android hal sensor,Android—GSensor驱动与HAL/Framework

柔情只为你懂 2022-10-05 02:57 330阅读 0赞

1、驱动文件RANGE：

(1)

/\*

Range: unit(ug 1g=1 000 000 ug)

option(2g,4g,8g)

G would be defined on android HAL

Precision: bit wide of valid data

Boundary: Max positive count

Gravity\_step: gravity value indicated by per count

\*/

\#define FREAD\_MASK0 /\* enabled(1<<1) only if reading MSB 8bits\*/

\#define MMA845X\_RANGE2000000

/\* mma8452 \*/

\#define MMA8452\_PRECISION 12

\#define MMA8452\_BOUNDARY (0x1 << (MMA8452\_PRECISION - 1))

\#define MMA8452\_GRAVITY\_STEP MMA845X\_RANGE / MMA8452\_BOUNDARY

(2)

result = ((int)high\_byte << (MMA8452\_PRECISION-8)) | ((int)low\_byte >> (16-MMA8452\_PRECISION)); //合并数据

if (result < MMA8452\_BOUNDARY) //判断符号

result = result\* MMA8452\_GRAVITY\_STEP;

else

result = ~( ((~result & (0x7fff>>(16-MMA8452\_PRECISION)) ) + 1) \* MMA8452\_GRAVITY\_STEP) + 1;

2、HAL层

(1)MMA IOCTL (mma8452.h )

\#define MMAIO 0xA1

/\* IOCTLs for MMA8452 library \*/

\#define ECS\_IOCTL\_INIT \_IO(MMAIO, 0x01)

// \#define ECS\_IOCTL\_RESET \_IO(MMAIO, 0x04)

\#define ECS\_IOCTL\_CLOSE \_IO(MMAIO, 0x02)

\#define ECS\_IOCTL\_START \_IO(MMAIO, 0x03)

// \#define ECS\_IOCTL\_GETDATA \_IOR(MMAIO, 0x08, char\[RBUFF\_SIZE+1\])

/\* IOCTLs for APPs \*/

\#define ECS\_IOCTL\_APP\_SET\_RATE \_IOW(MMAIO, 0x10, char)

(2)(nusensors.h)

\#define ACCELERATION\_RATIO\_ANDROID\_TO\_HW (9.80665f / 1000000)

(3)(MmaSensor.cpp)

void MmaSensor::processEvent(int code, int value)

switch (code) \{

case EVENT\_TYPE\_ACCEL\_X:

mPendingMask |= 1<

mPendingEvents\[Accelerometer\].acceleration.x = value \* ACCELERATION\_RATIO\_ANDROID\_TO\_HW;

break;

case EVENT\_TYPE\_ACCEL\_Y:

mPendingMask |= 1<

mPendingEvents\[Accelerometer\].acceleration.y = value \* ACCELERATION\_RATIO\_ANDROID\_TO\_HW;

break;

case EVENT\_TYPE\_ACCEL\_Z:

mPendingMask |= 1<

mPendingEvents\[Accelerometer\].acceleration.z = value \* ACCELERATION\_RATIO\_ANDROID\_TO\_HW;

break;

(4)Sensor\_params.h

//ACCEL\_ID\_LIS331

\#define ACCEL\_LIS331\_RANGE (2.480f\*GRAVITY\_EARTH)

\#define ACCEL\_LIS331\_RESOLUTION (.001f\*GRAVITY\_EARTH)

\#define ACCEL\_LIS331\_POWER (1.0f)

//ACCEL\_ID\_LSM303DLX

\#define ACCEL\_LSM303DLX\_RANGE (2.480f\*GRAVITY\_EARTH)

\#define ACCEL\_LSM303DLX\_RESOLUTION (0.001f\*GRAVITY\_EARTH)

\#define ACCEL\_LSM303DLX\_POWER (1.0f)

//ACCEL\_ID\_LIS3DH

\#define ACCEL\_LIS3DH\_RANGE (2.480f\*GRAVITY\_EARTH)

\#define ACCEL\_LIS3DH\_RESOLUTION (0.001f\*GRAVITY\_EARTH)

