is allowed to drift by the same order of
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- * magnitude than the gyroscope drift around the Z axis.
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- *
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- * This sensor does not report an estimated heading accuracy:
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- * sensors_event_t.data[4] is reserved and should be set to 0
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- *
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- * In the ideal case, a phone rotated and returning to the same real-world
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- * orientation should report the same game rotation vector
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- * (without using the earth's geomagnetic field).
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- *
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- * This sensor must be based on a gyroscope. It cannot be implemented using
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- * a magnetometer.
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- *
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- * see SENSOR_TYPE_ROTATION_VECTOR for more details
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- */
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-#define SENSOR_TYPE_GAME_ROTATION_VECTOR (15)
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-
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-/*
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- * SENSOR_TYPE_GYROSCOPE_UNCALIBRATED
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- * trigger-mode: continuous
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- * wake-up sensor: no
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- *
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- * All values are in radians/second and measure the rate of rotation
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- * around the X, Y and Z axis. An estimation of the drift on each axis is
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- * reported as well.
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- *
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- * No gyro-drift compensation shall be performed.
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- * Factory calibration and temperature compensation should still be applied
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- * to the rate of rotation (angular speeds).
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- *
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- * The coordinate system is the same as is
|
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- * used for the acceleration sensor. Rotation is positive in the
|
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- * counter-clockwise direction (right-hand rule). That is, an observer
|
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- * 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
|
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|
- * standard mathematical definition of positive rotation and does not agree
|
|
|
- * with the definition of roll given earlier.
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|
- * The range should at least be 17.45 rad/s (ie: ~1000 deg/s).
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- *
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- * Content of an uncalibrated_gyro event: (units are rad/sec)
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- * x_uncalib : angular speed (w/o drift compensation) around the X axis
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- * y_uncalib : angular speed (w/o drift compensation) around the Y axis
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- * z_uncalib : angular speed (w/o drift compensation) around the Z axis
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- * x_bias : estimated drift around X axis in rad/s
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- * y_bias : estimated drift around Y axis in rad/s
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- * z_bias : estimated drift around Z axis in rad/s
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- *
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- * IMPLEMENTATION NOTES:
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- *
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- * If the implementation is not able to estimate the drift, then this
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- * sensor MUST NOT be reported by this HAL. Instead, the regular
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- * SENSOR_TYPE_GYROSCOPE is used without drift compensation.
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- *
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- * If this sensor is present, then the corresponding
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- * SENSOR_TYPE_GYROSCOPE must be present and both must return the
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- * same sensor_t::name and sensor_t::vendor.
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- */
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-#define SENSOR_TYPE_GYROSCOPE_UNCALIBRATED (16)
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-
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-/*
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- * SENSOR_TYPE_SIGNIFICANT_MOTION
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- * trigger-mode: one-shot
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- * wake-up sensor: yes
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- *
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- * A sensor of this type triggers an event each time significant motion
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- * is detected and automatically disables itself.
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- * The only allowed value to return is 1.0.
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- *
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- * A significant motion is a motion that might lead to a change in the user
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- * location.
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- * Examples of such motions are:
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- * walking, biking, sitting in a moving car, coach or train.
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- * Examples of situations that should not trigger significant motion:
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- * - phone in pocket and person is not moving
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- * - phone is on a table, even if the table shakes a bit due to nearby traffic
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- * or washing machine
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- *
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- * A note on false positive / false negative / power consumption tradeoff
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- * - The goal of this sensor is to save power.
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- * - Triggering an event when the user is not moving (false positive) is costly
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- * in terms of power, so it should be avoided.
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- * - Not triggering an event when the user is moving (false negative) is
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- * acceptable as long as it is not done repeatedly. If the user has been
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- * walking for 10 seconds, not triggering an event within those 10 seconds
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- * is not acceptable.
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- *
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- * IMPORTANT NOTE: this sensor type is very different from other types
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- * in that it must work when the screen is off without the need of
|
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- * holding a partial wake-lock and MUST allow the SoC to go into suspend.
