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incubator-nuttx/include/nuttx/uorb.h

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/****************************************************************************
* include/nuttx/uorb.h
*
* SPDX-License-Identifier: Apache-2.0
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you 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 __INCLUDE_NUTTX_UORB_H
#define __INCLUDE_NUTTX_UORB_H
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <limits.h>
#include <nuttx/sensors/ioctl.h>
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/* sensor type definition */
/* Custom Sensor
* Some special sensor whose event size is not fixed or dynamically change,
* are called sensor of custom type. You should treat its events as byte
* streams and use sensor_custom_register to register character device
* with specific path, ex: "/dev/uorb/custom_dummy".
*/
#define SENSOR_TYPE_CUSTOM 0
/* Accelerometer
* All values are in SI units (m/s^2), and measure the acceleration of the
* device minus the acceleration dut to gravity.
*/
#define SENSOR_TYPE_ACCELEROMETER 1
/* Magneric Field
* All values are in micro-Tesla (uT) and measure the geomagnetic field
* in X, Y and Z axis.
*/
#define SENSOR_TYPE_MAGNETIC_FIELD 2
/* Orientation
* An orientation sensor reports the attitude of the device. The measurements
* are reported in degrees in the x, y, and z.
* x:azimuth, the angle between the magnetic north direction and the
* Y axis, around the Z axis (0<=azimuth<360). 0=North, 90=East,
* 180=South, 270=West.
* y:pitch, rotation around X axis (-180<=pitch<=180), with positive values
* when the Z axis moves toward the Y axis.
* z:roll, rotation around Y axis (-90<=roll<=90), with positive values
* when the X axis moves towards the Z axis.
*/
#define SENSOR_TYPE_ORIENTATION 3
/* Gyroscope
* All values are in radians/second and measure the rate of rotation around
* the X, Y and Z axis.
*/
#define SENSOR_TYPE_GYROSCOPE 4
/* Ambient Light
* The ambient light sensor value is returned in SI units lux.
*/
#define SENSOR_TYPE_LIGHT 5
/* Barometer
* All values are in hectopascal (hPa) and measure the athmospheric pressure.
* You can calculate altitude by perssure.
*/
#define SENSOR_TYPE_BAROMETER 6
/* Noise Loudness
* A sensor of this type returns the loudness of noise in SI units (db)
*/
#define SENSOR_TYPE_NOISE 7
/* Proximity
* The values correspond to the distance to the nearest
* object in centimeters.
*/
#define SENSOR_TYPE_PROXIMITY 8
/* RGB
* We use these values of RGB to weighted to obtain the color of LED.
* These values is in unit percent.
*/
#define SENSOR_TYPE_RGB 9
/* Linear acceleration
* A linear acceleration sensor reports the linear acceleration of the device
* in the sensor frame, not including gravity(output of the accelerometer
* minus the output of the gravity sensor).
*/
#define SENSOR_TYPE_LINEAR_ACCELERATION 10
/* Rotation
* A rotation vector sensor reports the orientation of the device relative
* to the East-North-Up coordinates frame. It's usually obtained by
* integration of accelerometer, gyroscope, and magnetometer readings.
* The East-North-Up coordinate system is defined as a direct orthonormal
* basis where:
* X points east and is tangential to the ground.
* Y points north and is tangential to the ground.
* Z points towards the sky and is perpendicular to the ground.
*/
#define SENSOR_TYPE_ROTATION_VECTOR 11
/* Relative Humidity
* A relative humidity sensor measure relative ambient air humidity and
* return a value in percent.
*/
#define SENSOR_TYPE_RELATIVE_HUMIDITY 12
/* Ambient Temperature
* The ambient (room) temperature in degree Celsius
*/
#define SENSOR_TYPE_AMBIENT_TEMPERATURE 13
/* PM25
* A sensor of this type returns the content of pm2.5 in the air
* This value is in SI units (ug/m^3)
*/
#define SENSOR_TYPE_PM25 14
/* PM1P0
* A sensor of this type returns the content of pm1.0 in the air
* This value is in SI units (ug/m^3)
*/
#define SENSOR_TYPE_PM1P0 15
/* PM10
* A sensor of this type returns the content of pm10 in the air
* This value is in SI units (ug/m^3)
*/
#define SENSOR_TYPE_PM10 16
/* Significant motion
* A significant motion detector triggers when detecting a significant
* motion: a motion that might lead to a change in the user location.
*/
#define SENSOR_TYPE_SIGNIFICANT_MOTION 17
/* Step detector
* A step detector generates an event each time a step is taken by the user.
* The timestamp of the event corresponds to when the foot hit the ground,
* generating a high variation in acceleration. Compared to the step counter,
* the step detector should have a lower latency (less than two seconds).
* Both the step detector and the step counter detect when the user is
* walking, running, and walking up the stairs. They shouldn't trigger when
* the user is biking, driving, or in other vehicles.
