Franca definition of the Acceleration and Gyroscope APIs (first proposal)

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diff --git a/sensors-service/api/franca/Acceleration.fidl b/sensors-service/api/franca/Acceleration.fidl
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+++ b/sensors-service/api/franca/Acceleration.fidl
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+/*  SPDX-License-Identifier: MPL-2.0
+    Component Name: EnhancedPositionService
+    Compliance Level: Abstract Component
+    Copyright (C) 2012, BMW Car IT GmbH, Continental Automotive GmbH, PCA Peugeot Citroën, XS Embedded GmbH
+    License:
+    This Source Code Form is subject to the terms of the
+    Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with
+    this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+*/
+
+package org.genivi.SensorsService
+
+import org.genivi.SensorsService.SensorsServiceTypes.* from "SensorsServiceTypes.fidl"
+
+<** @description : Acceleration = This interface offers functionalities to retrieve the Acceleration of the vehicle **>
+interface Acceleration {
+
+	<** @description: 
+	TAccelerationConfiguration::validityBits provides information about the currently valid signals of the acceleration configuration data.
+	It is a or'ed bitmask of the EAccelerationConfigValidityBits values.
+	**>
+	enumeration EAccelerationConfigValidityBits{
+	    <** @description:  Validity bit for field TAccelerationConfiguration::dist2RefPointX.
+	   	**>
+	    ACCELERATION_CONFIG_DISTX_VALID     = 0x00000001
+	    <** @description:  Validity bit for field TAccelerationConfiguration::dist2RefPointY.
+	   	**>
+	    ACCELERATION_CONFIG_DISTY_VALID     = 0x00000002
+	    <** @description:  Validity bit for field TAccelerationConfiguration::dist2RefPointZ.
+	   	**>
+	    ACCELERATION_CONFIG_DISTZ_VALID     = 0x00000004
+	    <** @description:  Validity bit for field TAccelerationConfiguration::angleYaw.
+	   	**>
+	    ACCELERATION_CONFIG_ANGLEYAW_VALID  = 0x00000008
+	    <** @description:  Validity bit for field TAccelerationConfiguration::anglePitch.
+	   	**>
+	    ACCELERATION_CONFIG_ANGLEPITCH_VALID= 0x00000010
+	    <** @description:  Validity bit for field TAccelerationConfiguration::angleRoll.
+	   	**>
+	    ACCELERATION_CONFIG_ANGLEROLL_VALID = 0x00000020
+	    <** @description:  Validity bit for field TAccelerationConfiguration::sigmaX.
+	   	**>
+	    ACCELERATION_CONFIG_SIGMAX_VALID    = 0x00000040
+	    <** @description:  Validity bit for field TAccelerationConfiguration::sigmaX. 
+	   	**>
+	    ACCELERATION_CONFIG_SIGMAY_VALID    = 0x00000080
+	    <** @description:  Validity bit for field TAccelerationConfiguration::sigmaZ.
+	   	**>
+	    ACCELERATION_CONFIG_SIGMAZ_VALID    = 0x00000100
+	    <** @description:  Validity bit for field TAccelerationConfiguration::typeBits.
+	   	**>
+	    ACCELERATION_CONFIG_TYPE_VALID      = 0x00000200
+	}
+
+	<** @description: 
+	Accelerometer type
+	TAccelerationConfiguration::typeBits provides information about the type of the accelerometer and the interpretation of the signals.
+	It is a or'ed bitmask of the EAccelerationTypeBits values.
+	**>
+	enumeration EAccelerationTypeBits{
+	   	<** @description:  An acceleration measurement for the x-axis is provided.
+	  	**>
+	    ACCELERATION_X_PROVIDED             = 0x00000001
+	   	<** @description:  An acceleration measurement for the y-axis is provided.
+	  	**>    
+	    ACCELERATION_Y_PROVIDED             = 0x00000002
+	   	<** @description:  An acceleration measurement for the z-axis is provided.
+	  	**>    
+	    ACCELERATION_Z_PROVIDED             = 0x00000004
+	   	<** @description:  A measurement for the temperature is provided.
+	  	**>
+	    ACCELERATION_TEMPERATURE_PROVIDED   = 0x00000008
+	}
+
+
+	<** @description: 
+	Static configuration data for the acceleration sensor service.