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- * When significant motion is detected, the sensor must awaken the SoC and
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- * the event be reported.
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- *
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- * If a particular hardware cannot support this mode of operation then this
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- * sensor type MUST NOT be reported by the HAL. ie: it is not acceptable
|
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- * to "emulate" this sensor in the HAL.
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- *
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|
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- * The whole point of this sensor type is to save power by keeping the
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- * SoC in suspend mode when the device is at rest.
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- *
|
|
|
- * When the sensor is not activated, it must also be deactivated in the
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- * hardware: it must not wake up the SoC anymore, even in case of
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- * significant motion.
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- *
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|
|
- * setDelay() has no effect and is ignored.
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|
|
- * Once a "significant motion" event is returned, a sensor of this type
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|
- * must disables itself automatically, as if activate(..., 0) had been called.
|
|
|
- */
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|
|
-
|
|
|
-#define SENSOR_TYPE_SIGNIFICANT_MOTION (17)
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|
|
-
|
|
|
-/*
|
|
|
- * SENSOR_TYPE_STEP_DETECTOR
|
|
|
- * trigger-mode: special
|
|
|
- * wake-up sensor: no
|
|
|
- *
|
|
|
- * A sensor of this type triggers an event each time a step is taken
|
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|
- * by the user. The only allowed value to return is 1.0 and an event is
|
|
|
- * generated for each step. Like with any other event, the timestamp
|
|
|
- * indicates when the event (here the step) occurred, this corresponds to when
|
|
|
- * the foot hit the ground, generating a high variation in acceleration.
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|
|
- *
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|
|
- * While this sensor operates, it shall not disrupt any other sensors, in
|
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|
- * particular, but not limited to, the accelerometer; which might very well
|
|
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- * be in use as well.
|
|
|
- *
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|
|
- * This sensor must be low power. That is, if the step detection cannot be
|
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|
- * done in hardware, this sensor should not be defined. Also, when the
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|
|
- * step detector is activated and the accelerometer is not, only steps should
|
|
|
- * trigger interrupts (not accelerometer data).
|
|
|
- *
|
|
|
- * setDelay() has no impact on this sensor type
|
|
|
- */
|
|
|
-
|
|
|
-#define SENSOR_TYPE_STEP_DETECTOR (18)
|
|
|
-
|
|
|
-/*
|
|
|
- * SENSOR_TYPE_STEP_COUNTER
|
|
|
- * trigger-mode: on-change
|
|
|
- * wake-up sensor: no
|
|
|
- *
|
|
|
- * 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.
|
|
|
- *
|
|
|
- * The timestamp of the event is set to the time when the first step
|
|
|
- * for that event was taken.
|
|
|
- * See SENSOR_TYPE_STEP_DETECTOR for the signification of the time of a step.
|
|
|
- *
|
|
|
- * The minimum size of the hardware's internal counter shall be 16 bits
|
|
|
- * (this restriction is here to avoid too frequent wake-ups when the
|
|
|
- * delay is very large).
|
|
|
- *
|
|
|
- * IMPORTANT NOTE: this sensor type is different from other types
|
|
|
- * in that it must work when the screen is off without the need of
|
|
|
- * holding a partial wake-lock and MUST allow the SoC to go into suspend.
|
|
|
- * Unlike other sensors, while in suspend mode this sensor must stay active,
|
|
|
- * no events are reported during that time but, steps continue to be
|
|
|
- * accounted for; an event will be reported as soon as the SoC resumes if
|
|
|
- * the timeout has expired.
|
|
|
- *
|
|
|
- * In other words, when the screen is off and the device allowed to
|
|
|
- * go into suspend mode, we don't want to be woken up, regardless of the
|
|
|
- * setDelay() value, but the steps shall continue to be counted.
|
|
|
- *
|
|
|
- * The driver must however ensure that the internal step count never
|
|
|
- * overflows. It is allowed in this situation to wake the SoC up so the
|
|
|
- * driver can do the counter maintenance.
