--- /dev/null
+/*
+ * 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 SENSOR_CONFIG_H
+#define SENSOR_CONFIG_H
+
+#include <hardware/hardware.h>
+#include <hardware/sensors.h>
+#include <cmath>
+
+/* Maps senor id's to the sensor list */
+enum {
+ accel = 0,
+ gyro,
+ compass,
+ light,
+ rotvec,
+ syncompass,
+ orientation,
+ pressure,
+ numSensorDrivers,
+ numFds,
+};
+
+
+
+/*****************************************************************************/
+
+/* Board specific sensor configs. */
+#define GRAVITY 9.80665f
+#define EVENT_TYPE_ACCEL_X REL_X
+#define EVENT_TYPE_ACCEL_Y REL_Y
+#define EVENT_TYPE_ACCEL_Z REL_Z
+
+#define EVENT_TYPE_COMP_X REL_X
+#define EVENT_TYPE_COMP_Y REL_Y
+#define EVENT_TYPE_COMP_Z REL_Z
+
+#define EVENT_TYPE_YAW REL_RX
+#define EVENT_TYPE_PITCH REL_RY
+#define EVENT_TYPE_ROLL REL_RZ
+#define EVENT_TYPE_ORIENT_STATUS REL_WHEEL
+
+#define EVENT_TYPE_MAGV_X REL_DIAL
+#define EVENT_TYPE_MAGV_Y REL_HWHEEL
+#define EVENT_TYPE_MAGV_Z REL_MISC
+
+#define EVENT_TYPE_PROXIMITY ABS_DISTANCE
+#define EVENT_TYPE_LIGHT ABS_MISC
+
+#define EVENT_TYPE_GYRO_X REL_X
+#define EVENT_TYPE_GYRO_Y REL_Y
+#define EVENT_TYPE_GYRO_Z REL_Z
+
+#define EVENT_TYPE_PRESSURE REL_X
+#define EVENT_TYPE_TEMPERATURE REL_Y
+
+// 720 LSG = 1G
+#define LSG (1024.0f)
+#define NUMOFACCDATA (8.0f)
+
+// conversion of acceleration data to SI units (m/s^2)
+
+#define RANGE_A (2*GRAVITY_EARTH)
+#define RESOLUTION_A (RANGE_A/(256*NUMOFACCDATA))
+#define CONVERT_A (GRAVITY_EARTH / LSG / NUMOFACCDATA)
+#define CONVERT_A_X(x) ((float(x)/1000) * (GRAVITY * -1.0))
+#define CONVERT_A_Y(x) ((float(x)/1000) * (GRAVITY * 1.0))
+#define CONVERT_A_Z(x) ((float(x)/1000) * (GRAVITY * 1.0))
+// conversion of magnetic data to uT units
+#define RANGE_M (2048.0f)
+#define RESOLUTION_M (0.01)
+#define CONVERT_M (1.0f/6.6f)
+#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)
+#define RANGE_GYRO (2000.0f*(float)M_PI/180.0f)
+#define CONVERT_GYRO ((2000.0f / 32767.0f) * ((float)M_PI / 180.0f))
+#define CONVERT_GYRO_X (-CONVERT_GYRO)
+#define CONVERT_GYRO_Y (-CONVERT_GYRO)
+#define CONVERT_GYRO_Z (CONVERT_GYRO)
+
+// conversion of pressure and temperature data
+#define CONVERT_PRESSURE (1.0f/100.0f)
+#define CONVERT_TEMPERATURE (1.0f/100.0f)
+
+#define RESOLUTION_GYRO (RANGE_GYRO/(2000*NUMOFACCDATA))
+#define SENSOR_STATE_MASK (0x7FFF)
+
+// Proximity Threshold
+#define PROXIMITY_THRESHOLD_GP2A 5.0f
+
+//Used in timespec_to_ns calculations
+#define NSEC_PER_SEC 1000000000L
+
+#define BIT(x) (1 << (x))
+
+inline unsigned int set_bit_range(int start, int end)
+{
+ int i;
+ unsigned int value = 0;
+
+ for (i = start; i < end; ++i)
+ value |= BIT(i);
+ return value;
+}
+
+inline float convert_from_vtf_format(int size, int exponent, unsigned int value)
+{
+ int divider=1;
+ int i;
+ float sample;
+ int mul = 1.0;
+
+ value = value & set_bit_range(0, size*8);
+ if (value & BIT(size*8-1)) {
+ value = ((1LL << (size*8)) - value);
+ mul = -1.0;
+ }
+ sample = value * 1.0;
+ if (exponent < 0) {
+ exponent = abs(exponent);
+ for (i = 0; i < exponent; ++i) {
+ divider = divider*10;
+ }
+ return mul * sample/divider;
+ } else {
+ return mul * sample * pow(10.0, exponent);
+ }
+}
+
+// Platform sensor orientatation
+#define DEF_ORIENT_ACCEL_X -1
+#define DEF_ORIENT_ACCEL_Y -1
+#define DEF_ORIENT_ACCEL_Z -1
+
+#define DEF_ORIENT_GYRO_X 1
+#define DEF_ORIENT_GYRO_Y 1
+#define DEF_ORIENT_GYRO_Z 1
+
+// G to m/s2
+#define CONVERT_FROM_VTF16(s,d,x) (convert_from_vtf_format(s,d,x))
+#define CONVERT_A_G_VTF16E14_X(s,d,x) (DEF_ORIENT_ACCEL_X *\
+ convert_from_vtf_format(s,d,x)*GRAVITY)
+#define CONVERT_A_G_VTF16E14_Y(s,d,x) (DEF_ORIENT_ACCEL_Y *\
+ convert_from_vtf_format(s,d,x)*GRAVITY)
+#define CONVERT_A_G_VTF16E14_Z(s,d,x) (DEF_ORIENT_ACCEL_Z *\
+ convert_from_vtf_format(s,d,x)*GRAVITY)
+
+// Degree/sec to radian/sec
+#define CONVERT_G_D_VTF16E14_X(s,d,x) (DEF_ORIENT_GYRO_X *\
+ convert_from_vtf_format(s,d,x) * ((float)M_PI/180.0f))
+#define CONVERT_G_D_VTF16E14_Y(s,d,x) (DEF_ORIENT_GYRO_Y *\
+ convert_from_vtf_format(s,d,x) * ((float)M_PI/180.0f))
+#define CONVERT_G_D_VTF16E14_Z(s,d,x) (DEF_ORIENT_GYRO_Z *\
+ convert_from_vtf_format(s,d,x) * ((float)M_PI/180.0f))
+
+// Milli gauss to micro tesla
+#define CONVERT_M_MG_VTF16E14_X(s,d,x) (convert_from_vtf_format(s,d,x)/10)
+#define CONVERT_M_MG_VTF16E14_Y(s,d,x) (convert_from_vtf_format(s,d,x)/10)
+#define CONVERT_M_MG_VTF16E14_Z(s,d,x) (convert_from_vtf_format(s,d,x)/10)
+
+/*****************************************************************************/
+
+/* from bar to mbar(= hPA) */
+#define CONVERT_PR_HPA_VTF16E14(s,d,x) ((1000.0f)*convert_from_vtf_format(s,d,x))
+
+#endif // SENSOR_CONFIG_H
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