1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
|
/*
* Copyright (C) 2011 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 "CorrectedGyroSensor.h"
#include "SensorDevice.h"
#include "SensorFusion.h"
namespace android {
// ---------------------------------------------------------------------------
CorrectedGyroSensor::CorrectedGyroSensor(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_GYROSCOPE) {
mGyro = Sensor(list + i);
break;
}
}
}
bool CorrectedGyroSensor::process(sensors_event_t* outEvent,
const sensors_event_t& event)
{
if (event.type == SENSOR_TYPE_GYROSCOPE) {
const vec3_t bias(mSensorFusion.getGyroBias());
*outEvent = event;
outEvent->data[0] -= bias.x;
outEvent->data[1] -= bias.y;
outEvent->data[2] -= bias.z;
outEvent->sensor = '_cgy';
return true;
}
return false;
}
status_t CorrectedGyroSensor::activate(void* ident, bool enabled) {
mSensorDevice.activate(ident, mGyro.getHandle(), enabled);
return mSensorFusion.activate(ident, enabled);
}
status_t CorrectedGyroSensor::setDelay(void* ident, int handle, int64_t ns) {
mSensorDevice.setDelay(ident, mGyro.getHandle(), ns);
return mSensorFusion.setDelay(ident, ns);
}
Sensor CorrectedGyroSensor::getSensor() const {
sensor_t hwSensor;
hwSensor.name = "Corrected Gyroscope Sensor";
hwSensor.vendor = "AOSP";
hwSensor.version = 1;
hwSensor.handle = '_cgy';
hwSensor.type = SENSOR_TYPE_GYROSCOPE;
hwSensor.maxRange = mGyro.getMaxValue();
hwSensor.resolution = mGyro.getResolution();
hwSensor.power = mSensorFusion.getPowerUsage();
hwSensor.minDelay = mGyro.getMinDelay();
Sensor sensor(&hwSensor);
return sensor;
}
// ---------------------------------------------------------------------------
}; // namespace android
|
