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 #ifndef ANDROID_SENSOR_FUSION_H 18 #define ANDROID_SENSOR_FUSION_H 19 20 #include <stdint.h> 21 #include <sys/types.h> 22 23 #include <utils/SortedVector.h> 24 #include <utils/Singleton.h> 25 #include <utils/String8.h> 26 27 #include <gui/Sensor.h> 28 29 #include "Fusion.h" 30 31 // --------------------------------------------------------------------------- 32 33 namespace android { 34 // --------------------------------------------------------------------------- 35 36 class SensorDevice; 37 38 class SensorFusion : public Singleton<SensorFusion> { 39 friend class Singleton<SensorFusion>; 40 41 SensorDevice& mSensorDevice; 42 Sensor mAcc; 43 Sensor mMag; 44 Sensor mGyro; 45 Fusion mFusion; 46 bool mEnabled; 47 float mEstimatedGyroRate; 48 nsecs_t mTargetDelayNs; 49 nsecs_t mGyroTime; 50 vec4_t mAttitude; 51 SortedVector<void*> mClients; 52 53 SensorFusion(); 54 55 public: 56 void process(const sensors_event_t& event); 57 isEnabled()58 bool isEnabled() const { return mEnabled; } hasEstimate()59 bool hasEstimate() const { return mFusion.hasEstimate(); } getRotationMatrix()60 mat33_t getRotationMatrix() const { return mFusion.getRotationMatrix(); } getAttitude()61 vec4_t getAttitude() const { return mAttitude; } getGyroBias()62 vec3_t getGyroBias() const { return mFusion.getBias(); } getEstimatedRate()63 float getEstimatedRate() const { return mEstimatedGyroRate; } 64 65 status_t activate(void* ident, bool enabled); 66 status_t setDelay(void* ident, int64_t ns); 67 68 float getPowerUsage() const; 69 int32_t getMinDelay() const; 70 71 void dump(String8& result); 72 }; 73 74 75 // --------------------------------------------------------------------------- 76 }; // namespace android 77 78 #endif // ANDROID_SENSOR_FUSION_H 79