*/
#define SENSOR_TYPE_STEP_DETECTOR 18
/* Step counter
* A step counter reports the number of steps taken by the user since the
* last reboot while activated. A step counter reports the number of steps
* taken by the user since the last reboot while activated.
*/
#define SENSOR_TYPE_STEP_COUNTER 19
/* PH
* The acid-base degree describes the strength of the aqueous
* solution, expressed by pH. In the thermodynamic standard
* condition, the aqueous solution with pH=7 is neutral,
* pH<7 is acidic, and pH>7 is alkaline.
*/
#define SENSOR_TYPE_PH 20
/* Heart Rate
* A sensor of this type returns the current heart rate.
* Current heart rate is in beats per minute (BPM).
*/
#define SENSOR_TYPE_HEART_RATE 21
/* Tilt detector
* A tilt detector generates an event each time a tilt event is detected.
*/
#define SENSOR_TYPE_TILT_DETECTOR 22
/* Wake gesture
* A sensor enabling waking up the device based on a device specific
* motion. 0: the device should sleep, 1: the device should wake up.
* Other values ​​are uncalibrated values ​​reported by the driver to
* uncalibrated topics.
*/
#define SENSOR_TYPE_WAKE_GESTURE 23
/* Glance gesture
* A glance gesture sensor enables briefly turning the screen on to enable
* the user to glance content on screen based on a specific motion.
* When this sensor triggers, the device will turn the screen on momentarily
* to allow the user to glance notifications or other content while the
* device remains locked in a non-interactive state (dozing), then the screen
* will turn off again.
*/
#define SENSOR_TYPE_GLANCE_GESTURE 24
/* Pick up gesture
* A pick-up gesture sensor triggers when the device is picked up regardless
* of wherever it was before (desk, pocket, bag).
*/
#define SENSOR_TYPE_PICK_UP_GESTURE 25
/* Wrist tilt
* The wrist-off detection sensor is only triggered when the device is off
* the wrist.
*/
#define SENSOR_TYPE_WRIST_TILT_GESTURE 26
/* Device_orientation
* A device orientation sensor reports the current orientation of the device.
*/
#define SENSOR_TYPE_DEVICE_ORIENTATION 27
/* Pose 6DOF
* A Pose 6DOF sensor reports the orientation of the device relative to the
* East-North-Up coordinates frame. It is obtained by integration of
* accelerometer and gyroscope readings.
* The East-North-Up coordinate system is defined as a direct orthonormal
* basis where:
* X points east and is tangential to the ground.
* Y points north and is tangential to the ground.
* Z points towards the sky and is perpendicular to the ground.
* The orientation is represented by the rotation necessary to align the
* East-North-Up coordinates with the device's coordinates. That is, applying
* the rotation to the world frame (X,Y,Z) would align them with the device
* coordinates (x,y,z).
* The rotation can be seen as rotating the device by an angle theta around
* an axis rot_axis to go from the reference (East-North-Up aligned) device
* orientation to the current device orientation. The rotation is encoded as
* the four unitless x, y, z, w components of a unit quaternion.
*/
#define SENSOR_TYPE_POSE_6DOF 28
/* Gas sensor
* This sensor measures the gas resistance, indicating the presence
* of volatile organic compounds in the air.
*/
#define SENSOR_TYPE_GAS 29
/* Motion detect
* Motion detection sensor is used to detect the motion status of the device.
* motion detect event is produced if the device has been in motion
* for at least 5 seconds with a maximal latency of 5 additional seconds.
* ie: it may take up anywhere from 5 to 10 seconds afte the device has been
* at rest to trigger this event. The only allowed value is 1.0.
*/
#define SENSOR_TYPE_MOTION_DETECT 30
/* Heart Beat
* A sensor of this type returns an event evetytime
* a hear beat peek is detected. Peak here ideally corresponds
* to the positive peak in the QRS complex of and ECG signal.
*/
#define SENSOR_TYPE_HEART_BEAT 31
/* Force
* A sensor of this type measures the force on it, and additionally
* compares the force with one or more specified thresholds. The sensor
* can output the force value directly. Moreover, it's usually applied
* as a press key. In that case, when it detects a force greater than
* some given threshold, a corresponding event is reported.
*/
#define SENSOR_TYPE_FORCE 32
/* Hall
* All values are in bool type (0 or 1) and it often is used to as switch.
* A values of 1 indicates that switch on.
*/
#define SENSOR_TYPE_HALL 33
/* Offbody detect
* An offbody detect sensor reports every time the device transitions from
* off-body to on-body and from on-body to off-body (e.g. a wearable device
* being removed from the wrist would trigger an event indicating an off-body
* transition).
*/
#define SENSOR_TYPE_LOW_LATENCY_OFFBODY_DETECT 34
/* Ultraviolet light sensor
* This sensor can identify the UV index in ambient light help people
* to effectively protect themselves from sunburns, cancer or eye damage.
* This value range is 0 - 15.
