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/*
* 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 "OrientationSensor.h"
#include "SensorDevice.h"
#include "SensorFusion.h"
namespace android {
// ---------------------------------------------------------------------------
OrientationSensor::OrientationSensor()
: mSensorDevice(SensorDevice::getInstance()),
mSensorFusion(SensorFusion::getInstance())
{
// FIXME: instead of using the SensorFusion code, we should use
// the SENSOR_TYPE_ROTATION_VECTOR instead. This way we could use the
// HAL's implementation.
}
bool OrientationSensor::process(sensors_event_t* outEvent,
const sensors_event_t& event)
{
if (event.type == SENSOR_TYPE_ACCELEROMETER) {
if (mSensorFusion.hasEstimate()) {
vec3_t g;
const float rad2deg = 180 / M_PI;
const mat33_t R(mSensorFusion.getRotationMatrix());
g[0] = atan2f(-R[1][0], R[0][0]) * rad2deg;
g[1] = atan2f(-R[2][1], R[2][2]) * rad2deg;
g[2] = asinf ( R[2][0]) * rad2deg;
if (g[0] < 0)
g[0] += 360;
*outEvent = event;
outEvent->orientation.azimuth = g.x;
outEvent->orientation.pitch = g.y;
outEvent->orientation.roll = g.z;
outEvent->orientation.status = SENSOR_STATUS_ACCURACY_HIGH;
outEvent->sensor = '_ypr';
outEvent->type = SENSOR_TYPE_ORIENTATION;
return true;
}
}
return false;
}
status_t OrientationSensor::activate(void* ident, bool enabled) {
return mSensorFusion.activate(ident, enabled);
}
status_t OrientationSensor::setDelay(void* ident, int /*handle*/, int64_t ns) {
return mSensorFusion.setDelay(ident, ns);
}
Sensor OrientationSensor::getSensor() const {
sensor_t hwSensor;
hwSensor.name = "Orientation Sensor";
hwSensor.vendor = "AOSP";
hwSensor.version = 1;
hwSensor.handle = '_ypr';
hwSensor.type = SENSOR_TYPE_ORIENTATION;
hwSensor.maxRange = 360.0f;
hwSensor.resolution = 1.0f/256.0f; // FIXME: real value here
hwSensor.power = mSensorFusion.getPowerUsage();
hwSensor.minDelay = mSensorFusion.getMinDelay();
Sensor sensor(&hwSensor);
return sensor;
}
// ---------------------------------------------------------------------------
}; // namespace android
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