+	
+	BEGIN Explanation of the angleYaw, anglePitch angleRoll parameters
+	The orientation of the accelerometer hardware (Xa, Ya, Za)
+	with respect to the vehicle axis system (Xv, Yv, Zv)
+	can be described using the angles (angleYaw, anglePitch, angleRoll)
+	following the approach defined in ISO 8855:2011, section 5.2, table 1
+	Apply 3 rotations on the vehicle axis system until it matches the accelerometer axis system
+	The rotation sequence is as follows
+	 - first rotate by angleYaw about the Zv axis
+	 - second rotate by anglePitch about the new (intermediate) Y axis
+	 - third rotate by angleRoll about the new X axis
+	
+	Notes 
+	- the angles are frequently called "Euler angles" and the rotations "Euler rotations"
+	- a different order of the rotations would lead to a different orientation
+	- as the vehicle axis system is right-handed, also the accelerometer axis system must be right-handed
+	
+	The vehicle axis system as defined in ISO 8855:2011(E).
+	In this system, the axes (Xv, Yv, Zv) are oriented as follows
+	- Xv is in the horizontal plane, pointing forwards
+	- Yv is in the horizontal plane, pointing to the left
+	- Zv is perpendicular to the horizontal plane, pointing upwards
+	For an illustration, see https://collab.genivi.org/wiki/display/genivi/LBSSensorServiceRequirementsBorg#LBSSensorServiceRequirementsBorg-ReferenceSystem
+	
+	When the accelerometer axes are not aligned with the vehicle axes, i.e. 
+	if any of the angles (angleYaw, anglePitch, angleRoll) is not zero
+	then the raw measurement values of the accelerometer X, Y, Z axes may have to be be transformed
+	to the vehicle axis system by the client of this interface, depending on the type of application.
+	Raw measurements are provided in TAccelerationData instead of already transformed values, because
+	- for accelerometers with less than 3 axes, the transformation is mathematically not well-defined
+	- some types of calibration operations are better performed on raw data
+	
+	Implementors hint: The mathematics of this kind of transformation, 
+	like the derivation of the rotation matrixes is described in literature on strapdown navigation
+	E.g. "Strapdown Inertial Navigation Technology", 2nd Edition by David Titterton and John Weston, section 3.6
+	END Explanation of the angleYaw, anglePitch angleRoll parameters 	
+	**>
+	struct TAccelerationConfiguration{
+	    <** @description:  Distance of acceleration sensor from vehicle reference point (x-coordinate) [m].
+	   	**>
+	    Float dist2RefPointX
+	    <** @description:  Distance of acceleration sensor from vehicle reference point (y-coordinate) [m].
+	   	**>
+	    Float dist2RefPointY
+	    <** @description:  Distance of acceleration sensor from vehicle reference point (z-coordinate) [m].
+	   	**>
+	    Float dist2RefPointZ
+	    <** @description:  Euler angle of first rotation, around yaw axis, to describe acceleration sensor orientation [degree].
+	   	For details, see above.
+	   	**>
+	    Float angleYaw
+	    <** @description:  Euler angle of second rotation, around pitch axis, to describe acceleration sensor orientation [degree].
+	   	For details, see above.
+	   	**>
+	    Float anglePitch
+	    <** @description:  Euler angle of third rotation, around roll axis, to describe acceleration sensor orientation [degree].
+	   	For details, see above.
+	   	**>
+	    Float angleRoll
+	    <** @description:  Standard error estimate of the x-acceleration [m/s^2].
+	   	**>    
+	    Float sigmaX
+	    <** @description:  Standard error estimate of the y-acceleration [m/s^2].
+	   	**>
+	    Float sigmaY
+	    <** @description:  Standard error estimate of the z-acceleration [m/s^2].
+	   	**>
+	    Float sigmaZ
+	    <** @description:  Bit mask indicating the type of the used accelerometer. 
+	    [bitwise or'ed EAccelerationTypeBits values].
+	   	**>
+	    UInt32 typeBits
+	    <** @description:  Bit mask indicating the validity of each corresponding value.
+	   	[bitwise or'ed EAccelerationConfigValidityBits values].
+	   	Must be checked before usage.
+	   	**>
+	    UInt32 validityBits
+	}
+
+	<** @description: 
+	TAccelerationData::validityBits provides information about the currently valid signals of the acceleration data.
+	It is a or'ed bitmask of the EAccelerationValidityBits values.
+	Note: 
+	- The general availability of the signals is provided per TAccelerationConfiguration::typeBits. 
+	- If a signal is generally provided but temporarily not available, then the corresponding typeBit will be set but not the validityBit 
+	**>
+	enumeration EAccelerationValidityBits{
+	    <** @description:  Validity bit for field TAccelerationData::x.
+	   	**>    
+	    ACCELERATION_X_VALID                = 0x00000001
+	    <** @description:  Validity bit for field TAccelerationData::y.
+	   	**>
+	    ACCELERATION_Y_VALID                = 0x00000002
+	    <** @description:  Validity bit for field TAccelerationData::z.