*/
#define SENSOR_TYPE_ULTRAVIOLET 35
/* Hinge angle
* A hinge angle sensor measures the angle, in degrees, between two integral
* parts of the device. Movement of a hinge measured by this sensor type is
* expected to alter the ways in which the user can interact with the device,
* for example, by unfolding or revealing a display.
*/
#define SENSOR_TYPE_HINGE_ANGLE 36
/* IR (Infrared Ray)
* This sensor can detect a human approach and outputs a signal from
* interrupt pins. This sensor value is in lux.
*/
#define SENSOR_TYPE_IR 37
/* HCHO
* The HCHO pollution is an important indicator of household air
* pollution. This value is in units (ppm-part per million).
*/
#define SENSOR_TYPE_HCHO 38
/* TVOC (total volatile organic compounds)
* The indoor TVOC is cause indoor air pollution is one of the
* main reasons why. This value is in units (ppb-part per billion).
*/
#define SENSOR_TYPE_TVOC 39
/* Dust
* A sensor of this type returns the content of dust in the air
* values is in ug/m^3.
*/
#define SENSOR_TYPE_DUST 40
/* ECG (Electrocardiogram)
* A sensor of this type returns the ECG voltage in μV. Sensors may amplify
* the input ECG signal. Here the ECG voltage is the un-amplified ECG
* voltage.
*/
#define SENSOR_TYPE_ECG 41
/* PPG Dual (2-channel photoplethysmography)
* A sensor of this type returns the 2 channels PPG measurements in ADC
* counts and their corresponding LED current and ADC gains. The PPG
* measurements come from photodiodes and following current amplifiers and
* ADCs, where a photodiode switches reflected light intensity to current.
* The LED current decides the lightness of LED, which is the input of PPG
* measurements. The ADC gains are multipled on the output and affect SNR.
*/
#define SENSOR_TYPE_PPGD 42
/* PPG Quad (4-channel photoplethysmography)
* A sensor of this type returns the 4 channels PPG measurements in ADC
* counts and their corresponding LED current and ADC gains. The PPG
* measurements come from photodiodes and following current amplifiers and
* ADCs, where a photodiode switches reflected light intensity to current.
* The LED current decides the lightness of LED, which is the input of PPG
* measurements. The ADC gains are multipled on the output and affect SNR.
*/
#define SENSOR_TYPE_PPGQ 43
/* Imdepance
* A sensor of this type returns the impedance measurements. An impedance
* is a complex number, which consists of a real part(resistance) and an
* imaginary part(reactance). Both of them are in uint Ohm(Ω).
*/
#define SENSOR_TYPE_IMPEDANCE 44
/* OTS (Optical tracking sensor)
* A sensor of this type returns the OTS measurements in counts. It
* integrates an optical chip and a LASER light source in a single miniature
* package. It provies wide depth of field range on glossy surface, and
* design flexibility into a compact device.
*/
#define SENSOR_TYPE_OTS 45
/* CO2
* A sensor of this type returns the content of CO2 in the air
* This value is in units (ppm-part per million).
*/
#define SENSOR_TYPE_CO2 46
/* CAP (Capacitive proximity sensor)
* The purpose of the proximity sensing interface is to detect when a
* conductive object (usually a body part i.e. finger, palm, face, etc.)
* is in the proximity of the system.
*/
#define SENSOR_TYPE_CAP 47
/* GNSS
* A sensor of this type returns GNSS data. Include latitude, longitude,
* altitude, horizontal position accuracy, vertical position accuracy,
* horizontal dilution of precision, vertical dilution of precision...
*/
#define SENSOR_TYPE_GNSS 48
/* Sensor of GNSS satellite
* A sensor of this type returns the GNSS satellite information.