|
|
|
- *
|
|
|
- * While this sensor operates, it shall not disrupt any other sensors, in
|
|
|
- * particular, but not limited to, the accelerometer; which might very well
|
|
|
- * be in use as well.
|
|
|
- *
|
|
|
- * If a particular hardware cannot support these modes of operation then this
|
|
|
- * sensor type MUST NOT be reported by the HAL. ie: it is not acceptable
|
|
|
- * to "emulate" this sensor in the HAL.
|
|
|
- *
|
|
|
- * This sensor must be low power. That is, if the step detection cannot be
|
|
|
- * done in hardware, this sensor should not be defined. Also, when the
|
|
|
- * step counter is activated and the accelerometer is not, only steps should
|
|
|
- * trigger interrupts (not accelerometer data).
|
|
|
- *
|
|
|
- * The whole point of this sensor type is to save power by keeping the
|
|
|
- * SoC in suspend mode when the device is at rest.
|
|
|
- */
|
|
|
-
|
|
|
-#define SENSOR_TYPE_STEP_COUNTER (19)
|
|
|
-
|
|
|
-/*
|
|
|
- * SENSOR_TYPE_GEOMAGNETIC_ROTATION_VECTOR
|
|
|
- * trigger-mode: continuous
|
|
|
- * wake-up sensor: no
|
|
|
- *
|
|
|
- * Similar to SENSOR_TYPE_ROTATION_VECTOR, but using a magnetometer instead
|
|
|
- * of using a gyroscope.
|
|
|
- *
|
|
|
- * This sensor must be based on a magnetometer. It cannot be implemented using
|
|
|
- * a gyroscope, and gyroscope input cannot be used by this sensor, as the
|
|
|
- * goal of this sensor is to be low power.
|
|
|
- * The accelerometer can be (and usually is) used.
|
|
|
- *
|
|
|
- * Just like SENSOR_TYPE_ROTATION_VECTOR, this sensor reports an estimated
|
|
|
- * heading accuracy:
|
|
|
- * sensors_event_t.data[4] = estimated_accuracy (in radians)
|
|
|
- * The heading error must be less than estimated_accuracy 95% of the time
|
|
|
- *
|
|
|
- * see SENSOR_TYPE_ROTATION_VECTOR for more details
|
|
|
- */
|
|
|
-#define SENSOR_TYPE_GEOMAGNETIC_ROTATION_VECTOR (20)
|
|
|
-
|
|
|
-/**
|
|
|
- * Values returned by the accelerometer in various locations in the universe.
|
|
|
- * all values are in SI units (m/s^2)
|
|
|
- */
|
|
|
-#define SENSORS_GRAVITY_SUN (275.0f)
|
|
|
-#define SENSORS_GRAVITY_MOON (1.6f)
|
|
|
-#define SENSORS_GRAVITY_EARTH (9.80665f)
|
|
|
-#define SENSORS_GRAVITY_STANDARD (SENSORS_GRAVITY_EARTH)
|
|
|
-
|
|
|
-/** 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)
|
|
|
-
|
|
|
-/** Average sea level pressure is 1013.25 hPa */
|
|
|
-#define SENSORS_PRESSURE_SEALEVELHPA (1013.25F)
|
|
|
-
|
|
|
-/** Degrees/s to rad/s multiplier */
|
|
|
-#define SENSORS_DPS_TO_RADS (0.017453293F)
|
|
|
-/** Gauss to micro-Tesla multiplier */
|
|
|
-#define SENSORS_GAUSS_TO_MICROTESLA (100)
|
|
|
-
|
|
|
-/**
|
|
|
- * status of orientation sensor
|
|
|
- */
|
|
|
-#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
|
|
|
+struct rt_sensor_config
|
|
|
{
|
|
|
- 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;
|
|
|
-
|
|
|
-/**
|
|
|
- * sensor raw vector data
|
|
|
- */
|
|
|
-typedef struct
|
|
|
-{
|
|
|
- struct
|
|
|
- {
|
|
|
- int16_t x;
|
|
|
- int16_t y;
|
|
|
- int16_t z;
|
|
|
- };
|
|
|
-
|
|
|
- int8_t status;
|
|
|
- uint8_t reserved[1];
|
|
|
-} sensors_raw_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;
|
|
|
-
|
|
|
-typedef struct meta_data_event
|
|
|
-{
|
|
|
- int32_t what;
|
|
|
- int32_t sensor;
|
|
|
-} meta_data_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;