+	   	**>
+	    ACCELERATION_Z_VALID                = 0x00000004
+	    <** @description:  Validity bit for field TAccelerationData::temperature.
+	   	**>
+	    ACCELERATION_TEMPERATURE_VALID      = 0x00000008
+	    <** @description:  Validity bit for field TAccelerationData::measurementInterval.
+	   	**>
+	    ACCELERATION_MEASINT_VALID          = 0x00000010    
+	} 
+
+	<** @description: 
+	The AccelerationData delivers the sensor values of the accelerometer.
+	The coordinate system is the axis system of the accelerometer sensor, 
+	i.e. the x, y, z values are raw measurements 
+	without any conversion except probably averaging of multiple 
+	sensor readings over the measurement interval.
+
+	see TAccelerationConfiguration for an explanation how to convert these values to the vehicle axis system
+
+	It is possible that not all values are populated, e.g. when only a 1-axis accelerometer is used.
+	You must check the valid bits before usage.
+	**>
+	struct TAccelerationData{
+	    <** @description:  Timestamp of the acquisition of the accelerometer signal [ms].
+	   	All sensor/GNSS timestamps must be based on the same time source.
+	   	**>
+	    UInt64 timestamp
+	    <** @description:  The acceleration in direction of the X-axis of the accelerometer sensor [m/s^2].
+	   	**>
+	    Float x
+	    <** @description:  The acceleration in direction of the Y-axis of the accelerometer sensor [m/s^2].
+	   	**>
+	    Float y
+	    <** @description:  The acceleration in direction of the Z-axis of the accelerometer sensor [m/s^2].
+	   	**>
+	    Float z
+	    <** @description:  Temperature reading of the accelerometer sensor.
+	   	If available it can be used for temperature compensation. 
+	   	The measurement unit is unspecified. 
+	   	Degrees celsius are preferred but any value linearly dependent on the temperature is fine.
+	   	**>
+	    Float temperature
+	    <** @description:  Measurement interval over which the accelerometer signal has been acquired.
+	   	Unit: micro-seconds [us].
+	   	This may slightly differ from the timestamp difference,
+	   	e.g. in case of transmission jitter before timestamping.
+	   	Providing the measurement interval allows thus 
+	   	- a more accurate integration of accelerometer measurements.
+	   	- correct usage of the first sample
+	   	- adding consistency checks
+	   	**>
+	    UInt32 measurementInterval
+	    <** @description:  Bit mask indicating the validity of each corresponding value.
+	   	[bitwise or'ed EAccelerationValidityBits values].
+	   	Must be checked before usage.
+	   	**>
+	    UInt32 validityBits
+	}
+
+	<** @description: 
+	Initialization of the acceleration sensor service.
+	Must be called before using the acceleration sensor service to set up the service.
+	**>
+	method init {
+	    out {
+			<** @description: initialized = Is true if initialization has been successfull **>
+			Boolean initialized
+		}
+	}
+
+	<** @description: 
+	Destroy the acceleration sensor service.
+	Must be called after using the acceleration sensor service to shut down the service.
+	**>
+	method destroy {
+	    out {
+			<** @description: destroyed = Is true if shutdown has been successfull. **>
+			Boolean destroyed
+		}
+	}
+
+	<** @description: getMetaData = get the meta information about sensor service.
+	The meta data of a sensor service provides information about it's name, version, type, subtype, sampling frequency etc.
+	**>
+	method getMetaData {
+	    out {
+	        TSensorMetaData data
+			<** @description: available = Is true if meta data is available **>
+			Boolean available
+		}
+	}
+
+	<** @description: getAccelerationConfiguration = get the static configuration information about the acceleration sensor. 
+	**>
+	method getAccelerationConfiguration {
+	    out {
+	        TAccelerationConfiguration config
+			<** @description: available = Is true if data can be provided and false otherwise, e.g. missing initialization **>
+			Boolean available
+		}
+	}
+
+	<** @description: getAccelerationData = get the acceleration data at a specific point in time. 
+	All valid flags are updated. The data is only guaranteed to be updated when the valid flags are true.
+	**>
+	method getAccelerationData {
+	    out {
+	        TAccelerationData accelerationData
+			<** @description: available = Is true if data can be provided and false otherwise, e.g. missing initialization **>
+			Boolean available
+		}
+	}
+	<** @description: getAccelerationDataList = get a list of acceleration data. 
