| /* |
| * 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 = "AOSP"; |
| 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 |
| |