*/
#define SENSOR_TYPE_GNSS_SATELLITE 49
/* GNSS Measurement */
#define SENSOR_TYPE_GNSS_MEASUREMENT 50
/* GNSS Clock */
#define SENSOR_TYPE_GNSS_CLOCK 51
/* GNSS Geofence */
#define SENSOR_TYPE_GNSS_GEOFENCE 52
/* The total number of sensor */
#define SENSOR_TYPE_COUNT 53
/* The additional sensor open flags */
#define SENSOR_REMOTE (1u << 31)
#define SENSOR_PERSIST (1u << 30)
/* GNSS satellite info slots */
#define SENSOR_GNSS_SAT_INFO_MAX 4
/* Maximum length of sensor device information name and path name. */
#define SENSOR_INFO_NAME_SIZE 32
/* Sensor event flags */
#define SENSOR_EVENT_FLUSH_COMPLETE 0x01
/* GNSS Clock Flags, see `flags` of `struct sensor_gnss_clock`
* Refs: https://android.googlesource.com/platform/hardware/libhardware/+/
* refs/heads/android14-release/include/hardware/gps.h#140
*/
#define SENSOR_GNSS_CLOCK_HAS_LEAP_SECOND (1 << 0)
#define SENSOR_GNSS_CLOCK_HAS_TIME_UNCERTAINTY (1 << 1)
#define SENSOR_GNSS_CLOCK_HAS_FULL_BIAS (1 << 2)
#define SENSOR_GNSS_CLOCK_HAS_BIAS (1 << 3)
#define SENSOR_GNSS_CLOCK_HAS_BIAS_UNCERTAINTY (1 << 4)
#define SENSOR_GNSS_CLOCK_HAS_DRIFT (1 << 5)
#define SENSOR_GNSS_CLOCK_HAS_DRIFT_UNCERTAINTY (1 << 6)
/* GNSS Measurement Flags */
#define SENSOR_GNSS_MEASUREMENT_HAS_SNR (1 << 0)
#define SENSOR_GNSS_MEASUREMENT_HAS_CARRIER_FREQUENCY (1 << 9)
#define SENSOR_GNSS_MEASUREMENT_HAS_CARRIER_CYCLES (1 << 10)
#define SENSOR_GNSS_MEASUREMENT_HAS_CARRIER_PHASE (1 << 11)
#define SENSOR_GNSS_MEASUREMENT_HAS_CARRIER_PHASE_UNCERTAINTY (1 << 12)
#define SENSOR_GNSS_MEASUREMENT_HAS_AUTOMATIC_GAIN_CONTROL (1 << 13)
/* GNSS Measurement States */
#define SENSOR_GNSS_MEASUREMENT_STATE_UNKNOWN (0)
#define SENSOR_GNSS_MEASUREMENT_STATE_CODE_LOCK (1 << 0)
#define SENSOR_GNSS_MEASUREMENT_STATE_BIT_SYNC (1 << 1)
#define SENSOR_GNSS_MEASUREMENT_STATE_SUBFRAME_SYNC (1 << 2)
#define SENSOR_GNSS_MEASUREMENT_STATE_TOW_DECODED (1 << 3)
#define SENSOR_GNSS_MEASUREMENT_STATE_MSEC_AMBIGUOUS (1 << 4)
#define SENSOR_GNSS_MEASUREMENT_STATE_SYMBOL_SYNC (1 << 5)
#define SENSOR_GNSS_MEASUREMENT_STATE_GLO_STRING_SYNC (1 << 6)
#define SENSOR_GNSS_MEASUREMENT_STATE_GLO_TOD_DECODED (1 << 7)
#define SENSOR_GNSS_MEASUREMENT_STATE_BDS_D2_BIT_SYNC (1 << 8)
#define SENSOR_GNSS_MEASUREMENT_STATE_BDS_D2_SUBFRAME_SYNC (1 << 9)
#define SENSOR_GNSS_MEASUREMENT_STATE_GAL_E1BC_CODE_LOCK (1 << 10)
#define SENSOR_GNSS_MEASUREMENT_STATE_GAL_E1C_2ND_CODE_LOCK (1 << 11)
#define SENSOR_GNSS_MEASUREMENT_STATE_GAL_E1B_PAGE_SYNC (1 << 12)
#define SENSOR_GNSS_MEASUREMENT_STATE_SBAS_SYNC (1 << 13)
#define SENSOR_GNSS_MEASUREMENT_STATE_TOW_KNOWN (1 << 14)
#define SENSOR_GNSS_MEASUREMENT_STATE_GLO_TOD_KNOWN (1 << 15)
/* SENSOR_GNSS_GEOFENCE_TRANS_*:
* struct sensor_gnss_geofence_event -> transition
* Ref: android-14-release/hardware/libhardware/include/hardware/gnss-base.h
*/
#define SENSOR_GNSS_GEOFENCE_TRANS_ENTERED (1 << 0)
#define SENSOR_GNSS_GEOFENCE_TRANS_EXITED (1 << 1)
#define SENSOR_GNSS_GEOFENCE_TRANS_UNCERTAIN (1 << 2)
/* SENSOR_GNSS_GEOFENCE_STATUS_*:
* struct sensor_gnss_geofence_event -> status
* Ref: android-14-release/hardware/libhardware/include/hardware/gnss-base.h
*/
#define SENSOR_GNSS_GEOFENCE_STATUS_UNAVAILABLE (1 << 0)
#define SENSOR_GNSS_GEOFENCE_STATUS_AVAILABLE (1 << 1)
#define SENSOR_GNSS_GEOFENCE_STATUS_OPERATION_SUCCESS (0)
#define SENSOR_GNSS_GEOFENCE_STATUS_ERROR_TOO_MANY_GEOFENCES (-100)
#define SENSOR_GNSS_GEOFENCE_STATUS_ERROR_ID_EXISTS (-101)
#define SENSOR_GNSS_GEOFENCE_STATUS_ERROR_ID_UNKNOWN (-102)
#define SENSOR_GNSS_GEOFENCE_STATUS_ERROR_INVALID_TRANSITION (-103)
#define SENSOR_GNSS_GEOFENCE_STATUS_ERROR_GENERIC (-149)
/* SENSOR_GNSS_GEOFENCE_TYPE_*:
* `type` of `struct sensor_gnss_geofence_param` and
* `struct sensor_gnss_geofence_event`
*/
#define SENSOR_GNSS_GEOFENCE_TYPE_TRANSITION (1 << 0)
#define SENSOR_GNSS_GEOFENCE_TYPE_STATUS (1 << 1)
#define SENSOR_GNSS_GEOFENCE_TYPE_ADD (1 << 2)
#define SENSOR_GNSS_GEOFENCE_TYPE_REMOVE (1 << 3)
#define SENSOR_GNSS_GEOFENCE_TYPE_PAUSE (1 << 4)
#define SENSOR_GNSS_GEOFENCE_TYPE_RESUME (1 << 5)
/****************************************************************************
* Public Types
****************************************************************************/
/* These structures prefixed with sensor_event are sensor data, and member
* that are not used must be written as NAN or INT_MIN/INT_MAX, than
* reported.