+	may return buffered data (numElements >1) for different reasons
+	  for (large) portions of data buffered at startup
+	  for data buffered during regular operation e.g. for performance optimization (reduction of callback invocation frequency)
+	If the array contains (numElements >1), the elements will be ordered with rising timestamps
+	accelerationData pointer to an array of TAccelerationData with size numElements
+	**>
+	method getAccelerationDataList {
+	    out {
+	        TAccelerationData[] accelerationData
+			<** @description: numElements = allowed range: >=1. If numElements >1, buffered data are provided.**>
+			UInt16 numElements
+		}
+	}
+	<** @description: notifyAccelerationDataChanged
+	The signal will be emitted when new acceleration data is available.
+	All valid flags are updated. The data is only guaranteed to be updated when the valid flags are true.
+	**>
+	broadcast notifyAccelerationDataChanged selective {   	
+	}
+
+	<** @description: getStatus = get the acceleration sensor status at a specific point in time. **>
+	method getStatus {
+	    out {
+	        TSensorStatus status
+			<** @description: available = Is true if data can be provided and false otherwise, e.g. missing initialization **>
+			Boolean available
+		}
+	}
+	<** @description: notifyStatusChanged
+	The signal will be emitted when new acceleration sensor status data is available.
+	**>
+	broadcast notifyStatusChanged selective {   	
+	}
+		
+}
diff --git a/sensors-service/api/franca/Gyroscope.fidl b/sensors-service/api/franca/Gyroscope.fidl
new file mode 100644
index 0000000..ccd40e0
--- /dev/null
+++ b/sensors-service/api/franca/Gyroscope.fidl
@@ -0,0 +1,316 @@
+/*  SPDX-License-Identifier: MPL-2.0
+    Component Name: EnhancedPositionService
+    Compliance Level: Abstract Component
+    Copyright (C) 2012 BMW Car IT GmbH Continental Automotive GmbH PCA Peugeot Citroën XS Embedded GmbH
+    License:
+    This Source Code Form is subject to the terms of the
+    Mozilla Public License v. 2.0. If a copy of the MPL was not distributed with
+    this file You can obtain one at http://mozilla.org/MPL/2.0/.
+*/
+
+package org.genivi.SensorsService
+
+import org.genivi.SensorsService.SensorsServiceTypes.* from "SensorsServiceTypes.fidl"
+
+<** @description : Gyroscope = This interface offers functionalities to retrieve the gyroscope data of the vehicle **>
+interface Gyroscope {
+
+	<** @description: 
+	TGyroscopeConfiguration::validityBits provides information about the 
+	currently valid signals of the gyroscope configuration data.
+	It is a or'ed bitmask of the EGyroscopeConfigValidityBits values.
+	 **>
+	enumeration EGyroscopeConfigValidityBits{
+	    <** @description: Validity bit for field TGyroscopeConfiguration::angleYaw.
+	    **>
+	    GYROSCOPE_CONFIG_ANGLEYAW_VALID         = 0x00000001
+	    <** @description: Validity bit for field TGyroscopeConfiguration::anglePitch.
+	    **>
+	    GYROSCOPE_CONFIG_ANGLEPITCH_VALID       = 0x00000002
+	    <** @description: Validity bit for field TGyroscopeConfiguration::angleRoll.
+	    **>
+	    GYROSCOPE_CONFIG_ANGLEROLL_VALID        = 0x00000004
+	    <** @description: Validity bit for field TGyroscopeConfiguration::momentOfYawInertia.
+	    **>    
+	    GYROSCOPE_CONFIG_MOMENTYAW_VALID        = 0x00000008
+	    <** @description: Validity bit for field TGyroscopeConfiguration::sigmaGyroscope.
+	    **>
+	    GYROSCOPE_CONFIG_SIGMAGYROSCOPE_VALID   = 0x00000010
+	    <** @description: Validity bit for field TGyroscopeConfiguration::typeBits.
+	    **>
+	    GYROSCOPE_CONFIG_TYPE_VALID             = 0x00000020
+	} 
+
+	<** @description: 
+	Gyroscope type
+	TGyroscopeConfiguration::typeBits provides information about the
+	type of the gyroscope and the interpretation of the signals.
+	It is a or'ed bitmask of the EGyroscopeTypeBits values.
+	 **>
+	enumeration EGyroscopeTypeBits {
+	    <** @description: Temperature bias compensation already applied to gyroscope signals.
+	    **>
+	    GYROSCOPE_TEMPERATURE_COMPENSATED       = 0x00000001
+	    <** @description: A measurement for the z/yaw-axis is provided.
+	    **>
+	    GYROSCOPE_YAWRATE_PROVIDED              = 0x00000002
+	    <** @description: A measurement for the y/pitch-axis is provided.
+	    **>
+	    GYROSCOPE_PITCHRATE_PROVIDED            = 0x00000004
+	    <** @description: A measurement for the x/roll-axis is provided.