|
|
|
- /* raw acceleration data */
|
|
|
- sensors_raw_vec_t raw_acceleration;
|
|
|
-
|
|
|
- /* magnetic vector values are in micro-Tesla (uT) */
|
|
|
- sensors_vec_t magnetic;
|
|
|
- /* raw magnetic data */
|
|
|
- sensors_raw_vec_t raw_magnetic;
|
|
|
-
|
|
|
- /* orientation values are in degrees */
|
|
|
- sensors_vec_t orientation;
|
|
|
-
|
|
|
- /* gyroscope values are in rad/s */
|
|
|
- sensors_vec_t gyro;
|
|
|
- /* raw gyroscope data */
|
|
|
- sensors_raw_vec_t raw_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;
|
|
|
-
|
|
|
- /* 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;
|
|
|
- };
|
|
|
- uint32_t reserved1[4];
|
|
|
-} sensors_event_t;
|
|
|
-
|
|
|
-/* see SENSOR_TYPE_META_DATA */
|
|
|
-typedef sensors_event_t sensors_meta_data_event_t;
|
|
|
-
|
|
|
-typedef 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 trigger 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;
|
|
|
-
|
|
|
- /* reserved fields, must be zero */
|
|
|
- void *reserved[6];
|
|
|
-} sensor_t;
|
|
|
-
|
|
|
-enum SensorMode
|
|
|
-{
|
|
|
- SENSOR_MODE_RAW,
|
|
|
- SENSOR_MODE_CALIBRATED,
|
|
|
- SENSOR_MODE_NORMAL,
|
|
|
+ struct rt_sensor_intf intf; /* sensor interface config */
|
|
|
+ struct rt_device_pin_mode irq_pin; /* Interrupt pin, The purpose of this pin is to notification read data */
|
|
|
+ rt_uint8_t mode; /* sensor work mode */
|
|
|
+ rt_uint8_t power; /* sensor power mode */
|
|
|
+ rt_uint16_t odr; /* sensor out data rate */
|
|
|
+ rt_int32_t range; /* sensor range of measurement */
|
|
|
};
|
|
|
|
|
|
-enum SensorAccelRange
|
|
|
+struct rt_sensor_device
|
|
|
{
|
|
|
- SENSOR_ACCEL_RANGE_2G,
|
|
|
- SENSOR_ACCEL_RANGE_4G,
|
|
|
- SENSOR_ACCEL_RANGE_8G,
|
|
|
- SENSOR_ACCEL_RANGE_16G,
|
|
|
+ struct rt_device parent; /* The standard device */
|
|
|
+
|
|
|
+ struct rt_sensor_info info; /* The sensor info data */
|
|
|
+ struct rt_sensor_config config; /* The sensor config data */
|
|
|
+
|
|
|
+ void *data_buf; /* The buf of the data received */
|
|
|
+ rt_size_t data_len; /* The size of the data received */
|
|
|
+
|
|
|
+ struct rt_sensor_ops *ops; /* The sensor ops */
|
|
|
+
|
|
|
+ struct rt_sensor_module *module; /* The sensor module */
|
|
|
};
|
|
|
-#define SENSOR_ACCEL_SENSITIVITY_2G ((float)2/32768)
|
|
|
-#define SENSOR_ACCEL_SENSITIVITY_4G ((float)4/32768)
|
|
|
-#define SENSOR_ACCEL_SENSITIVITY_8G ((float)8/32768)
|
|
|
-#define SENSOR_ACCEL_SENSITIVITY_16G ((float)16/32768)
|
|
|
+typedef struct rt_sensor_device *rt_sensor_t;
|
|
|
|
|
|
-enum SensorGyroRange
|
|
|
+struct rt_sensor_module
|
|
|
{
|
|
|
- SENSOR_GYRO_RANGE_250DPS,
|
|
|
- SENSOR_GYRO_RANGE_500DPS,
|
|
|
- SENSOR_GYRO_RANGE_1000DPS,
|
|
|
- SENSOR_GYRO_RANGE_2000DPS,
|
|
|
+ rt_mutex_t lock; /* The module lock */
|
|
|
+
|
|
|
+ rt_sensor_t sen[RT_SEN_MODULE_MAX]; /* The module contains a list of sensors */
|
|
|
+ rt_uint8_t sen_num; /* Number of sensors contained in the module */
|
|
|
};
|
|
|
-#define SENSOR_GYRO_SENSITIVITY_250DPS (0.00875F)
|
|
|
-#define SENSOR_GYRO_SENSITIVITY_500DPS (0.0175F)
|
|
|
-#define SENSOR_GYRO_SENSITIVITY_1000DPS (0.035F)
|
|
|
-#define SENSOR_GYRO_SENSITIVITY_2000DPS (0.070F)
|
|
|
|
|
|
-enum SensorDataRate
|
|
|
+/* 3-axis Data Type */
|
|
|
+struct sensor_3_axis
|
|
|
{
|
|
|
- SENSOR_DATARATE_3200HZ,
|
|
|
