/* * Copyright (C) 2008 The Android Open Source Project * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. */ #ifndef ANDROID_SENSORS_H #define ANDROID_SENSORS_H #include #include #include #include #include #include #include #include "mma8452_kernel.h" // 声明驱动为 HAL 提供的功能接口. 应该用更加抽象的文件名. //#define ENABLE_DEBUG_LOG #include "akm8975/custom_log.h" /* sensor hal v1.1 add pressure and temperature support 2013-2-27 sensor hal v1.2 add akm8963 support 2013-3-10 sensor hal v1.3 modify akm device name from akmd8975 to akmd 2013-3-14 sensor hal v1.4 add akm09911 support 2013-3-21 sensor hal v1.5 add angle calculation and calibration of gsensor support 2013-9-1 sensor hal v1.6 upagrde sensors device api version to SENSORS_DEVICE_API_VERSION_1_3 */ #define SENSOR_VERSION_AND_TIME "sensor hal v1.6 upagrde sensors device api version to SENSORS_DEVICE_API_VERSION_1_3" #ifndef M_PI #define M_PI 3.14159265358979323846 // matches value in gcc v2 math.h #endif __BEGIN_DECLS /*****************************************************************************/ int init_nusensors(hw_module_t const* module, hw_device_t** device); /*****************************************************************************/ #define ARRAY_SIZE(a) (sizeof(a) / sizeof(a[0])) #define ID_A (0) #define ID_M (1) #define ID_O (2) #define ID_P (3) #define ID_L (4) #define ID_GY (5) #define ID_PR (6) #define ID_TMP (7) /*****************************************************************************/ /* * The SENSORS Module */ /* the CM3602 is a binary proximity sensor that triggers around 9 cm on * this hardware */ #define PROXIMITY_THRESHOLD_CM 9.0f /*****************************************************************************/ #define MMA_DEVICE_NAME GSENSOR_DEV_PATH /** akm sensor(M 和 O sensor) 的控制设备文件路径. */ #define AKM_DEVICE_NAME "/dev/compass" #define PS_DEVICE_NAME "/dev/psensor" #define LS_DEVICE_NAME "/dev/lightsensor" #define GY_DEVICE_NAME "/dev/gyrosensor" #define PR_DEVICE_NAME "/dev/pressure" #define TMP_DEVICE_NAME "/dev/temperature" #define EVENT_TYPE_ACCEL_X ABS_X #define EVENT_TYPE_ACCEL_Y ABS_Y #define EVENT_TYPE_ACCEL_Z ABS_Z #define EVENT_TYPE_ACCEL_STATUS ABS_WHEEL #define EVENT_TYPE_YAW ABS_RX #define EVENT_TYPE_PITCH ABS_RY #define EVENT_TYPE_ROLL ABS_RZ #define EVENT_TYPE_ORIENT_STATUS ABS_RUDDER #define EVENT_TYPE_MAGV_X ABS_HAT0X #define EVENT_TYPE_MAGV_Y ABS_HAT0Y #define EVENT_TYPE_MAGV_Z ABS_BRAKE #define EVENT_TYPE_MAGV_STATUS ABS_HAT1X #define EVENT_TYPE_TEMPERATURE ABS_THROTTLE #define EVENT_TYPE_STEP_COUNT ABS_GAS #define EVENT_TYPE_PROXIMITY ABS_DISTANCE #define EVENT_TYPE_LIGHT ABS_MISC #define EVENT_TYPE_GYRO_X REL_RX #define EVENT_TYPE_GYRO_Y REL_RY #define EVENT_TYPE_GYRO_Z REL_RZ #define EVENT_TYPE_PRESSURE ABS_PRESSURE /** 表征相同的 加速度物理量的时候, Android 上层使用的 数值 和 sensor 数据设备送出的 数值 的 比值. */ #define ACCELERATION_RATIO_ANDROID_TO_HW (9.80665f / 16384) //16bit sensor数据，量程为+-2G时候的比例 /*-------------------------------------------------------*/ // 720 LSG = 1G #define LSG (720.0f) // conversion of acceleration data to SI units (m/s^2) #define CONVERT_A (GRAVITY_EARTH / LSG) #define CONVERT_A_X (CONVERT_A) #define CONVERT_A_Y (CONVERT_A) #define CONVERT_A_Z (CONVERT_A) // conversion of magnetic data (for AK8975) to uT units #define CONVERT_M (1.0f*0.06f) #define CONVERT_M_X (CONVERT_M) #define CONVERT_M_Y (CONVERT_M) #define CONVERT_M_Z (CONVERT_M) // conversion of orientation data to degree units #define CONVERT_O (1.0f/64.0f) #define CONVERT_O_A (CONVERT_O) #define CONVERT_O_P (CONVERT_O) #define CONVERT_O_R (CONVERT_O) // conversion of gyro data to SI units (radian/sec) // conversion of gyro data to dps fs 2000dps // = 2000*Pi /(32768 * 180) #define RANGE_GYRO (2000.0f*(float)M_PI/180.0f) #define CONVERT_GYRO (0.001065264) #define CONVERT_GYRO_X (CONVERT_GYRO) #define CONVERT_GYRO_Y (CONVERT_GYRO) #define CONVERT_GYRO_Z (CONVERT_GYRO) #define CONVERT_B (1.0f/100.0f) #define SENSOR_STATE_MASK (0x7FFF) /*****************************************************************************/ // #define D_ENTER() D("Entered.") #define D_ENTER(...) D("Entered : " __VA_ARGS__) #define D_EXIT(result) D("about to Exit : " #result " = %d", result) /*****************************************************************************/ __END_DECLS #endif // ANDROID_SENSORS_H