Designing an android sensor subsystem costillo 20120214

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Jen Costillo

Technologie

Simple Choices
User Battery
experience performance

2/14/2012 Costillo- Android Builders Summit 2012 2

Established
or Innovative Product?
Established Innovation-Driven
• Will I be making another • Do I have new sensors
new product in 6 types?
months? • Are features more
• Is the reference design important than release
considered good enough date?
for the application? • Are money and
resources no
problem?

2/14/2012 Costillo- Android Builders Summit 2012 3

Forsaking Reference Designs

2/14/2012 Costillo- Android Builders Summit 2012 4

Going On Your Own
• If you make your own, • But…
– You’re on your own – power ↓
– Integration pains – Control code size
– Test time ↑ – Control mechanical
– Gesture testing footprint
becomes a challenge – In-house expertise
– Calibration blues
– Larger mechanical
footprint

2/14/2012 Costillo- Android Builders Summit 2012 5

Android Universe
Android Application Application
SensorManager
Frameworks
Sensor JNI
Sensor Service Sensor Manager
Libraries
Sensor HAL

Interface Kernel
Driver
Sensor Driver Linux Kernel

Sensor Hub/
Coprocessor Sensors Hardware
2/14/2012 Costillo- Android Builders Summit 2012 6

Application

Frameworks

Libraries

Linux Kernel
HARDWARE
Hardware

2/14/2012 Costillo- Android Builders Summit 2012 7

Hardware Architecture

2/14/2012 Costillo- Android Builders Summit 2012 8

Sensor Selection
• Limited types
• New type
• Latency
• Power consumption

2/14/2012 Costillo- Android Builders Summit 2012 9

Sensor Sampling Rate

2/14/2012 Costillo- Android Builders Summit 2012 10

Sampling Rates:
The 3 Rates
Under-sampling Over-sampling
• Inaccurate, sluggish • Accurate, smooth
response response
• Slight power savings • Power-hungry

Sampling
Rate

2/14/2012 Costillo- Android Builders Summit 2012 11

Polling versus Interrupt
Pros: Pros:
• Simplicity • Low power
• Throttle Sleep Mode
data • Use fewer
throughput timers

Cons: Cons:
• Less sleep • Complex
• Latency ↑ program
• Data loss structure

2/14/2012 Costillo- Android Builders Summit 2012 12

Interfaces

2/14/2012 Costillo- Android Builders Summit 2012 13

Wake up events and power
considerations
Application Internal External
Processor only Coprocessor Processor

D C CC
Reference supported Reference supported More processor selection
Most power hungry Most work done for More outcome control
you Most customized
Footprint impact

2/14/2012 Costillo- Android Builders Summit 2012 14

Sensor Subsystem/Hub
• Separate processor or part of the
Application processor
• How to evaluate?
– Latency
– Power consumption
– Low power modes

2/14/2012 Costillo- Android Builders Summit 2012 15

Hardware Summary

Power Latency =
Consumption Max(sensorsn)
Sensor
= Σ sensorsn + + dedicated
Solution
any dedicated processing
processor time

• Use tie-breaker criteria

2/14/2012 Costillo- Android Builders Summit 2012 16

Application

Frameworks

Libraries

Linux Kernel
KERNEL
Hardware

2/14/2012 Costillo- Android Builders Summit 2012 17

Kernel Driver
Application Processor

Peripheral Shared
Interface Memory

Microcontroller Sensor Coprocessor

2/14/2012 Costillo- Android Builders Summit 2012 18

Application

Frameworks

Libraries

Linux Kernel
LIBRARIES AND
SERVICES Hardware

2/14/2012 Costillo- Android Builders Summit 2012 19

Sensor HAL and Services
• HAL
device/<vendor>/<board name>/libsensors

• Service
frameworks/base/services/sensorservice

• Manager
frameworks/base/libs/gui

2/14/2012 Costillo- Android Builders Summit 2012
20

Sensor Fusion

Libraries

Linux Kernel

Sensor Hub

Sensors
http://en.wikipedia.org/wiki/Sensor_fusion
https://www.llnl.gov/news/newsreleases/2010/NR-10-01-06.html
2/14/2012 Costillo- Android Builders Summit 2012 22

Gesture Detection Algorithm
Application Android
Processor SensorService

Co-
Sensor Hub Processor

Sensors MPU with
Barometer Proximity
Gyro/Accel

Compass

2/14/2012 Costillo- Android Builders Summit 2012 23

Gesture Detection Comparison

Make Buy
Application
• Powerful processor
Minimal
Off-load AppPro
Schedule Impact

In-house Already Tested
expertise &tuned

Complete
Compact code
solution Sensor hub
• Off-load to cheaper
power
• Wake up Event
Handling

2/14/2012 Costillo- Android Builders Summit 2012 24

Calibration

2/14/2012 Costillo- Android Builders Summit 2012 25

Application

Frameworks

Libraries

Linux Kernel
OTHER
CONSIDERATIONS Hardware

2/14/2012 Costillo- Android Builders Summit 2012 26

Testing Methodologies
• Creating tools
• Checkpoints at all levels
• Ensure the application processor can see each of
your sensors
• Compatibility Test Suite (CTS) at application level -
/cts/tests/tests/hardware… SensorTest.java

• Test services -
/frameworks/base/services/sensorservice/tests

• Manufacturing tests

2/14/2012 Costillo- Android Builders Summit 2012 27

QUESTIONS?
JEN@REBELBOT.COM

Additional resources
http://processors.wiki.ti.com/index.php/Android_Sensor_PortingGuide
http://www.kandroid.org/online-pdk/guide/sensors.html
2/14/2012 Costillo- Android Builders Summit 2012 28