*/
struct sensor_event /* Type: Sensor Common Event */
{
uint64_t timestamp; /* Units is microseconds */
uint32_t event; /* Common events */
};
struct sensor_accel /* Type: Accerometer */
{
uint64_t timestamp; /* Units is microseconds */
float x; /* Axis X in m/s^2 */
float y; /* Axis Y in m/s^2 */
float z; /* Axis Z in m/s^2 */
float temperature; /* Temperature in degrees celsius */
};
struct sensor_mag /* Type: Magnetic Field */
{
uint64_t timestamp; /* Units is microseconds */
float x; /* Axis X in Gauss or micro Tesla (uT) */
float y; /* Axis Y in Gauss or micro Tesla (uT) */
float z; /* Axis Z in Gauss or micro Tesla (uT) */
float temperature; /* Temperature in degrees celsius */
int32_t status; /* Status of calibration */
};
struct sensor_orientation /* Type: Orientation */
{
uint64_t timestamp; /* Units is microseconds */
float x; /* azimuth */
float y; /* pitch */
float z; /* roll */
};
struct sensor_gyro /* Type: Gyroscope */
{
uint64_t timestamp; /* Units is microseconds */
float x; /* Axis X in rad/s */
float y; /* Axis Y in rad/s */
float z; /* Axis Z in rad/s */
float temperature; /* Temperature in degrees celsius */
};
struct sensor_light /* Type: Light */
{
uint64_t timestamp; /* Units is microseconds */
float light; /* in SI lux units */
float ir; /* in SI lux units */
};
struct sensor_baro /* Type: Barometer */
{
uint64_t timestamp; /* Units is microseconds */
float pressure; /* pressure measurement in millibar or hpa */
float temperature; /* Temperature in degrees celsius */
};
struct sensor_noise /* Type: Noise Loudness */
{
uint64_t timestamp; /* Units is microseconds */
float db; /* in SI units db */
};
struct sensor_prox /* Type: proximity */
{
uint64_t timestamp; /* Units is microseconds */
float proximity; /* distance to the nearest object in centimeters */
};
struct sensor_rgb /* Type: RGB */
{
uint64_t timestamp; /* Units is microseconds */
float r; /* Units is percent */
float g; /* Units is percent */
float b; /* Units is percent */
};
struct sensor_rotation /* Type: Rotation */
{
uint64_t timestamp; /* Units is microseconds */
float x; /* x*sin(θ/2) */
float y; /* y*sin(θ/2) */
float z; /* z*sin(θ/2) */
float w; /* cos(θ/2) */
float status; /* estimated heading Accuracy (in radians) (-1 if unavailable) */
};
struct sensor_humi /* Type: Relative Humidity */
{
uint64_t timestamp; /* Units is microseconds */
float humidity; /* in percent */
};
struct sensor_temp /* Type: Ambient Temperature */
{
uint64_t timestamp; /* Units is microseconds */
float temperature; /* Temperature in degrees celsius */
};
struct sensor_pm25 /* Type: PM25 */
{
uint64_t timestamp; /* Units is microseconds */
float pm25; /* in SI units ug/m^3 */
};
struct sensor_pm1p0 /* Type: PM1P0 */
{
uint64_t timestamp; /* Units is microseconds */
float pm1p0; /* in SI units ug/m^3 */
};
struct sensor_pm10 /* Type: PM10 */
{
uint64_t timestamp; /* Units is microseconds */
float pm10; /* in SI units ug/m^3 */
};
struct sensor_step_counter /* Type: Step Coun */
{
uint64_t timestamp; /* Units is microseconds */
uint32_t steps; /* Step counting */
uint32_t cadence; /* Stride frequency */
};
struct sensor_ph /* Type: PH */
{
uint64_t timestamp; /* Units is microseconds */
float ph; /* PH = 7.0 neutral, PH < 7.0 acidic, PH > 7.0 alkaline */
};
struct sensor_hrate /* Type: Heart Rate */
{
uint64_t timestamp; /* Units is microseconds */
float bpm; /* is SI units BPM */
};
struct sensor_pose_6dof /* Type: Pose 6dof */
{
uint64_t timestamp; /* Units is microseconds */
float x; /* x*sin(theta/2) */
float y; /* y*sin(theta/2) */
float z; /* z*sin(theta/2) */
float w; /* cos(theta/2) */
float tx; /* Translation along x axis from an arbitrary origin. */
float ty; /* Translation along y axis from an arbitrary origin. */