+	    **>
+	    GYROSCOPE_ROLLRATE_PROVIDED             = 0x00000008
+	    <** @description: A measurement for the temperature is provided.
+	    **>
+	    GYROSCOPE_TEMPERATURE_PROVIDED          = 0x00000010
+	} 
+
+	<** @description: 
+	Static configuration data for the gyroscope sensor service.
+	BEGIN Explanation of the angleYaw anglePitch angleRoll parameters
+	The orientation of the gyroscope hardware (Xg Yg Zg)
+	with respect to the vehicle axis system (Xv Yv Zv)
+	can be described using the angles (angleYaw anglePitch angleRoll)
+	following the approach defined in ISO 8855:2011 section 5.2 table 1
+	Apply 3 rotations on the vehicle axis system until it matches the gyroscope axis system
+	The rotation sequence is as follows
+	 - first rotate by angleYaw about the Zv axis
+	 - second rotate by anglePitch about the new (intermediate) Y axis
+	 - third rotate by angleRoll about the new X axis
+	Notes 
+	- the angles are frequently called "Euler angles" and the rotations "Euler rotations"
+	- a different order of the rotations would lead to a different orientation
+	- as the vehicle axis system is right-handed also the gyroscope axis system must be right-handed
+	The vehicle axis system as defined in ISO 8855:2011(E).
+	In this system the axes (Xv Yv Zv) are oriented as follows
+	- Xv is in the horizontal plane pointing forwards
+	- Yv is in the horizontal plane pointing to the left
+	- Zv is perpendicular to the horizontal plane pointing upwards
+	For an illustration see https://collab.genivi.org/wiki/display/genivi/LBSSensorServiceRequirementsBorg#LBSSensorServiceRequirementsBorg-ReferenceSystem
+	When the gyroscope axes are not aligned with the vehicle axes i.e. 
+	if any of the angles (angleYaw anglePitch angleRoll) is not zero
+	then the raw measurement values of the gyroscope Z Y X axes may have to be be transformed
+	to the vehicle axis system by the client of this interface depending on the type of application.
+	Raw measurements are provided in  TGyroscopeData instead of already transformed values because
+	- for gyroscopes with less than 3 axes the transformation is mathematically not well-defined
+	- some types of calibration operations are better performed on raw data
+	Implementors hint: The mathematics of this kind of transformation 
+	like the derivation of the rotation matrixes is described in literature on strapdown navigation
+	E.g. "Strapdown Inertial Navigation Technology" 2nd Edition by David Titterton and John Weston section 3.6
+	END Explanation of the angleYaw anglePitch angleRoll parameters 
+	 **>
+	struct TGyroscopeConfiguration {
+	    <** @description: Euler angle of first rotation around yaw axis 
+	   to describe gyroscope orientation [degree].
+	   For details see above.
+	    **>
+	    Float angleYaw
+	    <** @description: Euler angle of second rotation around pitch axis
+	   to describe gyroscope orientation [degree].
+	   For details see above.
+	    **>
+	    Float anglePitch
+	    <** @description: Euler angle of third rotation around roll axis
+	   to describe gyroscope orientation [degree].
+	   For details see above.
+	    **>
+	    Float angleRoll
+	    <** @description: Moment of yaw inertia [kg x m^2]. 
+	   The pitch and roll inertia moments are not provided
+	   as they are not relevant for positioning.
+	    **>
+	    Float momentOfYawInertia
+	    <** @description: Standard error estimate of the gyroscope for all directions [degree/s].
+	    **>
+	    Float sigmaGyroscope
+	    <** @description: Bit mask indicating the type of the used gyroscope.
+	   [bitwise or'ed  EGyroscopeTypeBits values].
+	    **>
+	    UInt32 typeBits
+	    <** @description: Bit mask indicating the validity of each corresponding value.
+	   [bitwise or'ed  EGyroscopeConfigValidityBits values].
+	   Must be checked before usage.
+	    **>
+	    UInt32 validityBits
+	} 
+
+	<** @description: 
+	TGyroscopeData::validityBits provides information which fields in
+	 TGyroscopeData contain valid measurement data. 
+	It is a or'ed bitmask of the EGyroscopeValidityBits values.
+	Note: 
+	- The general availability of the signals is provided per
+	  TGyroscopeConfiguration::typeBits. 
+	- If a signal is generally provided but temporarily not available
+	  then the corresponding typeBit will be set but not the validityBit
+	 **>
+	enumeration EGyroscopeValidityBits {
+	    <** @description: Validity bit for field TGyroscopeData::yawRate.