- SENSOR_DATARATE_1600HZ,
|
|
|
- SENSOR_DATARATE_800HZ,
|
|
|
- SENSOR_DATARATE_400HZ,
|
|
|
- SENSOR_DATARATE_200HZ,
|
|
|
- SENSOR_DATARATE_100HZ,
|
|
|
- SENSOR_DATARATE_50HZ,
|
|
|
- SENSOR_DATARATE_25HZ,
|
|
|
- SENSOR_DATARATE_12_5HZ,
|
|
|
- SENSOR_DATARATE_6_25HZ,
|
|
|
- SENSOR_DATARATE_3_13HZ,
|
|
|
- SENSOR_DATARATE_1_56HZ,
|
|
|
- SENSOR_DATARATE_0_78HZ,
|
|
|
- SENSOR_DATARATE_0_39HZ,
|
|
|
- SENSOR_DATARATE_0_20HZ,
|
|
|
- SENSOR_DATARATE_0_10HZ,
|
|
|
+ rt_int32_t x;
|
|
|
+ rt_int32_t y;
|
|
|
+ rt_int32_t z;
|
|
|
};
|
|
|
|
|
|
-/**
|
|
|
- * Sensor Configuration
|
|
|
- */
|
|
|
-typedef struct SensorConfig
|
|
|
+struct rt_sensor_data
|
|
|
{
|
|
|
- int mode;
|
|
|
-
|
|
|
- enum SensorDataRate data_rate;
|
|
|
-
|
|
|
- union range
|
|
|
+ rt_uint32_t timestamp; /* The timestamp when the data was received */
|
|
|
+ rt_uint8_t type; /* The sensor type of the data */
|
|
|
+ union
|
|
|
{
|
|
|
- int range;
|
|
|
- enum SensorAccelRange accel_range;
|
|
|
- enum SensorGyroRange gyro_range;
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- } range;
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-}SensorConfig;
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-
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-typedef void (*SensorEventHandler_t)(void *user_data);
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-
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-#ifdef __cplusplus
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-class SensorBase;
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-class SensorManager;
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-
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-/**
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- * Sensor Base Class
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- */
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-class SensorBase
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|
-{
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-private:
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- int type;
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-
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-public:
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- SensorBase(int type);
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- ~SensorBase();
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-
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- virtual int configure(SensorConfig *config) = 0;
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- virtual int activate(int enable) = 0;
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-
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- virtual int poll(sensors_event_t *events) = 0;
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- virtual void getSensor(struct sensor_t *sensor) = 0;
|
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|
-
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- int getType(void);
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-
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- int setConfig(SensorConfig *config);
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- int getConfig(SensorConfig *config);
|
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|
-
