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 : VirtualSensor() {
34 for (size_t i=0 ; i<count ; i++) {
35 if (list[i].type == SENSOR_TYPE_GYROSCOPE) {
36 mGyro = Sensor(list + i);
37 break;
38 }
39 }
40
41 const sensor_t sensor = {
42 .name = "Corrected Gyroscope Sensor",
43 .vendor = "AOSP",
44 .version = 1,
45 .handle = '_cgy',
46 .type = SENSOR_TYPE_GYROSCOPE,
47 .maxRange = mGyro.getMaxValue(),
48 .resolution = mGyro.getResolution(),
49 .power = mSensorFusion.getPowerUsage(),
50 .minDelay = mGyro.getMinDelay(),
51 };
52 mSensor = Sensor(&sensor);
53 }
54
process(sensors_event_t * outEvent,const sensors_event_t & event)55 bool CorrectedGyroSensor::process(sensors_event_t* outEvent,
56 const sensors_event_t& event)
57 {
58 if (event.type == SENSOR_TYPE_GYROSCOPE) {
59 const vec3_t bias(mSensorFusion.getGyroBias());
60 *outEvent = event;
61 outEvent->data[0] -= bias.x;
62 outEvent->data[1] -= bias.y;
63 outEvent->data[2] -= bias.z;
64 outEvent->sensor = '_cgy';
65 return true;
66 }
67 return false;
68 }
69
activate(void * ident,bool enabled)70 status_t CorrectedGyroSensor::activate(void* ident, bool enabled) {
71 mSensorDevice.activate(ident, mGyro.getHandle(), enabled);
72 return mSensorFusion.activate(FUSION_9AXIS, ident, enabled);
73 }
74
setDelay(void * ident,int,int64_t ns)75 status_t CorrectedGyroSensor::setDelay(void* ident, int /*handle*/, int64_t ns) {
76 mSensorDevice.setDelay(ident, mGyro.getHandle(), ns);
77 return mSensorFusion.setDelay(FUSION_9AXIS, ident, ns);
78 }
79
80 // ---------------------------------------------------------------------------
81 }; // namespace android
82
83