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/*
* 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 "RotationVectorSensor.h"
namespace android {
// ---------------------------------------------------------------------------
RotationVectorSensor::RotationVectorSensor()
: mSensorDevice(SensorDevice::getInstance()),
mSensorFusion(SensorFusion::getInstance())
{
}
bool RotationVectorSensor::process(sensors_event_t* outEvent,
const sensors_event_t& event)
{
if (event.type == SENSOR_TYPE_ACCELEROMETER) {
if (mSensorFusion.hasEstimate()) {
const vec4_t q(mSensorFusion.getAttitude());
*outEvent = event;
outEvent->data[0] = q.x;
outEvent->data[1] = q.y;
outEvent->data[2] = q.z;
outEvent->data[3] = q.w;
outEvent->sensor = '_rov';
outEvent->type = SENSOR_TYPE_ROTATION_VECTOR;
return true;
}
}
return false;
}
status_t RotationVectorSensor::activate(void* ident, bool enabled) {
return mSensorFusion.activate(ident, enabled);
}
status_t RotationVectorSensor::setDelay(void* ident, int /*handle*/, int64_t ns) {
return mSensorFusion.setDelay(ident, ns);
}
Sensor RotationVectorSensor::getSensor() const {
sensor_t hwSensor;
hwSensor.name = "Rotation Vector Sensor";
hwSensor.vendor = "AOSP";
hwSensor.version = 3;
hwSensor.handle = '_rov';
hwSensor.type = SENSOR_TYPE_ROTATION_VECTOR;
hwSensor.maxRange = 1;
hwSensor.resolution = 1.0f / (1<<24);
hwSensor.power = mSensorFusion.getPowerUsage();
hwSensor.minDelay = mSensorFusion.getMinDelay();
Sensor sensor(&hwSensor);
return sensor;
}
// ---------------------------------------------------------------------------
GyroDriftSensor::GyroDriftSensor()
: mSensorDevice(SensorDevice::getInstance()),
mSensorFusion(SensorFusion::getInstance())
{
}
bool GyroDriftSensor::process(sensors_event_t* outEvent,
const sensors_event_t& event)
{
if (event.type == SENSOR_TYPE_ACCELEROMETER) {
if (mSensorFusion.hasEstimate()) {
const vec3_t b(mSensorFusion.getGyroBias());
*outEvent = event;
outEvent->data[0] = b.x;
outEvent->data[1] = b.y;
outEvent->data[2] = b.z;
outEvent->sensor = '_gbs';
outEvent->type = SENSOR_TYPE_ACCELEROMETER;
return true;
}
}
return false;
}
status_t GyroDriftSensor::activate(void* ident, bool enabled) {
return mSensorFusion.activate(ident, enabled);
}
status_t GyroDriftSensor::setDelay(void* ident, int /*handle*/, int64_t ns) {
return mSensorFusion.setDelay(ident, ns);
}
Sensor GyroDriftSensor::getSensor() const {
sensor_t hwSensor;
hwSensor.name = "Gyroscope Bias (debug)";
hwSensor.vendor = "AOSP";
hwSensor.version = 1;
hwSensor.handle = '_gbs';
hwSensor.type = SENSOR_TYPE_ACCELEROMETER;
hwSensor.maxRange = 1;
hwSensor.resolution = 1.0f / (1<<24);
hwSensor.power = mSensorFusion.getPowerUsage();
hwSensor.minDelay = mSensorFusion.getMinDelay();
Sensor sensor(&hwSensor);
return sensor;
}
// ---------------------------------------------------------------------------
}; // namespace android
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