float tz; /* Translation along z axis from an arbitrary origin. */
float dx; /* Delta quaternion rotation x*sin(theta/2) */
float dy; /* Delta quaternion rotation y*sin(theta/2) */
float dz; /* Delta quaternion rotation z*sin(theta/2) */
float dw; /* Delta quaternion rotation cos(theta/2) */
float dtx; /* Delta translation along x axis. */
float dty; /* Delta translation along y axis. */
float dtz; /* Delta translation along z axis. */
uint64_t number; /* Sequence number; ascending sequentially from 0 */
};
struct sensor_gas /* Type: Gas */
{
uint64_t timestamp; /* Units is microseconds */
float gas_resistance; /* Gas resistance in kOhm */
};
struct sensor_hbeat /* Type: Heart Beat */
{
uint64_t timestamp; /* Units is microseconds */
float beat; /* Units is times/minutes */
};
struct sensor_force /* Type: Force */
{
uint64_t timestamp; /* Unit is microseconds */
float force; /* Force value, units is N */
int32_t event; /* Force event */
};
struct sensor_hall /* Type: HALL */
{
uint64_t timestamp; /* Units is microseconds */
int32_t hall; /* Hall state */
};
struct sensor_uv /* Type: Ultraviolet Light */
{
uint64_t timestamp; /* Units is microseconds */
float uvi; /* the value range is 0 - 15 */
};
struct sensor_angle /* Type: Angle */
{
uint64_t timestamp; /* Units is microseconds */
float angle; /* Angle. Unit is degree */
};
struct sensor_ir /* Type: Infrared Ray */
{
uint64_t timestamp; /* Units is microseconds */
float ir; /* in SI units lux */
};
struct sensor_hcho /* Type: HCHO */
{
uint64_t timestamp; /* Units is microseconds */
float hcho; /* in SI units ppm */
};
struct sensor_tvoc /* Type: TVOC */
{
uint64_t timestamp; /* Units is microseconds */
float tvoc; /* in SI units ppm */
};
struct sensor_dust /* Type: DUST */
{
uint64_t timestamp; /* Units is microseconds */
float dust; /* is SI units ug/m^3 */
};
struct sensor_ecg /* Type: ECG */
{
uint64_t timestamp; /* Unit is microseconds */
float ecg; /* Unit is μV */
uint32_t status; /* Status info */
};
struct sensor_ppgd /* Type: PPGD */
{
uint64_t timestamp; /* Unit is microseconds */
uint32_t ppg[2]; /* PPG from 2 channels. Units are ADC counts. */
uint32_t current; /* LED current. Unit is uA. */
uint16_t gain[2]; /* ADC gains of channels. Units are V/V or V/A. */
};
struct sensor_ppgq /* Type: PPDQ */
{
uint64_t timestamp; /* Unit is microseconds */
uint32_t ppg[4]; /* PPG from 4 channels. Units are ADC counts. */
uint32_t current; /* LED current. Unit is uA. */
uint16_t gain[4]; /* ADC gains of channels. Units are V/V or V/A. */
};
struct sensor_impd /* Type: Impedance */
{
uint64_t timestamp; /* Unit is microseconds */
float real; /* Real part, unit is Ohm(Ω) */
float imag; /* Imaginary part, unit is Ohm(Ω) */
};
struct sensor_ots /* Type: OTS */
{
uint64_t timestamp; /* Unit is microseconds */
int32_t x; /* Axis X in counts */
int32_t y; /* Axis Y in counts */
};
struct sensor_co2 /* Type: CO2 */
{
uint64_t timestamp; /* Units is microseconds */
float co2; /* in SI units ppm */
};
struct sensor_cap /* Type: Capacitance */
{
uint64_t timestamp; /* Unit is microseconds */
int32_t status; /* Detection status */
int32_t rawdata[4]; /* in SI units pF */
};
struct sensor_gnss /* Type: GNSS */
{
uint64_t timestamp; /* Time since system start, Units is microseconds */
/* This is the timestamp which comes from the GNSS module. It might be
* unavailable right after cold start, indicated by a value of 0,
* Units is microseconds
*/
uint64_t time_utc;
float latitude; /* Unit is degrees */
float longitude; /* Unit is degrees */
float altitude; /* Altitude above MSL(mean seal level), Unit is SI m */
float altitude_ellipsoid; /* Altitude bove Ellipsoid, Unit is SI m */
float eph; /* GNSS horizontal position accuracy (metres) */
float epv; /* GNSS vertical position accuracy (metres) */