+	    **>
+	    GYROSCOPE_YAWRATE_VALID             = 0x00000001
+	    <** @description: Validity bit for field TGyroscopeData::pitchRate.
+	    **>
+	    GYROSCOPE_PITCHRATE_VALID           = 0x00000002
+	    <** @description: Validity bit for field TGyroscopeData::rollRate.
+	    **>
+	    GYROSCOPE_ROLLRATE_VALID            = 0x00000004
+	    <** @description: Validity bit for field TGyroscopeData::temperature.
+	    **>
+	    GYROSCOPE_TEMPERATURE_VALID         = 0x00000008
+	    <** @description: Validity bit for field TGyroscopeData::measurementInterval.
+	    **>
+	    GYROSCOPE_MEASINT_VALID             = 0x00000010
+	} 
+
+	<** @description: 
+	The GyroscopeData delivers the sensor values of the gyroscope.
+	The coordinate system is the axis system of the gyroscope sensor 
+	i.e. the yawRate pitchRate rollRate values are raw measurements 
+	without any conversion except probably averaging of multiple 
+	sensor readings over the measurement interval.
+	see TGyroscopeConfiguration for an explanation how to convert these values to the vehicle axis system
+	It is possible that not all values are populated e.g. when only a 1-axis gyroscope is used.
+	You must check the valid bits before usage.
+	 **>
+	struct TGyroscopeData {
+	    <** @description: Timestamp of the acquisition of the gyroscope signal [ms].
+	   All sensor/GNSS timestamps must be based on the same time source. 
+	    **>
+	    UInt64 timestamp
+	    <** @description: Current angular rate measurement around the z/yaw-axis of the gyroscope sensor [degree/s].
+	   Value range -100 / +100 degree/s. Frequency of at least 5Hz. Preferrably 50Hz.
+	   A rotation to the left is indicated by a positive sign
+	   _if_ gyroscope axes are aligned with vehicle axes 
+	   i.e. if all euler angles are zero in TGyroscopeConfiguration.
+	    **>
+	    Float yawRate
+	    <** @description: Current angular rate measurement around the y/pitch-axis of the gyroscope sensor [degree/s].
+	   Value range -100 / +100 degree/s. Frequency of at least 5Hz. Preferrably 50Hz.
+	   A rotation front down is indicated by a positive sign
+	   _if_ gyroscope axes are aligned with vehicle axes 
+	   i.e. if all euler angles are zero in TGyroscopeConfiguration.
+	    **>
+	    Float pitchRate
+	    <** @description: Current angular rate measurement around the x/roll-axis of the gyroscope sensor [degree/s].
+	   Value range -100 / +100 degree/s. Frequency of at least 5Hz. Preferrably 50Hz.
+	   A rotation right down is indicated by a positive sign
+	   _if_ gyroscope axes are aligned with vehicle axes 
+	   i.e. if all euler angles are zero in TGyroscopeConfiguration.
+	    **>
+	    Float rollRate
+	    <** @description: Temperature reading of the gyroscope sensor.
+	   If available it can be used for temperature compensation. 
+	   The measurement unit is unspecified. 
+	   Degrees celsius are preferred but any value linearly dependent on the temperature is fine.
+	    **>
+	    Float temperature
+	    <** @description: Measurement interval over which the gyroscope signal has been acquired.
+	   Unit: micro-seconds [us].
+	   This may slightly differ from the timestamp difference
+	   e.g. in case of transmission jitter before timestamping.
+	   Providing the measurement interval allows thus 
+	   - a more accurate integration of gyroscope measurements.
+	   - correct usage of the first sample
+	   - adding consistency checks
+	    **>
+	    UInt32 measurementInterval
+	    <** @description: Bit mask indicating the validity of each corresponding value.
+	   [bitwise or'ed  EGyroscopeValidityBits values].
+	   Must be checked before usage.
+	    **>
+	    UInt32 validityBits
+	} 
+
+	<** @description: getGyroscopeData = get the gyroscope data at a specific point in time. 
+	Be careful when using this method to read data often enough as gyro data are rotation rates per second.
+	The recommended usage for the gyroscope data is the callback interface. PC: get on notification 
+	The get method is provided for consistency reasons of the sensor service API and might be used
+	for determining the rotation rate in certain situations.
+	All valid flags are updated. The data is only guaranteed to be updated when the valid flags are true.
+	**>
+	method getGyroscopeData {
+	    out {
+	        TGyroscopeData gyroData
+			<** @description: available = Is true if data can be provided and false otherwise, e.g. missing initialization **>
+			Boolean available
+		}
+	}
+	<** @description: getGyroscopeDataList = get a list of gyroscope data. 
