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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     : VirtualSensor() {
     34     for (size_t i=0 ; i<count ; i++) {
     35         if (list[i].type == SENSOR_TYPE_GYROSCOPE) {
     36             mGyro = Sensor(list + i);
     37             break;
     38         }
     39     }
     40 
     41     const sensor_t sensor = {
     42             .name       = "Corrected Gyroscope Sensor",
     43             .vendor     = "AOSP",
     44             .version    = 1,
     45             .handle     = '_cgy',
     46             .type       = SENSOR_TYPE_GYROSCOPE,
     47             .maxRange   = mGyro.getMaxValue(),
     48             .resolution = mGyro.getResolution(),
     49             .power      = mSensorFusion.getPowerUsage(),
     50             .minDelay   = mGyro.getMinDelay(),
     51     };
     52     mSensor = Sensor(&sensor);
     53 }
     54 
     55 bool CorrectedGyroSensor::process(sensors_event_t* outEvent,
     56         const sensors_event_t& event)
     57 {
     58     if (event.type == SENSOR_TYPE_GYROSCOPE) {
     59         const vec3_t bias(mSensorFusion.getGyroBias());
     60         *outEvent = event;
     61         outEvent->data[0] -= bias.x;
     62         outEvent->data[1] -= bias.y;
     63         outEvent->data[2] -= bias.z;
     64         outEvent->sensor = '_cgy';
     65         return true;
     66     }
     67     return false;
     68 }
     69 
     70 status_t CorrectedGyroSensor::activate(void* ident, bool enabled) {
     71     mSensorDevice.activate(ident, mGyro.getHandle(), enabled);
     72     return mSensorFusion.activate(FUSION_9AXIS, ident, enabled);
     73 }
     74 
     75 status_t CorrectedGyroSensor::setDelay(void* ident, int /*handle*/, int64_t ns) {
     76     mSensorDevice.setDelay(ident, mGyro.getHandle(), ns);
     77     return mSensorFusion.setDelay(FUSION_9AXIS, ident, ns);
     78 }
     79 
     80 // ---------------------------------------------------------------------------
     81 }; // namespace android
     82 
     83