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Designing an android sensor subsystem costillo 20120214

1. Designing An Android Sensor Subsystem Pitfalls and Considerations Jen Costillo jen@rebelbot.com

2. Simple Choices User Battery experience performance 2/14/2012 Costillo- Android Builders Summit 2012 2

3. Established or Innovative Product? Established Innovation-Driven • Will I be making another • Do I have new sensors new product in 6 types? months? • Are features more • Is the reference design important than release considered good enough date? for the application? • Are money and resources no problem? 2/14/2012 Costillo- Android Builders Summit 2012 3

4. Forsaking Reference Designs 2/14/2012 Costillo- Android Builders Summit 2012 4

5. Going On Your Own • If you make your own, • But… – You’re on your own – power ↓ – Integration pains – Control code size – Test time ↑ – Control mechanical – Gesture testing footprint becomes a challenge – In-house expertise – Calibration blues – Larger mechanical footprint 2/14/2012 Costillo- Android Builders Summit 2012 5

6. Android Universe Android Application Application SensorManager Frameworks Sensor JNI Sensor Service Sensor Manager Libraries Sensor HAL Interface Kernel Driver Sensor Driver Linux Kernel Sensor Hub/ Coprocessor Sensors Hardware 2/14/2012 Costillo- Android Builders Summit 2012 6

7. Application Frameworks Libraries Linux Kernel HARDWARE Hardware 2/14/2012 Costillo- Android Builders Summit 2012 7

8. Hardware Architecture 2/14/2012 Costillo- Android Builders Summit 2012 8

9. Sensor Selection • Limited types • New type • Latency • Power consumption 2/14/2012 Costillo- Android Builders Summit 2012 9

10. Sensor Sampling Rate 2/14/2012 Costillo- Android Builders Summit 2012 10

11. Sampling Rates: The 3 Rates Under-sampling Over-sampling • Inaccurate, sluggish • Accurate, smooth response response • Slight power savings • Power-hungry Sampling Rate 2/14/2012 Costillo- Android Builders Summit 2012 11

12. Polling versus Interrupt Pros: Pros: • Simplicity • Low power • Throttle Sleep Mode data • Use fewer throughput timers Cons: Cons: • Less sleep • Complex • Latency ↑ program • Data loss structure 2/14/2012 Costillo- Android Builders Summit 2012 12

13. Interfaces 2/14/2012 Costillo- Android Builders Summit 2012 13

14. Wake up events and power considerations Application Internal External Processor only Coprocessor Processor D C CC Reference supported Reference supported More processor selection Most power hungry Most work done for More outcome control you Most customized Footprint impact 2/14/2012 Costillo- Android Builders Summit 2012 14

15. Sensor Subsystem/Hub • Separate processor or part of the Application processor • How to evaluate? – Latency – Power consumption – Low power modes 2/14/2012 Costillo- Android Builders Summit 2012 15

16. Hardware Summary Power Latency = Consumption Max(sensorsn) Sensor = Σ sensorsn + + dedicated Solution any dedicated processing processor time • Use tie-breaker criteria 2/14/2012 Costillo- Android Builders Summit 2012 16

17. Application Frameworks Libraries Linux Kernel KERNEL Hardware 2/14/2012 Costillo- Android Builders Summit 2012 17

18. Kernel Driver Application Processor Peripheral Shared Interface Memory Microcontroller Sensor Coprocessor 2/14/2012 Costillo- Android Builders Summit 2012 18

19. Application Frameworks Libraries Linux Kernel LIBRARIES AND SERVICES Hardware 2/14/2012 Costillo- Android Builders Summit 2012 19

20. Sensor HAL and Services • HAL device/<vendor>/<board name>/libsensors • Service frameworks/base/services/sensorservice • Manager frameworks/base/libs/gui 2/14/2012 Costillo- Android Builders Summit 2012 20

21. Sensor Fusion Libraries Linux Kernel Sensor Hub Sensors http://en.wikipedia.org/wiki/Sensor_fusion https://www.llnl.gov/news/newsreleases/2010/NR-10-01-06.html 2/14/2012 Costillo- Android Builders Summit 2012 22

22. Gesture Detection Algorithm Application Android Processor SensorService Co- Sensor Hub Processor Sensors MPU with Barometer Proximity Gyro/Accel Compass 2/14/2012 Costillo- Android Builders Summit 2012 23

23. Gesture Detection Comparison Make Buy Application • Powerful processor Minimal Off-load AppPro Schedule Impact In-house Already Tested expertise &tuned Complete Compact code solution Sensor hub • Off-load to cheaper power • Wake up Event Handling 2/14/2012 Costillo- Android Builders Summit 2012 24

24. Calibration 2/14/2012 Costillo- Android Builders Summit 2012 25

25. Application Frameworks Libraries Linux Kernel OTHER CONSIDERATIONS Hardware 2/14/2012 Costillo- Android Builders Summit 2012 26

26. Testing Methodologies • Creating tools • Checkpoints at all levels • Ensure the application processor can see each of your sensors • Compatibility Test Suite (CTS) at application level - /cts/tests/tests/hardware… SensorTest.java • Test services - /frameworks/base/services/sensorservice/tests • Manufacturing tests 2/14/2012 Costillo- Android Builders Summit 2012 27

27. QUESTIONS? JEN@REBELBOT.COM Additional resources http://processors.wiki.ti.com/index.php/Android_Sensor_PortingGuide http://www.kandroid.org/online-pdk/guide/sensors.html 2/14/2012 Costillo- Android Builders Summit 2012 28

Designing an android sensor subsystem costillo 20120214

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Designing an android sensor subsystem costillo 20120214