diff --git a/drivers/sensors/sensor.c b/drivers/sensors/sensor.c index dee6947537c55..9a42611a0283d 100644 --- a/drivers/sensors/sensor.c +++ b/drivers/sensors/sensor.c @@ -161,36 +161,51 @@ static const struct sensor_meta_s g_sensor_meta[] = {0, NULL}, {sizeof(struct sensor_accel), "accel"}, {sizeof(struct sensor_mag), "mag"}, - {sizeof(struct sensor_uv), "uv"}, + {sizeof(struct sensor_orientation), "orientation"}, {sizeof(struct sensor_gyro), "gyro"}, {sizeof(struct sensor_light), "light"}, {sizeof(struct sensor_baro), "baro"}, {sizeof(struct sensor_noise), "noise"}, {sizeof(struct sensor_prox), "prox"}, {sizeof(struct sensor_rgb), "rgb"}, - {sizeof(struct sensor_hall), "hall"}, - {sizeof(struct sensor_ir), "ir"}, + {sizeof(struct sensor_accel), "linear_accel"}, + {sizeof(struct sensor_rotation), "rotation"}, {sizeof(struct sensor_humi), "humi"}, {sizeof(struct sensor_temp), "temp"}, {sizeof(struct sensor_pm25), "pm25"}, {sizeof(struct sensor_pm1p0), "pm1p0"}, {sizeof(struct sensor_pm10), "pm10"}, - {sizeof(struct sensor_co2), "co2"}, - {sizeof(struct sensor_hcho), "hcho"}, - {sizeof(struct sensor_tvoc), "tvoc"}, + {sizeof(struct sensor_event), "motion_detect"}, + {sizeof(struct sensor_event), "step_detector"}, + {sizeof(struct sensor_step_counter), "step_counter"}, {sizeof(struct sensor_ph), "ph"}, {sizeof(struct sensor_hrate), "hrate"}, + {sizeof(struct sensor_event), "tilt_detector"}, + {sizeof(struct sensor_event), "wake_gesture"}, + {sizeof(struct sensor_event), "glance_gesture"}, + {sizeof(struct sensor_event), "pickup_gesture"}, + {sizeof(struct sensor_event), "wrist_tilt"}, + {sizeof(struct sensor_orientation), "device_orientation"}, + {sizeof(struct sensor_pose_6dof), "pose_6dof"}, + {sizeof(struct sensor_gas), "gas"}, + {sizeof(struct sensor_event), "significant_motion"}, + {sizeof(struct sensor_hbeat), "hbeat"}, + {sizeof(struct sensor_force), "force"}, + {sizeof(struct sensor_hall), "hall"}, + {sizeof(struct sensor_event), "offbody_detector"}, + {sizeof(struct sensor_uv), "uv"}, + {sizeof(struct sensor_angle), "hinge_angle"}, + {sizeof(struct sensor_ir), "ir"}, + {sizeof(struct sensor_hcho), "hcho"}, + {sizeof(struct sensor_tvoc), "tvoc"}, {sizeof(struct sensor_dust), "dust"}, - {sizeof(struct sensor_wake_gesture), "wake_gesture"}, {sizeof(struct sensor_ecg), "ecg"}, {sizeof(struct sensor_ppgd), "ppgd"}, {sizeof(struct sensor_ppgq), "ppgq"}, {sizeof(struct sensor_impd), "impd"}, {sizeof(struct sensor_ots), "ots"}, - {sizeof(struct sensor_gas), "gas"}, + {sizeof(struct sensor_co2), "co2"}, {sizeof(struct sensor_cap), "cap"}, - {sizeof(struct sensor_hbeat), "hbeat"}, - {sizeof(struct sensor_force), "force"}, {sizeof(struct sensor_gnss), "gnss"}, {sizeof(struct sensor_gnss_satellite), "gnss_satellite"}, {sizeof(struct sensor_gnss_measurement), "gnss_measurement"}, diff --git a/include/nuttx/uorb.h b/include/nuttx/uorb.h index 4c4baa8262469..8327197c911cc 100644 --- a/include/nuttx/uorb.h +++ b/include/nuttx/uorb.h @@ -63,12 +63,19 @@ #define SENSOR_TYPE_MAGNETIC_FIELD 2 -/* 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. +/* 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_ULTRAVIOLET 3 + +#define SENSOR_TYPE_ORIENTATION 3 /* Gyroscope * All values are in radians/second and measure the rate of rotation around @@ -110,19 +117,26 @@ #define SENSOR_TYPE_RGB 9 -/* 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. +/* 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_HALL 10 - -/* 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_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_IR 11 +#define SENSOR_TYPE_ROTATION_VECTOR 11 /* Relative Humidity * A relative humidity sensor measure relative ambient air humidity and @@ -158,26 +172,32 @@ #define SENSOR_TYPE_PM10 16 -/* CO2 - * A sensor of this type returns the content of CO2 in the air - * This value is in units (ppm-part per million). +/* 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_CO2 17 +#define SENSOR_TYPE_SIGNIFICANT_MOTION 17 -/* HCHO - * The HCHO pollution is an important indicator of household air - * pollution. This value is in units (ppm-part per million). +/* 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_HCHO 18 +#define SENSOR_TYPE_STEP_DETECTOR 18 -/* 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). +/* 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_TVOC 19 +#define SENSOR_TYPE_STEP_COUNTER 19 /* PH * The acid-base degree describes the strength of the aqueous @@ -195,12 +215,11 @@ #define SENSOR_TYPE_HEART_RATE 21 -/* Dust - * A sensor of this type returns the content of dust in the air - * values is in ug/m^3. +/* Tilt detector + * A tilt detector generates an event each time a tilt event is detected. */ -#define SENSOR_TYPE_DUST 22 +#define SENSOR_TYPE_TILT_DETECTOR 22 /* Wake gesture * A sensor enabling waking up the device based on a device specific @@ -211,13 +230,160 @@ #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 24 +#define SENSOR_TYPE_ECG 41 /* PPG Dual (2-channel photoplethysmography) * A sensor of this type returns the 2 channels PPG measurements in ADC @@ -228,7 +394,7 @@ * measurements. The ADC gains are multipled on the output and affect SNR. */ -#define SENSOR_TYPE_PPGD 25 +#define SENSOR_TYPE_PPGD 42 /* PPG Quad (4-channel photoplethysmography) * A sensor of this type returns the 4 channels PPG measurements in ADC @@ -239,7 +405,7 @@ * measurements. The ADC gains are multipled on the output and affect SNR. */ -#define SENSOR_TYPE_PPGQ 26 +#define SENSOR_TYPE_PPGQ 43 /* Imdepance * A sensor of this type returns the impedance measurements. An impedance @@ -247,7 +413,7 @@ * imaginary part(reactance). Both of them are in uint Ohm(Ω). */ -#define SENSOR_TYPE_IMPEDANCE 27 +#define SENSOR_TYPE_IMPEDANCE 44 /* OTS (Optical tracking sensor) * A sensor of this type returns the OTS measurements in counts. It @@ -256,14 +422,14 @@ * design flexibility into a compact device. */ -#define SENSOR_TYPE_OTS 28 +#define SENSOR_TYPE_OTS 45 -/* Gas sensor - * This sensor measures the gas resistance, indicating the presence - * of volatile organic compounds in the air. +/* 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_GAS 29 +#define SENSOR_TYPE_CO2 46 /* CAP (Capacitive proximity sensor) * The purpose of the proximity sensing interface is to detect when a @@ -271,25 +437,7 @@ * is in the proximity of the system. */ -#define SENSOR_TYPE_CAP 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 +#define SENSOR_TYPE_CAP 47 /* GNSS * A sensor of this type returns GNSS data. Include latitude, longitude, @@ -297,29 +445,29 @@ * horizontal dilution of precision, vertical dilution of precision... */ -#define SENSOR_TYPE_GNSS 33 +#define SENSOR_TYPE_GNSS 48 /* Sensor of GNSS satellite * A sensor of this type returns the GNSS satellite information. */ -#define SENSOR_TYPE_GNSS_SATELLITE 34 +#define SENSOR_TYPE_GNSS_SATELLITE 49 /* GNSS Measurement */ -#define SENSOR_TYPE_GNSS_MEASUREMENT 35 +#define SENSOR_TYPE_GNSS_MEASUREMENT 50 /* GNSS Clock */ -#define SENSOR_TYPE_GNSS_CLOCK 36 +#define SENSOR_TYPE_GNSS_CLOCK 51 /* GNSS Geofence */ -#define SENSOR_TYPE_GNSS_GEOFENCE 37 +#define SENSOR_TYPE_GNSS_GEOFENCE 52 /* The total number of sensor */ -#define SENSOR_TYPE_COUNT 38 +#define SENSOR_TYPE_COUNT 53 /* The additional sensor