1 /* 2 * Copyright (C) 2018 The Android Open Source Project 3 * 4 * Licensed under the Apache License, Version 2.0 (the "License"); 5 * you may not use this file except in compliance with the License. 6 * You may obtain a copy of the License at 7 * 8 * http://www.apache.org/licenses/LICENSE-2.0 9 * 10 * Unless required by applicable law or agreed to in writing, software 11 * distributed under the License is distributed on an "AS IS" BASIS, 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 * See the License for the specific language governing permissions and 14 * limitations under the License. 15 */ 16 17 /* 18 * This module provides the component definitions used to represent sensor 19 * data employed by the online sensor calibration algorithms. 20 */ 21 22 #ifndef LOCATION_LBS_CONTEXTHUB_NANOAPPS_CALIBRATION_ONLINE_CALIBRATION_COMMON_DATA_SENSOR_DATA_H_ 23 #define LOCATION_LBS_CONTEXTHUB_NANOAPPS_CALIBRATION_ONLINE_CALIBRATION_COMMON_DATA_SENSOR_DATA_H_ 24 25 #include <stdint.h> 26 #include <string.h> 27 #include <sys/types.h> 28 29 #include "common/math/macros.h" 30 31 namespace online_calibration { 32 33 // Defines an invalid or uninitialized temperature value (referenced from 34 // common/math/macros.h). 35 constexpr float kInvalidTemperatureCelsius = INVALID_TEMPERATURE_CELSIUS; 36 37 // Unit conversion from nanoseconds to microseconds. 38 constexpr uint64_t NanoToMicroseconds(uint64_t x) { return x / 1000; } 39 40 // Identifies the various sensing devices used by the calibration algorithms. 41 enum class SensorType : int8_t { 42 kUndefined = 0, 43 kAccelerometerMps2 = 1, // 3-axis sensor (units = meter/sec^2). 44 kGyroscopeRps = 2, // 3-axis sensor (units = radian/sec). 45 kMagnetometerUt = 3, // 3-axis sensor (units = micro-Tesla). 46 kTemperatureCelsius = 4, // 1-axis sensor (units = degrees Celsius). 47 kBarometerHpa = 5, // 1-axis sensor (units = hecto-Pascal). 48 kWifiM = 6 // 3-axis sensor (units = meter). 49 }; 50 51 /* 52 * SensorData is a generalized data structure used to represent sensor samples 53 * produced by either a single- or three-axis device. Usage is implied through 54 * the sensor type (i.e., Gyroscope is a three-axis sensor and would therefore 55 * use all elements of 'data'; a pressure sensor is single-dimensional and would 56 * use 'data[SensorIndex::kSingleAxis]'). This arbitration is determined 57 * at the algorithm wrapper level where knowledge of a sensor's dimensionality 58 * is clearly understood. 59 * 60 * NOTE: The unified dimensional representation makes it convenient to pass 61 * either type of data into the interface functions defined in the 62 * OnlineCalibration. 63 */ 64 65 // Axis index definitions for SensorData::data. 66 enum SensorIndex : int8_t { 67 kSingleAxis = 0, 68 kXAxis = kSingleAxis, 69 kYAxis = 1, 70 kZAxis = 2, 71 }; 72 73 struct SensorData { 74 // Indicates the type of sensor this data originated from. 75 SensorType type; 76 77 // Sensor sample timestamp. 78 uint64_t timestamp_nanos; 79 80 // Generalized sensor sample (represents either single- or three-axis data). 81 float data[3]; 82 83 SensorData() : type(SensorType::kUndefined), timestamp_nanos(0) { 84 memset(data, 0, sizeof(data)); 85 } 86 87 SensorData(SensorType type, uint64_t ts, float x, float y, float z) 88 : type(type), timestamp_nanos(ts) { 89 data[SensorIndex::kXAxis] = x; 90 data[SensorIndex::kYAxis] = y; 91 data[SensorIndex::kZAxis] = z; 92 } 93 94 SensorData(SensorType type, uint64_t ts, float single_axis_sample) 95 : type(type), timestamp_nanos(ts) { 96 data[SensorIndex::kSingleAxis] = single_axis_sample; 97 } 98 }; 99 100 } // namespace online_calibration 101 102 #endif // LOCATION_LBS_CONTEXTHUB_NANOAPPS_CALIBRATION_ONLINE_CALIBRATION_COMMON_DATA_SENSOR_DATA_H_ 103
