* Introduction
* Software architecture and Integration details
* STM proprietary libraries
* More information
* Copyright
The STM Android sensor Hardware Abstraction Layer (HAL) defines a standard interface for STM sensors allowing Android to be agnostic about lower-level driver implementations . The HAL library is packaged into modules (.so) file and loaded by the Android system at the appropriate time. For more information see AOSP HAL Interface
STM Sensor HAL is leaning on Linux IIO framework to gather data from sensor device drivers and to forward samples to the Android Framework
Currently supported sensors are:
LSM330, LSM330DLC, LSM6DS3, LSM6DS3H, LSM6DSM, LSM6DSL, LSM6DS0, LSM9DS0, LSM9DS1, LSM330D, LSM330DL, ISM330DLC, LSM6DSO, ASM330LHH, LSM6DSR, LSM6DSO32
LSM303AGR, LSM303AH, LSM303DLHC, LSM303DLH, LSM303DLM, ISM303DAC
LIS2DS12, LIS2HH12, LIS3DH, LIS3DHH, LIS2DW12, LIS331DLH, LIS2DG, LIS2DH, LIS2DH12, IIS2DH, IIS3DHHC
L3GD20, L3GD20H, L3G4200D
LIS3MDL, LIS2MDL, IIS2MDC
LPS22HB, LPS22HD, LPS25H, LPS331AP, LPS33HW, LPS35HW, LPS22HH, LPS27HHW
HTS221
STM Sensor HAL is written in C++ language using object-oriented design. For each hw sensor there is a custom class file (Accelerometer.cpp, Magnetometer.cpp, Gyroscope.cpp, Pressure.cpp, Temp.cpp and RHumidity.cpp) which extends the common base class (SensorBase.cpp).
Copy the HAL source code into <AOSP_DIR>/hardware/STMicroelectronics/SensorHAL_IIO folder. During building process Android will include automatically the SensorHAL Android.mk. In <AOSP_DIR>/device/<vendor>/<board>/device.mk add package build information:
PRODUCT_PACKAGES += sensors.{TARGET_BOARD_PLATFORM}
Note: device.mk can not read $(TARGET_BOARD_PLATFORM) variable, read and replace the value from your BoardConfig.mk (e.g. PRODUCT_PACKAGES += sensors.msm8974 for Nexus 5)
To compile the SensorHAL_IIO just build AOSP source code from $TOP folder
$ cd <AOSP_DIR>
$ source build/envsetup.sh
$ lunch <select target platform>
$ make V=99
The compiled library will be placed in <AOSP_DIR>/out/target/product/<board>/system/vendor/lib/hw/sensor.{TARGET_BOARD_PLATFORM}.so
To configure sensor the Sensor HAL IIO use mm utility from HAL root folder (only for Android version up to M included)
$mm sensors-defconfig (default configuration)
or
$mm sensors-menuconfig
otherwise after the initial build of Android and SensorHAL, move to SensorHAL path and load initial Android settings
"source android_data_config"
than run make command with one of the following options:
"make sensors-defconfig" Set to default configuration
"make sensors-menuconfig" Text based color menus, radiolists & dialogs.
"make sensors-cleanconf" Delete hal_config, hal_config.old and configuration.h files.
For more information on compiling an Android project, please consult the AOSP website
STM proprietary libraries are used to define composite sensors based on hardware (accelerometer, gyroscope, magnetometer) or to provide sensor calibration
The STM Sensor Fusion library is a complete 9-axis/6-axis solution which combines the measurements from a 3-axis gyroscope, a 3-axis magnetometer and a 3-axis accelerometer to provide a robust absolute orientation vector and game orientation vector
The STM GeoMag Fusion library is a complete 6-axis solution which combines the measurements from a 3-axis magnetometer and a 3-axis accelerometer to provide a robust geomagnetic orientation vector
The STM Gbias Calibration library provides an efficient gyroscope bias runtime compensation
The STM Magnetometer Calibration library provides an accurate magnetometer Hard Iron (HI) and Soft Iron (SI) runtime compensation
The STM Accelerometer Calibration library provide an afficient accelerometer offset runtime compensation
To enable STM proprietary libraries please use mm utility
$mm sensors-menuconfig
The release of STM proprietary libraries is subject to signature of a License User Agreement (LUA); please contact an STMicroelectronics sales office and representatives for further information.
Copyright (C) 2019 STMicroelectronics
Licensed 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.