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 <sensor/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 46 Fusion mFusions[NUM_FUSION_MODE]; // normal, no_mag, no_gyro 47 48 bool mEnabled[NUM_FUSION_MODE]; 49 50 vec4_t &mAttitude; 51 vec4_t mAttitudes[NUM_FUSION_MODE]; 52 53 SortedVector<void*> mClients[3]; 54 55 float mEstimatedGyroRate; 56 nsecs_t mTargetDelayNs; 57 58 nsecs_t mGyroTime; 59 nsecs_t mAccTime; 60 61 SensorFusion(); 62 63 public: 64 void process(const sensors_event_t& event); 65 isEnabled()66 bool isEnabled() const { 67 return mEnabled[FUSION_9AXIS] || 68 mEnabled[FUSION_NOMAG] || 69 mEnabled[FUSION_NOGYRO]; 70 } 71 72 bool hasEstimate(int mode = FUSION_9AXIS) const { 73 return mFusions[mode].hasEstimate(); 74 } 75 76 mat33_t getRotationMatrix(int mode = FUSION_9AXIS) const { 77 return mFusions[mode].getRotationMatrix(); 78 } 79 80 vec4_t getAttitude(int mode = FUSION_9AXIS) const { 81 return mAttitudes[mode]; 82 } 83 getGyroBias()84 vec3_t getGyroBias() const { return mFusions[FUSION_9AXIS].getBias(); } getEstimatedRate()85 float getEstimatedRate() const { return mEstimatedGyroRate; } 86 87 status_t activate(int mode, void* ident, bool enabled); 88 status_t setDelay(int mode, void* ident, int64_t ns); 89 90 float getPowerUsage(int mode=FUSION_9AXIS) const; 91 int32_t getMinDelay() const; 92 93 void dump(String8& result); 94 }; 95 96 97 // --------------------------------------------------------------------------- 98 }; // namespace android 99 100 #endif // ANDROID_SENSOR_FUSION_H 101