| /* |
| * 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 |
| |