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      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