+	may return buffered data (numElements >1) for different reasons
+	  for (large) portions of data buffered at startup
+	  for data buffered during regular operation e.g. for performance optimization (reduction of callback invocation frequency)
+	If the array contains (numElements >1) the elements will be ordered with rising timestamps
+	gyroData pointer to an array of TGyroscopeData with size numElements
+	**>
+	method getGyroscopeDataList {
+	    out {
+	        TGyroscopeData[] gyroData
+			<** @description: numElements = allowed range: >=1. If numElements >1, buffered data are provided.**>
+			UInt16 numElements
+		}
+	}
+	<** @description: notifyGyroscopeDataChanged
+	The signal will be emitted when new gyroscope data is available.
+	All valid flags are updated. The data is only guaranteed to be updated when the valid flags are true.
+	**>
+	broadcast notifyGyroscopeDataChanged selective {   	
+	}
+
+	<** @description: 
+	Initialization of the gyroscope sensor service.
+	Must be called before using the gyroscope sensor service to set up the service.
+	**>
+	method init {
+	    out {
+			<** @description: initialized = Is true if initialization has been successfull **>
+			Boolean initialized
+		}
+	}
+
+	<** @description: 
+	Destroy the acceleration sensor service.
+	Must be called after using the gyroscope sensor service to shut down the service.
+	**>
+	method destroy {
+	    out {
+			<** @description: destroyed = Is true if shutdown has been successfull. **>
+			Boolean destroyed
+		}
+	}
+
+	<** @description: getMetaData = get the meta information about sensor service.
+	The meta data of a sensor service provides information about it's name, version, type, subtype, sampling frequency etc.
+	**>
+	method getMetaData {
+	    out {
+	        TSensorMetaData data
+			<** @description: available = Is true if meta data is available **>
+			Boolean available
+		}
+	}
+
+	<** @description: getGyroscopeConfiguration = get the static configuration information about the gyroscope sensor. 
+	**>
+	method getGyroscopeConfiguration {
+	    out {
+	        TGyroscopeConfiguration config
+			<** @description: available = Is true if data can be provided and false otherwise, e.g. missing initialization **>
+			Boolean available
+		}
+	}
+
+	<** @description: getStatus = get the gyroscope status at a specific point in time. **>
+	method getStatus {
+	    out {
+	        TSensorStatus status
+			<** @description: available = Is true if data can be provided and false otherwise, e.g. missing initialization **>
+			Boolean available
+		}
+	}
+	<** @description: notifyStatusChanged
+	The signal will be emitted when new gyroscope sensor status data is available.
+	**>
+	broadcast notifyStatusChanged selective {   	
+	}
+	
+}
diff --git a/sensors-service/api/franca/MetaData.fidl b/sensors-service/api/franca/MetaData.fidl
new file mode 100644
index 0000000..2576442
--- /dev/null
+++ b/sensors-service/api/franca/MetaData.fidl
@@ -0,0 +1,28 @@
+/*  SPDX-License-Identifier: MPL-2.0
+    Component Name: EnhancedPositionService
+    Compliance Level: Abstract Component
+    Copyright (C) 2012, BMW Car IT GmbH, Continental Automotive GmbH, PCA Peugeot Citroën, XS Embedded GmbH
+    License:
+    This Source Code Form is subject to the terms of the
+    Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with
+    this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+*/
+
+package org.genivi.SensorsService
+
+import org.genivi.SensorsService.SensorsServiceTypes.* from "SensorsServiceTypes.fidl"
+
+<** @description : MetaData = This interface offers functionalities to retrieve the MetaData of SensorsService **>
+interface MetaData {
+
+	<** @description: getMetaDataList = get the metadata of all available sensors. **>
+	method getMetaDataList {
+	    out {
+	        TSensorMetaData[] metadata
+			<** @description: numElements = number of elements in the array **>
+			UInt16 numElements
+		}
+	}
+	
+}
+
diff --git a/sensors-service/api/franca/SensorsServiceTypes.fidl b/sensors-service/api/franca/SensorsServiceTypes.fidl
new file mode 100644
index 0000000..07ab29d
--- /dev/null
+++ b/sensors-service/api/franca/SensorsServiceTypes.fidl
@@ -0,0 +1,94 @@
+/*  SPDX-License-Identifier: MPL-2.0
+    Component Name: EnhancedPositionService
+    Compliance Level: Abstract Component
+    Copyright (C) 2012, BMW Car IT GmbH, Continental Automotive GmbH, PCA Peugeot Citroën, XS Embedded GmbH
+    License:
+    This Source Code Form is subject to the terms of the
+    Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with
+    this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+*/
+
+package org.genivi.SensorsService
+
+typeCollection SensorsServiceTypes {
+
+//Data types and enums defined into 'sns-meta-data.h'
+	<** @description:
+	The sensor category introduces the concept that sensor information can also be derived information
+	computed by combining several signals.