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- int subscribe(SensorEventHandler_t handler, void *user_data);
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|
- int publish(void);
|
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|
-
|
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|
-protected:
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- SensorBase *next;
|
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|
- SensorBase *prev;
|
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|
-
|
|
|
- /* sensor configuration */
|
|
|
- SensorConfig config;
|
|
|
-
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|
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- SensorEventHandler_t evtHandler;
|
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|
- void *userData;
|
|
|
-
|
|
|
- friend class SensorManager;
|
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+ struct sensor_3_axis acce; /* Accelerometer. unit: mG */
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|
+ struct sensor_3_axis gyro; /* Gyroscope. unit: mdps */
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|
+ struct sensor_3_axis mag; /* Magnetometer. unit: mGauss */
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|
+ rt_int32_t temp; /* Temperature. unit: dCelsius */
|
|
|
+ rt_int32_t humi; /* Relative humidity. unit: permillage */
|
|
|
+ rt_int32_t baro; /* Pressure. unit: pascal (Pa) */
|
|
|
+ rt_int32_t light; /* Light. unit: lux */
|
|
|
+ rt_int32_t proximity; /* Distance. unit: centimeters */
|
|
|
+ rt_int32_t hr; /* Heat rate. unit: HZ */
|
|
|
+ rt_int32_t tvoc; /* TVOC. unit: permillage */
|
|
|
+ rt_int32_t noise; /* Noise Loudness. unit: HZ */
|
|
|
+ rt_uint32_t step; /* Step sensor. unit: 1 */
|
|
|
+ }data;
|
|
|
};
|
|
|
|
|
|
-/**
|
|
|
- * Sensor Manager
|
|
|
- */
|
|
|
-class SensorManager
|
|
|
+struct rt_sensor_ops
|
|
|
{
|
|
|
-public:
|
|
|
- SensorManager();
|
|
|
- ~SensorManager();
|
|
|
-
|
|
|
- static int registerSensor(SensorBase *sensor);
|
|
|
- static int unregisterSensor(SensorBase *sensor);
|
|
|
-
|
|
|
- static SensorBase *getDefaultSensor(int type);
|
|
|
- static int subscribe(int type, SensorEventHandler_t handler, void *user_data);
|
|
|
-
|
|
|
- static int sensorEventReady(SensorBase *sensor);
|
|
|
- static int pollSensor(SensorBase *sensor, sensors_event_t *events, int number, int duration);
|
|
|
+ rt_size_t (*fetch_data)(struct rt_sensor_device *sensor, void *buf, rt_size_t len);
|
|
|
+ rt_err_t (*control)(struct rt_sensor_device *sensor, int cmd, void *arg);
|
|
|
};
|
|
|
-#endif
|
|
|
-
|
|
|
-/* C programming language APIs */
|
|
|
-/* rt_sensor_t is a C typedef for SensorBase */
|
|
|
-typedef void* rt_sensor_t;
|
|
|
-
|
|
|
-#ifdef __cplusplus
|
|
|
-extern "C" {
|
|
|
-#endif
|
|
|
-
|
|
|
-rt_sensor_t rt_sensor_get_default(int type);
|
|
|
-
|
|
|
-int rt_sensor_subscribe(rt_sensor_t sensor, SensorEventHandler_t handler, void *user_data);
|
|
|
-int rt_sensor_activate (rt_sensor_t sensor, int enable);
|
|
|
-int rt_sensor_configure(rt_sensor_t sensor, SensorConfig *config);
|
|
|
-int rt_sensor_poll(rt_sensor_t sensor, sensors_event_t *event);
|
|
|
-
|
|
|
-#ifdef __cplusplus
|
|
|
-}
|
|
|
-#endif
|
|
|
|
|
|
+int rt_hw_sensor_register(rt_sensor_t sensor,
|
|
|
+ const char *name,
|
|
|
+ rt_uint32_t flag,
|
|
|
+ void *data);
|
|
|
#endif
|
guozhanxin