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 "OrientationSensor.h"
26 #include "SensorDevice.h"
27 #include "SensorFusion.h"
28
29 namespace android {
30 // ---------------------------------------------------------------------------
31
OrientationSensor()32 OrientationSensor::OrientationSensor()
33 : mSensorDevice(SensorDevice::getInstance()),
34 mSensorFusion(SensorFusion::getInstance())
35 {
36 }
37
process(sensors_event_t * outEvent,const sensors_event_t & event)38 bool OrientationSensor::process(sensors_event_t* outEvent,
39 const sensors_event_t& event)
40 {
41 if (event.type == SENSOR_TYPE_ACCELEROMETER) {
42 if (mSensorFusion.hasEstimate()) {
43 vec3_t g;
44 const float rad2deg = 180 / M_PI;
45 const mat33_t R(mSensorFusion.getRotationMatrix());
46 g[0] = atan2f(-R[1][0], R[0][0]) * rad2deg;
47 g[1] = atan2f(-R[2][1], R[2][2]) * rad2deg;
48 g[2] = asinf ( R[2][0]) * rad2deg;
49 if (g[0] < 0)
50 g[0] += 360;
51
52 *outEvent = event;
53 outEvent->orientation.azimuth = g.x;
54 outEvent->orientation.pitch = g.y;
55 outEvent->orientation.roll = g.z;
56 outEvent->orientation.status = SENSOR_STATUS_ACCURACY_HIGH;
57 outEvent->sensor = '_ypr';
58 outEvent->type = SENSOR_TYPE_ORIENTATION;
59 return true;
60 }
61 }
62 return false;
63 }
64
activate(void * ident,bool enabled)65 status_t OrientationSensor::activate(void* ident, bool enabled) {
66 return mSensorFusion.activate(this, enabled);
67 }
68
setDelay(void * ident,int handle,int64_t ns)69 status_t OrientationSensor::setDelay(void* ident, int handle, int64_t ns) {
70 return mSensorFusion.setDelay(this, ns);
71 }
72
getSensor() const73 Sensor OrientationSensor::getSensor() const {
74 sensor_t hwSensor;
75 hwSensor.name = "Orientation Sensor";
76 hwSensor.vendor = "Google Inc.";
77 hwSensor.version = 1;
78 hwSensor.handle = '_ypr';
79 hwSensor.type = SENSOR_TYPE_ORIENTATION;
80 hwSensor.maxRange = 360.0f;
81 hwSensor.resolution = 1.0f/256.0f; // FIXME: real value here
82 hwSensor.power = mSensorFusion.getPowerUsage();
83 hwSensor.minDelay = mSensorFusion.getMinDelay();
84 Sensor sensor(&hwSensor);
85 return sensor;
86 }
87
88 // ---------------------------------------------------------------------------
89 }; // namespace android
90
91