2 * Copyright (C) 2008 The Android Open Source Project
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
8 * http://www.apache.org/licenses/LICENSE-2.0
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
17 #ifndef SENSOR_CONFIG_H
18 #define SENSOR_CONFIG_H
20 #include <hardware/hardware.h>
21 #include <hardware/sensors.h>
24 /* Maps senor id's to the sensor list */
41 /*****************************************************************************/
43 /* Board specific sensor configs. */
44 #define GRAVITY 9.80665f
45 #define EVENT_TYPE_ACCEL_X REL_X
46 #define EVENT_TYPE_ACCEL_Y REL_Y
47 #define EVENT_TYPE_ACCEL_Z REL_Z
49 #define EVENT_TYPE_COMP_X REL_X
50 #define EVENT_TYPE_COMP_Y REL_Y
51 #define EVENT_TYPE_COMP_Z REL_Z
53 #define EVENT_TYPE_YAW REL_RX
54 #define EVENT_TYPE_PITCH REL_RY
55 #define EVENT_TYPE_ROLL REL_RZ
56 #define EVENT_TYPE_ORIENT_STATUS REL_WHEEL
58 #define EVENT_TYPE_MAGV_X REL_DIAL
59 #define EVENT_TYPE_MAGV_Y REL_HWHEEL
60 #define EVENT_TYPE_MAGV_Z REL_MISC
62 #define EVENT_TYPE_PROXIMITY ABS_DISTANCE
63 #define EVENT_TYPE_LIGHT ABS_MISC
65 #define EVENT_TYPE_GYRO_X REL_X
66 #define EVENT_TYPE_GYRO_Y REL_Y
67 #define EVENT_TYPE_GYRO_Z REL_Z
69 #define EVENT_TYPE_PRESSURE REL_X
70 #define EVENT_TYPE_TEMPERATURE REL_Y
74 #define NUMOFACCDATA (8.0f)
76 // conversion of acceleration data to SI units (m/s^2)
78 #define RANGE_A (2*GRAVITY_EARTH)
79 #define RESOLUTION_A (RANGE_A/(256*NUMOFACCDATA))
80 #define CONVERT_A (GRAVITY_EARTH / LSG / NUMOFACCDATA)
81 #define CONVERT_A_X(x) ((float(x)/1000) * (GRAVITY * -1.0))
82 #define CONVERT_A_Y(x) ((float(x)/1000) * (GRAVITY * 1.0))
83 #define CONVERT_A_Z(x) ((float(x)/1000) * (GRAVITY * 1.0))
84 // conversion of magnetic data to uT units
85 #define RANGE_M (2048.0f)
86 #define RESOLUTION_M (0.01)
87 #define CONVERT_M (1.0f/6.6f)
88 #define CONVERT_M_X (-CONVERT_M)
89 #define CONVERT_M_Y (-CONVERT_M)
90 #define CONVERT_M_Z (CONVERT_M)
92 /* conversion of orientation data to degree units */
93 #define CONVERT_O (1.0f/64.0f)
94 #define CONVERT_O_A (CONVERT_O)
95 #define CONVERT_O_P (CONVERT_O)
96 #define CONVERT_O_R (-CONVERT_O)
98 // conversion of gyro data to SI units (radian/sec)
99 #define RANGE_GYRO (2000.0f*(float)M_PI/180.0f)
100 #define CONVERT_GYRO ((2000.0f / 32767.0f) * ((float)M_PI / 180.0f))
101 #define CONVERT_GYRO_X (-CONVERT_GYRO)
102 #define CONVERT_GYRO_Y (-CONVERT_GYRO)
103 #define CONVERT_GYRO_Z (CONVERT_GYRO)
105 // conversion of pressure and temperature data
106 #define CONVERT_PRESSURE (1.0f/100.0f)
107 #define CONVERT_TEMPERATURE (1.0f/100.0f)
109 #define RESOLUTION_GYRO (RANGE_GYRO/(2000*NUMOFACCDATA))
110 #define SENSOR_STATE_MASK (0x7FFF)
112 // Proximity Threshold
113 #define PROXIMITY_THRESHOLD_GP2A 5.0f
115 //Used in timespec_to_ns calculations
116 #define NSEC_PER_SEC 1000000000L
118 #define BIT(x) (1 << (x))
120 inline unsigned int set_bit_range(int start, int end)
123 unsigned int value = 0;
125 for (i = start; i < end; ++i)
130 inline float convert_from_vtf_format(int size, int exponent, unsigned int value)
137 value = value & set_bit_range(0, size*8);
138 if (value & BIT(size*8-1)) {
139 value = ((1LL << (size*8)) - value);
142 sample = value * 1.0;
144 exponent = abs(exponent);
145 for (i = 0; i < exponent; ++i) {
146 divider = divider*10;
148 return mul * sample/divider;
150 return mul * sample * pow(10.0, exponent);
154 // Platform sensor orientatation
155 #define DEF_ORIENT_ACCEL_X -1
156 #define DEF_ORIENT_ACCEL_Y -1
157 #define DEF_ORIENT_ACCEL_Z -1
159 #define DEF_ORIENT_GYRO_X 1
160 #define DEF_ORIENT_GYRO_Y 1
161 #define DEF_ORIENT_GYRO_Z 1
164 #define CONVERT_FROM_VTF16(s,d,x) (convert_from_vtf_format(s,d,x))
165 #define CONVERT_A_G_VTF16E14_X(s,d,x) (DEF_ORIENT_ACCEL_X *\
166 convert_from_vtf_format(s,d,x)*GRAVITY)
167 #define CONVERT_A_G_VTF16E14_Y(s,d,x) (DEF_ORIENT_ACCEL_Y *\
168 convert_from_vtf_format(s,d,x)*GRAVITY)
169 #define CONVERT_A_G_VTF16E14_Z(s,d,x) (DEF_ORIENT_ACCEL_Z *\
170 convert_from_vtf_format(s,d,x)*GRAVITY)
172 // Degree/sec to radian/sec
173 #define CONVERT_G_D_VTF16E14_X(s,d,x) (DEF_ORIENT_GYRO_X *\
174 convert_from_vtf_format(s,d,x) * ((float)M_PI/180.0f))
175 #define CONVERT_G_D_VTF16E14_Y(s,d,x) (DEF_ORIENT_GYRO_Y *\
176 convert_from_vtf_format(s,d,x) * ((float)M_PI/180.0f))
177 #define CONVERT_G_D_VTF16E14_Z(s,d,x) (DEF_ORIENT_GYRO_Z *\
178 convert_from_vtf_format(s,d,x) * ((float)M_PI/180.0f))
180 // Milli gauss to micro tesla
181 #define CONVERT_M_MG_VTF16E14_X(s,d,x) (convert_from_vtf_format(s,d,x)/10)
182 #define CONVERT_M_MG_VTF16E14_Y(s,d,x) (convert_from_vtf_format(s,d,x)/10)
183 #define CONVERT_M_MG_VTF16E14_Z(s,d,x) (convert_from_vtf_format(s,d,x)/10)
185 /*****************************************************************************/
187 /* from bar to mbar(= hPA) */
188 #define CONVERT_PR_HPA_VTF16E14(s,d,x) ((1000.0f)*convert_from_vtf_format(s,d,x))
190 #endif // SENSOR_CONFIG_H