1 files changed, 94 insertions, 0 deletions
diff --git a/services/sensorservice/GravitySensor.cpp b/services/sensorservice/GravitySensor.cpp
new file mode 100644
index 0000000..c57715f
--- /dev/null
+++ b/services/sensorservice/GravitySensor.cpp
@@ -0,0 +1,94 @@
+/*
+ * Copyright (C) 2010 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <stdint.h>
+#include <math.h>
+#include <sys/types.h>
+
+#include <utils/Errors.h>
+
+#include <hardware/sensors.h>
+
+#include "GravitySensor.h"
+#include "SensorDevice.h"
+#include "SensorFusion.h"
+
+namespace android {
+// ---------------------------------------------------------------------------
+
+GravitySensor::GravitySensor(sensor_t const* list, size_t count)
+    : mSensorDevice(SensorDevice::getInstance()),
+      mSensorFusion(SensorFusion::getInstance())
+{
+    for (size_t i=0 ; i<count ; i++) {
+        if (list[i].type == SENSOR_TYPE_ACCELEROMETER) {
+            mAccelerometer = Sensor(list + i);
+            break;
+        }
+    }
+}
+
+bool GravitySensor::process(sensors_event_t* outEvent,
+        const sensors_event_t& event)
+{
+    const static double NS2S = 1.0 / 1000000000.0;
+    if (event.type == SENSOR_TYPE_ACCELEROMETER) {
+        vec3_t g;
+        if (!mSensorFusion.hasEstimate())
+            return false;
+        const mat33_t R(mSensorFusion.getRotationMatrix());
+        // FIXME: we need to estimate the length of gravity because
+        // the accelerometer may have a small scaling error. This
+        // translates to an offset in the linear-acceleration sensor.
+        g = R[2] * GRAVITY_EARTH;
+
+        *outEvent = event;
+        outEvent->data[0] = g.x;
+        outEvent->data[1] = g.y;
+        outEvent->data[2] = g.z;
+        outEvent->sensor = '_grv';
+        outEvent->type = SENSOR_TYPE_GRAVITY;
+        return true;
+    }
+    return false;
+}
+
+status_t GravitySensor::activate(void* ident, bool enabled) {
+    return mSensorFusion.activate(this, enabled);
+}
+
+status_t GravitySensor::setDelay(void* ident, int handle, int64_t ns) {
+    return mSensorFusion.setDelay(this, ns);
+}
+
+Sensor GravitySensor::getSensor() const {
+    sensor_t hwSensor;
+    hwSensor.name       = "Gravity Sensor";
+    hwSensor.vendor     = "Google Inc.";
+    hwSensor.version    = 3;
+    hwSensor.handle     = '_grv';
+    hwSensor.type       = SENSOR_TYPE_GRAVITY;
+    hwSensor.maxRange   = GRAVITY_EARTH * 2;
+    hwSensor.resolution = mAccelerometer.getResolution();
+    hwSensor.power      = mSensorFusion.getPowerUsage();
+    hwSensor.minDelay   = mSensorFusion.getMinDelay();
+    Sensor sensor(&hwSensor);
+    return sensor;
+}
+
+// ---------------------------------------------------------------------------
+}; // namespace android
+