+	**>
+	enumeration ESensorCategory {
+	    SENSOR_CATEGORY_UNKNOWN       // Unknown category. Should not be used.
+	    SENSOR_CATEGORY_LOGICAL       // A logical sensor can combine signals of several sensors.
+	    SENSOR_CATEGORY_PHYSICAL      // A physical sensor provides signals from physically available sensors.
+	}
+
+
+	<** @description:
+	The sensor type identifies which physical quantity is measured.
+	For each sensor type there is a corresponding API header with data structures callback notifications and getter functions defined
+	Note that for all 3 wheel sensor types there is a combined API header.
+	**>
+	enumeration ESensorType {
+	    SENSOR_TYPE_UNKNOWN             // Unknown sensor type. Should not be used. 
+	    SENSOR_TYPE_ACCELERATION        // Acceleration sensor. 
+	    SENSOR_TYPE_GYROSCOPE           // Gyroscope sensor. 
+	    SENSOR_TYPE_INCLINATION         // Inclination sensor. 
+	    SENSOR_TYPE_ODOMETER            // Odometer sensor. 
+	    SENSOR_TYPE_REVERSE_GEAR        // Reverse gear sensor. 
+	    SENSOR_TYPE_SLIP_ANGLE          // Slip angle sensor. 
+	    SENSOR_TYPE_STEERING_ANGLE      // Steering angle sensor. 
+	    SENSOR_TYPE_VEHICLE_SPEED       // Vehicle speed sensor. 
+	    SENSOR_TYPE_VEHICLE_STATE       // Vehicle state sensor. 
+	    SENSOR_TYPE_WHEELTICK           // Wheel tick sensor. 
+	    SENSOR_TYPE_WHEELSPEEDANGULAR   // Wheel speed angular sensor. 
+	    SENSOR_TYPE_WHEELSPEED          // Wheel speed sensor. 
+	}
+
+	<** @description:
+	The software platform provides the following information about the Sensor and the related output Signals.
+	Sensor clients need the meta data information in order to correctly handle data provided by sensor service and
+	to adapt to the variation in the signal data delivery.
+	 **>
+	struct TSensorMetaData {
+	    UInt32 ^version              // Version of the sensor service. 
+	    ESensorCategory category     // Sensor Category (Physical/Logical). 
+	    ESensorType type             // Sensor Type (Odometer Gyroscope etc.). 
+	    UInt32 cycleTime 			 // Sensor cycle time (update interval) in ms. 0 for irregular updates 
+	}
+
+	//Data types and enums defined into 'sns-status.h'
+	
+	<** @description:
+	Enumeration to describe the status of the sensor
+	 **>
+	enumeration ESensorStatus {
+	    SENSOR_STATUS_NOTAVAILABLE  = 0    	// Sensor is not available at all based on configuration data. 
+	    SENSOR_STATUS_INITIALIZING  = 1    	// Initial status when the connection to the Sensor is set up for the first time. 
+	    SENSOR_STATUS_AVAILABLE     = 2    	// Sensor is available and running as expected. 
+	    SENSOR_STATUS_RESTARTING    = 3    	// Sensor is restarted i.e. due to communication loss. 
+	    SENSOR_STATUS_FAILURE       = 4		// Sensor is not operating properly. Restarting did not help. 
+	    SENSOR_STATUS_OUTOFSERVICE  = 5		// Sensor is temporarily not available due to some known external condition vehicle bus or external ECU providing he signal being off. 
+	}
+
+	<** @description:
+	TSensorStatus::validityBits provides information about the currently valid signals of the TSensorStatus struct.
+	It is a or'ed bitmask of the ESensorStatusValidityBits values.
+	 **>
+	enumeration ESensorStatusValidityBits {
+	    SENSOR_STATUS_STATUS_VALID  = 0x00000001    // Validity bit for field TSensorStatus::status.
+	}
+
+	<** @description:
+	Container for sensor status information
+	 **>
+	struct TSensorStatus {
+	    UInt64 timestamp            // Timestamp of the sensor status transition [ms].
+	                                // All sensor/GNSS timestamps must be based on the same time source.
+	    ESensorStatus status		// Status of the sensor **>
+	    UInt32 validityBits         // Bit mask indicating the validity of each corresponding value.
+	                                // [bitwise or'ed ref ESensorStatusValidityBits values].
+	                                // Must be checked before usage. **>
+	}
+
+}
\ No newline at end of file