1/*
2 * Copyright (C) 2010 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 "RotationVectorSensor.h"
26
27namespace android {
28// ---------------------------------------------------------------------------
29
30RotationVectorSensor::RotationVectorSensor()
31    : mSensorDevice(SensorDevice::getInstance()),
32      mSensorFusion(SensorFusion::getInstance())
33{
34}
35
36bool RotationVectorSensor::process(sensors_event_t* outEvent,
37        const sensors_event_t& event)
38{
39    if (event.type == SENSOR_TYPE_ACCELEROMETER) {
40        if (mSensorFusion.hasEstimate()) {
41            const vec4_t q(mSensorFusion.getAttitude());
42            *outEvent = event;
43            outEvent->data[0] = q.x;
44            outEvent->data[1] = q.y;
45            outEvent->data[2] = q.z;
46            outEvent->data[3] = q.w;
47            outEvent->sensor = '_rov';
48            outEvent->type = SENSOR_TYPE_ROTATION_VECTOR;
49            return true;
50        }
51    }
52    return false;
53}
54
55status_t RotationVectorSensor::activate(void* ident, bool enabled) {
56    return mSensorFusion.activate(this, enabled);
57}
58
59status_t RotationVectorSensor::setDelay(void* ident, int handle, int64_t ns) {
60    return mSensorFusion.setDelay(this, ns);
61}
62
63Sensor RotationVectorSensor::getSensor() const {
64    sensor_t hwSensor;
65    hwSensor.name       = "Rotation Vector Sensor";
66    hwSensor.vendor     = "Google Inc.";
67    hwSensor.version    = 3;
68    hwSensor.handle     = '_rov';
69    hwSensor.type       = SENSOR_TYPE_ROTATION_VECTOR;
70    hwSensor.maxRange   = 1;
71    hwSensor.resolution = 1.0f / (1<<24);
72    hwSensor.power      = mSensorFusion.getPowerUsage();
73    hwSensor.minDelay   = mSensorFusion.getMinDelay();
74    Sensor sensor(&hwSensor);
75    return sensor;
76}
77
78// ---------------------------------------------------------------------------
79
80GyroDriftSensor::GyroDriftSensor()
81    : mSensorDevice(SensorDevice::getInstance()),
82      mSensorFusion(SensorFusion::getInstance())
83{
84}
85
86bool GyroDriftSensor::process(sensors_event_t* outEvent,
87        const sensors_event_t& event)
88{
89    if (event.type == SENSOR_TYPE_ACCELEROMETER) {
90        if (mSensorFusion.hasEstimate()) {
91            const vec3_t b(mSensorFusion.getGyroBias());
92            *outEvent = event;
93            outEvent->data[0] = b.x;
94            outEvent->data[1] = b.y;
95            outEvent->data[2] = b.z;
96            outEvent->sensor = '_gbs';
97            outEvent->type = SENSOR_TYPE_ACCELEROMETER;
98            return true;
99        }
100    }
101    return false;
102}
103
104status_t GyroDriftSensor::activate(void* ident, bool enabled) {
105    return mSensorFusion.activate(this, enabled);
106}
107
108status_t GyroDriftSensor::setDelay(void* ident, int handle, int64_t ns) {
109    return mSensorFusion.setDelay(this, ns);
110}
111
112Sensor GyroDriftSensor::getSensor() const {
113    sensor_t hwSensor;
114    hwSensor.name       = "Gyroscope Bias (debug)";
115    hwSensor.vendor     = "Google Inc.";
116    hwSensor.version    = 1;
117    hwSensor.handle     = '_gbs';
118    hwSensor.type       = SENSOR_TYPE_ACCELEROMETER;
119    hwSensor.maxRange   = 1;
120    hwSensor.resolution = 1.0f / (1<<24);
121    hwSensor.power      = mSensorFusion.getPowerUsage();
122    hwSensor.minDelay   = mSensorFusion.getMinDelay();
123    Sensor sensor(&hwSensor);
124    return sensor;
125}
126
127// ---------------------------------------------------------------------------
128}; // namespace android
129
130