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
CorrectedGyroSensor(sensor_t const * list,size_t count)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
process(sensors_event_t * outEvent,const sensors_event_t & event)44 bool CorrectedGyroSensor::process(sensors_event_t* outEvent,
45 const sensors_event_t& event)
46 {
47 if (event.type == SENSOR_TYPE_GYROSCOPE) {
48 const vec3_t bias(mSensorFusion.getGyroBias());
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
activate(void * ident,bool enabled)59 status_t CorrectedGyroSensor::activate(void* ident, bool enabled) {
60 mSensorDevice.activate(this, mGyro.getHandle(), enabled);
61 return mSensorFusion.activate(this, enabled);
62 }
63
setDelay(void * ident,int handle,int64_t ns)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
getSensor() const69 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
87