float hdop; /* Horizontal dilution of precision */
float pdop; /* Position dilution of precision */
float vdop; /* Vertical dilution of precision */
float ground_speed; /* GNSS ground speed, Unit is m/s */
/* Course over ground (NOT heading, but direction of movement),
* Unit is Si degrees
*/
float course;
uint32_t satellites_used; /* Number of satellites used */
};
/* Ref: android14-release/hardware/libhardware/include_all/hardware/\
* gnss-base.h
*/
enum sensor_gnss_constellation
{
SENSOR_GNSS_CONSTELLATION_UNKNOWN = 0,
SENSOR_GNSS_CONSTELLATION_GPS = 1,
SENSOR_GNSS_CONSTELLATION_SBAS = 2,
SENSOR_GNSS_CONSTELLATION_GLONASS = 3,
SENSOR_GNSS_CONSTELLATION_QZSS = 4,
SENSOR_GNSS_CONSTELLATION_BEIDOU = 5,
SENSOR_GNSS_CONSTELLATION_GALILEO = 6,
};
struct sensor_gnss_satellite
{
uint64_t timestamp; /* Time since system start, Units is microseconds */
uint32_t count; /* Total number of messages of satellites visible */
uint32_t satellites; /* Total number of satellites in view */
/* Constellation of the given svid, see SENSOR_GNSS_CONSTELLATION_*. */
uint32_t constellation;
struct satellite
{
uint32_t svid; /* Space vehicle ID */
/* Elevation (0: right on top of receiver,
* 90: on the horizon) of satellite
*/
uint32_t elevation;
/* Direction of satellite, 0: 0 deg, 255: 360 deg. */
uint32_t azimuth;
/* dBHz, Signal to noise ratio of satellite C/N0, range 0..99,
* zero when not tracking this satellite
*/
uint32_t snr;
}
info[SENSOR_GNSS_SAT_INFO_MAX];
};
struct sensor_gnss_measurement
{
/* Indicating what fields are valid.
* See SENSOR_GNSS_MEASUREMENT_HAS_*.
*/
uint32_t flags;
/* Space vehicle ID. */
int32_t svid;
/* Constellation of the given SV, see GNSS_CONSTELLATION_*. */
uint32_t constellation;
/* Offset between clock and time at which the measurement was taken in
* nanoseconds.
*/
float time_offset_ns;
/* The received GNSS Time-of-Week at the measurement time, in
* nanoseconds.
*/
int64_t received_sv_time_in_ns;
int64_t received_sv_time_uncertainty_in_ns;
/* GNSS measurement state, see SENSOR_GNSS_MEASUREMENT_STATE_*. */
uint32_t state;
/* dBHz, Carrier-to-noise density. */
float c_n0_dbhz;
/* Pseudorange rate(m/s) at the timestamp. */
float pseudorange_rate_mps;
float pseudorange_rate_uncertainty_mps;
/* Accumulated delta range. */
uint32_t accumulated_delta_range_state;
float accumulated_delta_range_m;
float accumulated_delta_range_uncertainty_m;
/* Carrier related between the satellite and the receiver.
* flags:
* SENSOR_GNSS_MEASUREMENT_HAS_CARRIER_CYCLES
* SENSOR_GNSS_MEASUREMENT_HAS_CARRIER_FREQUENCY
* SENSOR_GNSS_MEASUREMENT_HAS_CARRIER_PHASE
* SENSOR_GNSS_MEASUREMENT_HAS_CARRIER_PHASE_UNCERTAINTY
*/
float carrier_frequency_hz;
int64_t carrier_cycles;
float carrier_phase;
float carrier_phase_uncertainty;
uint32_t multipath_indicator;
/* dBHz, Signal to noise ratio of satellite C/N0.
* flags: SENSOR_GNSS_MEASUREMENT_HAS_SNR
*/
uint32_t snr;
};
struct sensor_gnss_clock
{
/* Indicating what fields are valid.
* See SENSOR_GNSS_CLOCK_HAS_*.
*/
uint32_t flags;
/* Leap second data.
* flags: SENSOR_GNSS_CLOCK_HAS_LEAP_SECOND
*/
int32_t leap_second;
/* The GNSS receiver internal local hardware clock value.
* flags:
* SENSOR_GNSS_CLOCK_HAS_TIME_UNCERTAINTY
*/
int64_t time_ns;
float time_uncertainty_ns;
/* Discontinuities in the HW clock. */
uint32_t hw_clock_discontinuity_count;
/* The difference between hardware clock ('time' field) inside
* GPS receiver and the true GPS time since 0000Z, January 6, 1980, in
* nanoseconds.
* flags:
* SENSOR_GNSS_CLOCK_HAS_FULL_BIAS
* SENSOR_GNSS_CLOCK_HAS_BIAS
* SENSOR_GNSS_CLOCK_HAS_BIAS_UNCERTAINTY
*/
int64_t full_bias_ns;
float bias_ns; /* Sub-nanosecond bias */
float bias_uncertainty_ns;
/* The clock's drift in nanoseconds (per second).
