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      1 /*
      2  * Copyright (C) 2011 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 #include <stdint.h>
     18 #include <math.h>
     19 #include <sys/types.h>
     20 
     21 #include <utils/Errors.h>
     22 
     23 #include <hardware/sensors.h>
     24 
     25 #include "CorrectedGyroSensor.h"
     26 #include "SensorDevice.h"
     27 #include "SensorFusion.h"
     28 
     29 namespace android {
     30 // ---------------------------------------------------------------------------
     31 
     32 CorrectedGyroSensor::CorrectedGyroSensor(sensor_t const* list, size_t count)
     33     : mSensorDevice(SensorDevice::getInstance()),
     34       mSensorFusion(SensorFusion::getInstance())
     35 {
     36     for (size_t i=0 ; i<count ; i++) {
     37         if (list[i].type == SENSOR_TYPE_GYROSCOPE) {
     38             mGyro = Sensor(list + i);
     39             break;
     40         }
     41     }
     42 }
     43 
     44 bool CorrectedGyroSensor::process(sensors_event_t* outEvent,
     45         const sensors_event_t& event)
     46 {
     47     if (event.type == SENSOR_TYPE_GYROSCOPE) {
     48         const vec3_t bias(mSensorFusion.getGyroBias());
     49         *outEvent = event;
     50         outEvent->data[0] -= bias.x;
     51         outEvent->data[1] -= bias.y;
     52         outEvent->data[2] -= bias.z;
     53         outEvent->sensor = '_cgy';
     54         return true;
     55     }
     56     return false;
     57 }
     58 
     59 status_t CorrectedGyroSensor::activate(void* ident, bool enabled) {
     60     mSensorDevice.activate(this, mGyro.getHandle(), enabled);
     61     return mSensorFusion.activate(this, enabled);
     62 }
     63 
     64 status_t CorrectedGyroSensor::setDelay(void* ident, int handle, int64_t ns) {
     65     mSensorDevice.setDelay(this, mGyro.getHandle(), ns);
     66     return mSensorFusion.setDelay(this, ns);
     67 }
     68 
     69 Sensor CorrectedGyroSensor::getSensor() const {
     70     sensor_t hwSensor;
     71     hwSensor.name       = "Corrected Gyroscope Sensor";
     72     hwSensor.vendor     = "Google Inc.";
     73     hwSensor.version    = 1;
     74     hwSensor.handle     = '_cgy';
     75     hwSensor.type       = SENSOR_TYPE_GYROSCOPE;
     76     hwSensor.maxRange   = mGyro.getMaxValue();
     77     hwSensor.resolution = mGyro.getResolution();
     78     hwSensor.power      = mSensorFusion.getPowerUsage();
     79     hwSensor.minDelay   = mGyro.getMinDelay();
     80     Sensor sensor(&hwSensor);
     81     return sensor;
     82 }
     83 
     84 // ---------------------------------------------------------------------------
     85 }; // namespace android
     86 
     87