open flags */ @@ -423,6 +571,12 @@ * 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 */ @@ -442,10 +596,12 @@ struct sensor_mag /* Type: Magnetic Field */ int32_t status; /* Status of calibration */ }; -struct sensor_uv /* Type: Ultraviolet Light */ +struct sensor_orientation /* Type: Orientation */ { uint64_t timestamp; /* Units is microseconds */ - float uvi; /* the value range is 0 - 15 */ + float x; /* azimuth */ + float y; /* pitch */ + float z; /* roll */ }; struct sensor_gyro /* Type: Gyroscope */ @@ -491,16 +647,14 @@ struct sensor_rgb /* Type: RGB */ float b; /* Units is percent */ }; -struct sensor_hall /* Type: HALL */ +struct sensor_rotation /* Type: Rotation */ { uint64_t timestamp; /* Units is microseconds */ - int32_t hall; /* Hall state */ -}; - -struct sensor_ir /* Type: Infrared Ray */ -{ - uint64_t timestamp; /* Units is microseconds */ - float ir; /* in SI units lux */ + 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 */ @@ -533,51 +687,104 @@ struct sensor_pm10 /* Type: PM10 */ float pm10; /* in SI units ug/m^3 */ }; -struct sensor_co2 /* Type: CO2 */ +struct sensor_step_counter /* Type: Step Coun */ { uint64_t timestamp; /* Units is microseconds */ - float co2; /* in SI units ppm */ + uint32_t steps; /* Step counting */ + uint32_t cadence; /* Stride frequency */ }; -struct sensor_hcho /* Type: HCHO */ +struct sensor_ph /* Type: PH */ { uint64_t timestamp; /* Units is microseconds */ - float hcho; /* in SI units ppm */ + float ph; /* PH = 7.0 neutral, PH < 7.0 acidic, PH > 7.0 alkaline */ }; -struct sensor_tvoc /* Type: TVOC */ +struct sensor_hrate /* Type: Heart Rate */ { uint64_t timestamp; /* Units is microseconds */ - float tvoc; /* in SI units ppm */ + float bpm; /* is SI units BPM */ }; -struct sensor_ph /* Type: PH */ +struct sensor_pose_6dof /* Type: Pose 6dof */ { uint64_t timestamp; /* Units is microseconds */ - float ph; /* PH = 7.0 neutral, PH < 7.0 acidic, PH > 7.0 alkaline */ + 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_hrate /* Type: Heart Rate */ +struct sensor_gas /* Type: Gas */ { uint64_t timestamp; /* Units is microseconds */ - float bpm; /* is SI units BPM */ + float gas_resistance; /* Gas resistance in kOhm */ }; -struct sensor_dust /* Type: DUST */ +struct sensor_hbeat /* Type: Heart Beat */ { uint64_t timestamp; /* Units is microseconds */ - float dust; /* is SI units ug/m^3 */ + float beat; /* Units is times/minutes */ }; -struct sensor_wake_gesture /* Type: Wake gesture */ +struct sensor_force /* Type: Force */ { - uint64_t timestamp; /* Units is microseconds */ + uint64_t timestamp; /* Unit is microseconds */ + float force; /* Force value, units is N */ + int32_t event; /* Force event */ +}; - /* wake gesture event, 0: sleep, 1: wake, - * others: Uncalibrated status value. - */ +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 */ +}; - uint32_t event; +struct sensor_dust /* Type: DUST */ +{ + uint64_t timestamp; /* Units is microseconds */ + float dust; /* is SI units ug/m^3 */ }; struct sensor_ecg /* Type: ECG */ @@ -617,10 +824,10 @@ struct sensor_ots /* Type: OTS */ int32_t y; /* Axis Y in counts */ }; -struct sensor_gas /* Type: Gas */ +struct sensor_co2 /* Type: CO2 */ { uint64_t timestamp; /* Units is microseconds */ - float gas_resistance; /* Gas resistance in kOhm */ + float co2; /* in SI units ppm */ }; struct sensor_cap /* Type: Capacitance */ @@ -630,19 +837,6 @@ struct sensor_cap /* Type: Capacitance */ int32_t rawdata[4]; /* in SI units pF */ }; -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_gnss /* Type: GNSS */ { uint64_t timestamp; /* Time since system start, Units is microseconds */