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