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Commit c0420b79 authored by Eva Chen's avatar Eva Chen
Browse files

Add limited axes imu sensor types to sensor NDK. 

Included sensors:
- SENSOR_TYPE_ACCELEROMETER_LIMITED_AXES
- SENSOR_TYPE_GYROSCOPE_LIMITED_AXES
- SENSOR_TYPE_ACCELEROMETER_LIMITED_AXES_UNCALIBRATED
- SENSOR_TYPE_GYROSCOPE_LIMITED_AXES_UNCALIBRATED

These changes will enable support for automotive style IMUs that have
more limited axes for accelerometers (x-axis and y-axis) and gyroscopes
(z-axis).

Bug: 187342209
Test: Presubmits
Change-Id: I7f8ecd4f3323c71c723a6415e573413cb464a0f1
parent c945c1b8

include/android/sensor.h

+86 −0
Original line number Diff line number Diff line
@@ -263,6 +263,44 @@ enum { 
     * Measures the orientation and rotational velocity of a user's head.

     */

    ASENSOR_TYPE_HEAD_TRACKER = 37,

    /**

     * {@link ASENSOR_TYPE_ACCELEROMETER_LIMITED_AXES}

     * reporting-mode: continuous

     *

     * The first three values are in SI units (m/s^2) and measure the acceleration of the device

     * minus the force of gravity. The last three values indicate which acceleration axes are

     * supported. A value of 1.0 means supported and a value of 0 means not supported.

     */

    ASENSOR_TYPE_ACCELEROMETER_LIMITED_AXES = 38,

    /**

     * {@link ASENSOR_TYPE_GYROSCOPE_LIMITED_AXES}

     * reporting-mode: continuous

     *

     * The first three values are in radians/second and measure the rate of rotation around the X,

     * Y and Z axis. The last three values indicate which rotation axes are supported. A value of

     * 1.0 means supported and a value of 0 means not supported.

     */

    ASENSOR_TYPE_GYROSCOPE_LIMITED_AXES = 39,

    /**

     * {@link ASENSOR_TYPE_ACCELEROMETER_LIMITED_AXES_UNCALIBRATED}

     * reporting-mode: continuous

     *

     * The first three values are in SI units (m/s^2) and measure the acceleration of the device

     * minus the force of gravity. The middle three values represent the estimated bias for each

     * axis. The last three values indicate which acceleration axes are supported. A value of 1.0

     * means supported and a value of 0 means not supported.

     */

    ASENSOR_TYPE_ACCELEROMETER_LIMITED_AXES_UNCALIBRATED = 40,

    /**

     * {@link ASENSOR_TYPE_GYROSCOPE_LIMITED_AXES_UNCALIBRATED}

     * reporting-mode: continuous

     *

     * The first three values are in radians/second and measure the rate of rotation around the X,

     * Y and Z axis. The middle three values represent the estimated drift around each axis in

     * rad/s. The last three values indicate which rotation axes are supported. A value of 1.0 means

     * supported and a value of 0 means not supported.

     */

    ASENSOR_TYPE_GYROSCOPE_LIMITED_AXES_UNCALIBRATED = 41,

};



/**
@@ -479,6 +517,52 @@ typedef struct AHeadTrackerEvent { 
    int32_t discontinuity_count;

} AHeadTrackerEvent;



typedef struct ALimitedAxesImuEvent {

    union {

        float calib[3];

        struct {

            float x;

            float y;

            float z;

        };

    };

    union {

        float supported[3];

        struct {

            float x_supported;

            float y_supported;

            float z_supported;

        };

    };

} ALimitedAxesImuEvent;



typedef struct ALimitedAxesImuUncalibratedEvent {

    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;

        };

    };

    union {

        float supported[3];

        struct {

            float x_supported;

            float y_supported;

            float z_supported;

        };

    };

} ALimitedAxesImuUncalibratedEvent;



/**

 * Information that describes a sensor event, refer to

 * <a href="/reference/android/hardware/SensorEvent">SensorEvent</a> for additional
@@ -516,6 +600,8 @@ typedef struct ASensorEvent { 
            ADynamicSensorEvent dynamic_sensor_meta;

            AAdditionalInfoEvent additional_info;

            AHeadTrackerEvent head_tracker;

            ALimitedAxesImuEvent limited_axes_imu;

            ALimitedAxesImuUncalibratedEvent limited_axes_imu_uncalibrated;

        };

        union {

            uint64_t        data[8];

libs/sensor/Sensor.cpp

+16 −0
Original line number Diff line number Diff line
@@ -280,6 +280,22 @@ Sensor::Sensor(struct sensor_t const& hwSensor, const uuid_t& uuid, int halVersi 
        mStringType = SENSOR_STRING_TYPE_HEAD_TRACKER;

        mFlags |= SENSOR_FLAG_CONTINUOUS_MODE;

        break;

    case SENSOR_TYPE_ACCELEROMETER_LIMITED_AXES:

        mStringType = SENSOR_STRING_TYPE_ACCELEROMETER_LIMITED_AXES;

        mFlags |= SENSOR_FLAG_CONTINUOUS_MODE;

        break;

    case SENSOR_TYPE_GYROSCOPE_LIMITED_AXES:

        mStringType = SENSOR_STRING_TYPE_GYROSCOPE_LIMITED_AXES;

        mFlags |= SENSOR_FLAG_CONTINUOUS_MODE;

        break;

    case SENSOR_TYPE_ACCELEROMETER_LIMITED_AXES_UNCALIBRATED:

        mStringType = SENSOR_STRING_TYPE_ACCELEROMETER_LIMITED_AXES_UNCALIBRATED;

        mFlags |= SENSOR_FLAG_CONTINUOUS_MODE;

        break;

    case SENSOR_TYPE_GYROSCOPE_LIMITED_AXES_UNCALIBRATED:

        mStringType = SENSOR_STRING_TYPE_GYROSCOPE_LIMITED_AXES_UNCALIBRATED;

        mFlags |= SENSOR_FLAG_CONTINUOUS_MODE;

        break;

    default:

        // Only pipe the stringType, requiredPermission and flags for custom sensors.

        if (halVersion > SENSORS_DEVICE_API_VERSION_1_0 && hwSensor.stringType) {

services/sensorservice/SensorServiceUtils.cpp

+6 −0
Original line number Diff line number Diff line
@@ -30,12 +30,18 @@ size_t eventSizeBySensorType(int type) { 
        case SENSOR_TYPE_POSE_6DOF:

            return 16;



        case SENSOR_TYPE_ACCELEROMETER_LIMITED_AXES_UNCALIBRATED:

        case SENSOR_TYPE_GYROSCOPE_LIMITED_AXES_UNCALIBRATED:

            return 9;



        case SENSOR_TYPE_ROTATION_VECTOR:

        case SENSOR_TYPE_GEOMAGNETIC_ROTATION_VECTOR:

            return 5;



        case SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED:

        case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:

        case SENSOR_TYPE_ACCELEROMETER_LIMITED_AXES:

        case SENSOR_TYPE_GYROSCOPE_LIMITED_AXES:

            return 6;



        case SENSOR_TYPE_GAME_ROTATION_VECTOR: