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
29namespace android {
30// ---------------------------------------------------------------------------
31
32CorrectedGyroSensor::CorrectedGyroSensor(sensor_t const* list, size_t count)
33    : mSensorDevice(SensorDevice::getInstance()),
34      mSensorFusion(SensorFusion::getInstance())
35{
36    for (size_t i=0 ; i<count ; i++) {
37        if (list[i].type == SENSOR_TYPE_GYROSCOPE) {
38            mGyro = Sensor(list + i);
39            break;
40        }
41    }
42}
43
44bool CorrectedGyroSensor::process(sensors_event_t* outEvent,
45        const sensors_event_t& event)
46{
47    if (event.type == SENSOR_TYPE_GYROSCOPE) {
48        const vec3_t bias(mSensorFusion.getGyroBias());
49        *outEvent = event;
50        outEvent->data[0] -= bias.x;
51        outEvent->data[1] -= bias.y;
52        outEvent->data[2] -= bias.z;
53        outEvent->sensor = '_cgy';
54        return true;
55    }
56    return false;
57}
58
59status_t CorrectedGyroSensor::activate(void* ident, bool enabled) {
60    mSensorDevice.activate(ident, mGyro.getHandle(), enabled);
61    return mSensorFusion.activate(ident, enabled);
62}
63
64status_t CorrectedGyroSensor::setDelay(void* ident, int /*handle*/, int64_t ns) {
65    mSensorDevice.setDelay(ident, mGyro.getHandle(), ns);
66    return mSensorFusion.setDelay(ident, ns);
67}
68
69Sensor CorrectedGyroSensor::getSensor() const {
70    sensor_t hwSensor;
71    hwSensor.name       = "Corrected Gyroscope Sensor";
72    hwSensor.vendor     = "AOSP";
73    hwSensor.version    = 1;
74    hwSensor.handle     = '_cgy';
75    hwSensor.type       = SENSOR_TYPE_GYROSCOPE;
76    hwSensor.maxRange   = mGyro.getMaxValue();
77    hwSensor.resolution = mGyro.getResolution();
78    hwSensor.power      = mSensorFusion.getPowerUsage();
79    hwSensor.minDelay   = mGyro.getMinDelay();
80    Sensor sensor(&hwSensor);
81    return sensor;
82}
83
84// ---------------------------------------------------------------------------
85}; // namespace android
86
87