\#define ACCEL\_LIS3DH\_POWER (1.0f)

//ACCEL\_ID\_KXSD9

\#define ACCEL\_KXSD9\_RANGE (2.5006f\*GRAVITY\_EARTH)

\#define ACCEL\_KXSD9\_RESOLUTION (0.001f\*GRAVITY\_EARTH)

\#define ACCEL\_KXSD9\_POWER (1.0f)

//ACCEL\_ID\_KXTF9

\#define ACCEL\_KXTF9\_RANGE (1.0f\*GRAVITY\_EARTH)

\#define ACCEL\_KXTF9\_RESOLUTION (0.033f\*GRAVITY\_EARTH)

\#define ACCEL\_KXTF9\_POWER (0.35f)

//ACCEL\_ID\_BMA150

\#define ACCEL\_BMA150\_RANGE (2.0f\*GRAVITY\_EARTH)

\#define ACCEL\_BMA150\_RESOLUTION (0.004f\*GRAVITY\_EARTH)

\#define ACCEL\_BMA150\_POWER (0.2f)

//ACCEL\_ID\_BMA222

\#define ACCEL\_BMA222\_RANGE (2.0f\*GRAVITY\_EARTH)

\#define ACCEL\_BMA222\_RESOLUTION (0.001f\*GRAVITY\_EARTH)

\#define ACCEL\_BMA222\_POWER (0.1f)

//ACCEL\_ID\_BMA250

\#define ACCEL\_BMA250\_RANGE (2.0f\*GRAVITY\_EARTH)

\#define ACCEL\_BMA250\_RESOLUTION (0.00391f\*GRAVITY\_EARTH)

\#define ACCEL\_BMA250\_POWER (0.139f)

//ACCEL\_ID\_ADXL34X

\#define ACCEL\_ADXL34X\_RANGE (2.0f\*GRAVITY\_EARTH)

\#define ACCEL\_ADXL34X\_RESOLUTION (0.001f\*GRAVITY\_EARTH)

\#define ACCEL\_ADXL34X\_POWER (1.0f)

//ACCEL\_ID\_MMA8450

\#define ACCEL\_MMA8450\_RANGE (2.0f\*GRAVITY\_EARTH)

\#define ACCEL\_MMA8450\_RESOLUTION (0.001f\*GRAVITY\_EARTH)

\#define ACCEL\_MMA8450\_POWER (1.0f)

//ACCEL\_ID\_MMA845X

\#define ACCEL\_MMA845X\_RANGE (2.0f\*GRAVITY\_EARTH)

\#define ACCEL\_MMA845X\_RESOLUTION (0.001f\*GRAVITY\_EARTH)

\#define ACCEL\_MMA845X\_POWER (1.0f)

//ACCEL\_ID\_MPU6050

\#define ACCEL\_MPU6050\_RANGE (2.0f\*GRAVITY\_EARTH)

\#define ACCEL\_MPU6050\_RESOLUTION (0.004f\*GRAVITY\_EARTH)

\#define ACCEL\_MPU6050\_POWER (0.0f)

/\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*/

//GYRO MPU3050

\#define RAD\_P\_DEG (3.14159f/180.0f)

\#define GYRO\_MPU3050\_RANGE (2000.0f\*RAD\_P\_DEG)

\#define GYRO\_MPU3050\_RESOLUTION (32.8f\*RAD\_P\_DEG)

\#define GYRO\_MPU3050\_POWER (6.1f)

//GYRO MPU6050

\#define GYRO\_MPU6050\_RANGE (2000.0f\*RAD\_P\_DEG)

\#define GYRO\_MPU6050\_RESOLUTION (16.4f\*RAD\_P\_DEG)

\#define GYRO\_MPU6050\_POWER (5.5f)