* A positive value means that the frequency is higher than
* the nominal frequency.
* flags:
* SENSOR_GNSS_CLOCK_HAS_DRIFT
* SENSOR_GNSS_CLOCK_HAS_DRIFT_UNCERTAINTY
*/
float drift_nsps;
float drift_uncertainty_nsps;
};
/* GNSS Geofence events */
struct sensor_gnss_geofence_event
{
/* Type of events
* Fields below are optional according to this `type`,
* Available: see SENSOR_GNSS_GEOFENCE_TYPE_VALID_EVENT.
*
* Mandatory:
* |Fields \ Type |TRANSITION |STATUS |ADD |REMOVE |PAUSE |RESUME |
* |--------------|:---------:|:-----:|:--:|:-----:|:----:|:-----:|
* |geofence_id | v | | v | v | v | v |
* |transition | v | | | | | |
* |location | v | v | | | | |
* |timestamp | v | | | | | |
* |status | | v | v | v | v | v |
*/
int32_t type;
int32_t geofence_id; /* Id of the geofence. */
struct sensor_gnss location; /* Location. */
/* Milliseconds when the transition was detected since January 1, 1970 */
int64_t timestamp;
int32_t status; /* Status of Geofence operation/event. */
int32_t transition; /* See SENSOR_GNSS_GEOFENCE_TRANS_*. */
};
/* GNSS Geofence parameters */
struct sensor_gnss_geofence_param
{
/* Type of events
* Available: see SENSOR_GNSS_GEOFENCE_TYPE_VALID_PARAM.
*
* Mandatory:
* |Fields \ Type |ADD |REMOVE |PAUSE |RESUME |
* |--------------|:--:|:-----:|:----:|:-----:|
* |geofence_id | v | v | v | v |
* |transition | v | | | v |
* |latitude | v | | | |
* |longitude | v | | | |
* |radius_meters | v | | | |
*/
int32_t type;
int32_t geofence_id;
float latitude;
float longitude;
float radius_meters;
/* Which transitions to monitor.
* Available: see SENSOR_GNSS_GEOFENCE_TRANS_*.
*/
int32_t transition;
};
/* This structure describes the state for the sensor device */
struct sensor_state_s
{
uint32_t esize; /* The element size of circular buffer */
uint32_t nbuffer; /* The number of events that the circular buffer can hold */
uint32_t min_latency; /* The minimum batch latency for sensor, in us */
uint32_t min_interval; /* The minimum subscription interval for sensor, in us */
uint32_t nsubscribers; /* The number of subcribers */
uint32_t nadvertisers; /* The number of advertisers */
uint32_t generation; /* The recent generation of circular buffer */
uint64_t priv; /* The pointer to private data of userspace user */
};
/* This structure describes the state for the sensor user */
struct sensor_ustate_s
{
uint32_t esize; /* The element size of circular buffer */
uint32_t latency; /* The batch latency for user, in us */
uint32_t interval; /* The subscription interval for user, in us */
uint64_t generation; /* The recent generation of circular buffer */
};
/* This structure describes the register info for the user sensor */
#ifdef CONFIG_USENSOR
struct sensor_reginfo_s
{
char path[NAME_MAX]; /* The path of user sensor */
uint32_t esize; /* The element size of user sensor */
uint32_t nbuffer; /* The number of queue buffered elements */
/* The flag is used to indicate that the validity of sensor data
* is persistent.
*/
int persist;
};
#endif
/* This structure describes the context custom ioctl for device */
struct sensor_ioctl_s
{
uint32_t len; /* The length of argument of ioctl */
char data[1]; /* The argument buf of ioctl */
};
/* This structure describes the information of the sensor device and
* requires the manufacturer to implement the device info function.
*/
struct sensor_device_info_s
{
/* Version of the hardware part + driver. */
uint32_t version;
/* Rough estimate of this sensor's power consumption in mA. */
float power;
/* Maximum range of this sensor's value in SI units. */
float max_range;
/* Smallest difference between two values reported by this sensor. */
float resolution;
/* This value depends on the reporting mode:
*
* continuous: minimum sample period allowed in microseconds
* on-change : 0
* one-shot :-1
* special : 0, unless otherwise noted
*/
int32_t min_delay;
/* This value is defined only for continuous mode and on-change sensors.
* it is the delay between two sensor events corresponding to the lowest
* frequency that this sensor supports. when lower frequencies are
* requested through batch()/set_interval() the events will be generated
* at this frequency instead. it can be used by the framework or
* applications to estimate when the batch FIFO may be full.
*/
int32_t max_delay;
/* 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 fifo_reserved_event_count;
/* 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 fifo_max_event_count;
/* Name of this sensor. */
char name[SENSOR_INFO_NAME_SIZE];
/* Vendor of the hardware part. */
char vendor[SENSOR_INFO_NAME_SIZE];
};
#endif /* __INCLUDE_NUTTX_SENSORS_SENSOR_H */
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