Home | History | Annotate | Download | only in sensorservice 
      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 "OrientationSensor.h"
     26 #include "SensorDevice.h"
     27 #include "SensorFusion.h"
     28 
     29 namespace android {
     30 // ---------------------------------------------------------------------------
     31 
     32 OrientationSensor::OrientationSensor() {
     33     const sensor_t sensor = {
     34         .name       = "Orientation Sensor",
     35         .vendor     = "AOSP",
     36         .version    = 1,
     37         .handle     = '_ypr',
     38         .type       = SENSOR_TYPE_ORIENTATION,
     39         .maxRange   = 360.0f,
     40         .resolution = 1.0f/256.0f, // FIXME: real value here
     41         .power      = mSensorFusion.getPowerUsage(),
     42         .minDelay   = mSensorFusion.getMinDelay(),
     43     };
     44     mSensor = Sensor(&sensor);
     45 }
     46 
     47 bool OrientationSensor::process(sensors_event_t* outEvent,
     48         const sensors_event_t& event)
     49 {
     50     if (event.type == SENSOR_TYPE_ACCELEROMETER) {
     51         if (mSensorFusion.hasEstimate()) {
     52             vec3_t g;
     53             const float rad2deg = 180 / M_PI;
     54             const mat33_t R(mSensorFusion.getRotationMatrix());
     55             g[0] = atan2f(-R[1][0], R[0][0])    * rad2deg;
     56             g[1] = atan2f(-R[2][1], R[2][2])    * rad2deg;
     57             g[2] = asinf ( R[2][0])             * rad2deg;
     58             if (g[0] < 0)
     59                 g[0] += 360;
     60 
     61             *outEvent = event;
     62             outEvent->orientation.azimuth = g.x;
     63             outEvent->orientation.pitch   = g.y;
     64             outEvent->orientation.roll    = g.z;
     65             outEvent->orientation.status  = SENSOR_STATUS_ACCURACY_HIGH;
     66             outEvent->sensor = '_ypr';
     67             outEvent->type = SENSOR_TYPE_ORIENTATION;
     68             return true;
     69         }
     70     }
     71     return false;
     72 }
     73 
     74 status_t OrientationSensor::activate(void* ident, bool enabled) {
     75     return mSensorFusion.activate(FUSION_9AXIS, ident, enabled);
     76 }
     77 
     78 status_t OrientationSensor::setDelay(void* ident, int /*handle*/, int64_t ns) {
     79     return mSensorFusion.setDelay(FUSION_9AXIS, ident, ns);
     80 }
     81 
     82 // ---------------------------------------------------------------------------
     83 }; // namespace android
     84 
     85