Mathias Agopian | 73e0bc8 | 2011-05-17 22:54:42 -0700 | [diff] [blame] | 1 | /* |
| 2 | * Copyright (C) 2011 The Android Open Source Project |
| 3 | * |
| 4 | * Licensed under the Apache License, Version 2.0 (the "License"); |
| 5 | * you may not use this file except in compliance with the License. |
| 6 | * You may obtain a copy of the License at |
| 7 | * |
| 8 | * http://www.apache.org/licenses/LICENSE-2.0 |
| 9 | * |
| 10 | * Unless required by applicable law or agreed to in writing, software |
| 11 | * distributed under the License is distributed on an "AS IS" BASIS, |
| 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| 13 | * See the License for the specific language governing permissions and |
| 14 | * limitations under the License. |
| 15 | */ |
| 16 | |
| 17 | #include <stdint.h> |
| 18 | #include <math.h> |
| 19 | #include <sys/types.h> |
| 20 | |
| 21 | #include <utils/Errors.h> |
| 22 | |
| 23 | #include <hardware/sensors.h> |
| 24 | |
| 25 | #include "CorrectedGyroSensor.h" |
| 26 | #include "SensorDevice.h" |
| 27 | #include "SensorFusion.h" |
| 28 | |
| 29 | namespace android { |
| 30 | // --------------------------------------------------------------------------- |
| 31 | |
| 32 | CorrectedGyroSensor::CorrectedGyroSensor(sensor_t const* list, size_t count) |
| 33 | : mSensorDevice(SensorDevice::getInstance()), |
| 34 | mSensorFusion(SensorFusion::getInstance()) |
| 35 | { |
| 36 | for (size_t i=0 ; i<count ; i++) { |
| 37 | if (list[i].type == SENSOR_TYPE_GYROSCOPE) { |
| 38 | mGyro = Sensor(list + i); |
| 39 | break; |
| 40 | } |
| 41 | } |
| 42 | } |
| 43 | |
| 44 | bool CorrectedGyroSensor::process(sensors_event_t* outEvent, |
| 45 | const sensors_event_t& event) |
| 46 | { |
| 47 | if (event.type == SENSOR_TYPE_GYROSCOPE) { |
Mathias Agopian | 6043e53 | 2011-05-27 18:18:13 -0700 | [diff] [blame] | 48 | const vec3_t bias(mSensorFusion.getGyroBias()); |
Mathias Agopian | 73e0bc8 | 2011-05-17 22:54:42 -0700 | [diff] [blame] | 49 | *outEvent = event; |
| 50 | outEvent->data[0] -= bias.x; |
| 51 | outEvent->data[1] -= bias.y; |
| 52 | outEvent->data[2] -= bias.z; |
| 53 | outEvent->sensor = '_cgy'; |
| 54 | return true; |
| 55 | } |
| 56 | return false; |
| 57 | } |
| 58 | |
| 59 | status_t CorrectedGyroSensor::activate(void* ident, bool enabled) { |
| 60 | mSensorDevice.activate(this, mGyro.getHandle(), enabled); |
| 61 | return mSensorFusion.activate(this, enabled); |
| 62 | } |
| 63 | |
| 64 | status_t CorrectedGyroSensor::setDelay(void* ident, int handle, int64_t ns) { |
| 65 | mSensorDevice.setDelay(this, mGyro.getHandle(), ns); |
| 66 | return mSensorFusion.setDelay(this, ns); |
| 67 | } |
| 68 | |
| 69 | Sensor CorrectedGyroSensor::getSensor() const { |
| 70 | sensor_t hwSensor; |
| 71 | hwSensor.name = "Corrected Gyroscope Sensor"; |
| 72 | hwSensor.vendor = "Google Inc."; |
| 73 | hwSensor.version = 1; |
| 74 | hwSensor.handle = '_cgy'; |
| 75 | hwSensor.type = SENSOR_TYPE_GYROSCOPE; |
| 76 | hwSensor.maxRange = mGyro.getMaxValue(); |
| 77 | hwSensor.resolution = mGyro.getResolution(); |
| 78 | hwSensor.power = mSensorFusion.getPowerUsage(); |
| 79 | hwSensor.minDelay = mGyro.getMinDelay(); |
| 80 | Sensor sensor(&hwSensor); |
| 81 | return sensor; |
| 82 | } |
| 83 | |
| 84 | // --------------------------------------------------------------------------- |
| 85 | }; // namespace android |
| 86 | |