1 /* 2 * Copyright (C) 2010 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 "RotationVectorSensor.h" 26 27 namespace android { 28 // --------------------------------------------------------------------------- 29 30 RotationVectorSensor::RotationVectorSensor() 31 : mSensorDevice(SensorDevice::getInstance()), 32 mSensorFusion(SensorFusion::getInstance()) 33 { 34 } 35 36 bool RotationVectorSensor::process(sensors_event_t* outEvent, 37 const sensors_event_t& event) 38 { 39 if (event.type == SENSOR_TYPE_ACCELEROMETER) { 40 if (mSensorFusion.hasEstimate()) { 41 const vec4_t q(mSensorFusion.getAttitude()); 42 *outEvent = event; 43 outEvent->data[0] = q.x; 44 outEvent->data[1] = q.y; 45 outEvent->data[2] = q.z; 46 outEvent->data[3] = q.w; 47 outEvent->sensor = '_rov'; 48 outEvent->type = SENSOR_TYPE_ROTATION_VECTOR; 49 return true; 50 } 51 } 52 return false; 53 } 54 55 status_t RotationVectorSensor::activate(void* ident, bool enabled) { 56 return mSensorFusion.activate(ident, enabled); 57 } 58 59 status_t RotationVectorSensor::setDelay(void* ident, int handle, int64_t ns) { 60 return mSensorFusion.setDelay(ident, ns); 61 } 62 63 Sensor RotationVectorSensor::getSensor() const { 64 sensor_t hwSensor; 65 hwSensor.name = "Rotation Vector Sensor"; 66 hwSensor.vendor = "AOSP"; 67 hwSensor.version = 3; 68 hwSensor.handle = '_rov'; 69 hwSensor.type = SENSOR_TYPE_ROTATION_VECTOR; 70 hwSensor.maxRange = 1; 71 hwSensor.resolution = 1.0f / (1<<24); 72 hwSensor.power = mSensorFusion.getPowerUsage(); 73 hwSensor.minDelay = mSensorFusion.getMinDelay(); 74 Sensor sensor(&hwSensor); 75 return sensor; 76 } 77 78 // --------------------------------------------------------------------------- 79 80 GyroDriftSensor::GyroDriftSensor() 81 : mSensorDevice(SensorDevice::getInstance()), 82 mSensorFusion(SensorFusion::getInstance()) 83 { 84 } 85 86 bool GyroDriftSensor::process(sensors_event_t* outEvent, 87 const sensors_event_t& event) 88 { 89 if (event.type == SENSOR_TYPE_ACCELEROMETER) { 90 if (mSensorFusion.hasEstimate()) { 91 const vec3_t b(mSensorFusion.getGyroBias()); 92 *outEvent = event; 93 outEvent->data[0] = b.x; 94 outEvent->data[1] = b.y; 95 outEvent->data[2] = b.z; 96 outEvent->sensor = '_gbs'; 97 outEvent->type = SENSOR_TYPE_ACCELEROMETER; 98 return true; 99 } 100 } 101 return false; 102 } 103 104 status_t GyroDriftSensor::activate(void* ident, bool enabled) { 105 return mSensorFusion.activate(ident, enabled); 106 } 107 108 status_t GyroDriftSensor::setDelay(void* ident, int handle, int64_t ns) { 109 return mSensorFusion.setDelay(ident, ns); 110 } 111 112 Sensor GyroDriftSensor::getSensor() const { 113 sensor_t hwSensor; 114 hwSensor.name = "Gyroscope Bias (debug)"; 115 hwSensor.vendor = "AOSP"; 116 hwSensor.version = 1; 117 hwSensor.handle = '_gbs'; 118 hwSensor.type = SENSOR_TYPE_ACCELEROMETER; 119 hwSensor.maxRange = 1; 120 hwSensor.resolution = 1.0f / (1<<24); 121 hwSensor.power = mSensorFusion.getPowerUsage(); 122 hwSensor.minDelay = mSensorFusion.getMinDelay(); 123 Sensor sensor(&hwSensor); 124 return sensor; 125 } 126 127 // --------------------------------------------------------------------------- 128 }; // namespace android 129 130