(6)MPLSensor.cpp

void MPLSensor::fillAccel(unsigned char accel, struct sensor\_t \*list)

switch (accel) \{

case ACCEL\_ID\_LIS331:

list\[Accelerometer\].maxRange = ACCEL\_LIS331\_RANGE;

list\[Accelerometer\].resolution = ACCEL\_LIS331\_RESOLUTION;

list\[Accelerometer\].power = ACCEL\_LIS331\_POWER;

break;

case ACCEL\_ID\_LIS3DH:

list\[Accelerometer\].maxRange = ACCEL\_LIS3DH\_RANGE;

list\[Accelerometer\].resolution = ACCEL\_LIS3DH\_RESOLUTION;

list\[Accelerometer\].power = ACCEL\_LIS3DH\_POWER;

break;

case ACCEL\_ID\_KXSD9:

list\[Accelerometer\].maxRange = ACCEL\_KXSD9\_RANGE;

list\[Accelerometer\].resolution = ACCEL\_KXSD9\_RESOLUTION;

list\[Accelerometer\].power = ACCEL\_KXSD9\_POWER;

break;

case ACCEL\_ID\_KXTF9:

list\[Accelerometer\].maxRange = ACCEL\_KXTF9\_RANGE;

list\[Accelerometer\].resolution = ACCEL\_KXTF9\_RESOLUTION;

list\[Accelerometer\].power = ACCEL\_KXTF9\_POWER;

break;

case ACCEL\_ID\_BMA150:

list\[Accelerometer\].maxRange = ACCEL\_BMA150\_RANGE;

list\[Accelerometer\].resolution = ACCEL\_BMA150\_RESOLUTION;

list\[Accelerometer\].power = ACCEL\_BMA150\_POWER;

break;

case ACCEL\_ID\_BMA222:

list\[Accelerometer\].maxRange = ACCEL\_BMA222\_RANGE;

list\[Accelerometer\].resolution = ACCEL\_BMA222\_RESOLUTION;

list\[Accelerometer\].power = ACCEL\_BMA222\_POWER;

break;

case ACCEL\_ID\_BMA250:

list\[Accelerometer\].maxRange = ACCEL\_BMA250\_RANGE;

list\[Accelerometer\].resolution = ACCEL\_BMA250\_RESOLUTION;

list\[Accelerometer\].power = ACCEL\_BMA250\_POWER;

break;

case ACCEL\_ID\_ADXL34X:

list\[Accelerometer\].maxRange = ACCEL\_ADXL34X\_RANGE;

list\[Accelerometer\].resolution = ACCEL\_ADXL34X\_RESOLUTION;

list\[Accelerometer\].power = ACCEL\_ADXL34X\_POWER;

break;

case ACCEL\_ID\_MMA8450:

list\[Accelerometer\].maxRange = ACCEL\_MMA8450\_RANGE;

break;

case ACCEL\_ID\_MMA845X:

list\[Accelerometer\].maxRange = ACCEL\_MMA845X\_RANGE;

list\[Accelerometer\].resolution = ACCEL\_MMA845X\_RESOLUTION;

list\[Accelerometer\].power = ACCEL\_MMA845X\_POWER;

break;

case ACCEL\_ID\_MPU6050:

list\[Accelerometer\].maxRange = ACCEL\_MPU6050\_RANGE;

list\[Accelerometer\].resolution = ACCEL\_MPU6050\_RESOLUTION;

list\[Accelerometer\].power = ACCEL\_MPU6050\_POWER;

break;

default:

ALOGE("unknown accel id -- accel params will be wrong.");

break;

3、Framework-Java-->SensorEvent.java

\* public void onSensorChanged(SensorEvent event)

\* \{

\* // alpha is calculated as t / (t + dT)

\* // with t, the low-pass filter's time-constant

\* // and dT, the event delivery rate

\* final float alpha = 0.8;

\* gravity\[0\] = alpha \* gravity\[0\] + (1 - alpha) \* event.values\[0\];

\* gravity\[1\] = alpha \* gravity\[1\] + (1 - alpha) \* event.values\[1\];

\* gravity\[2\] = alpha \* gravity\[2\] + (1 - alpha) \* event.values\[2\];

\* linear\_acceleration\[0\] = event.values\[0\] - gravity\[0\];

\* linear\_acceleration\[1\] = event.values\[1\] - gravity\[1\];

\* linear\_acceleration\[2\] = event.values\[2\] - gravity\[2\];

\* \}

android hal sensor,Android—GSensor驱动与HAL/Framework

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