OrientationSensor.cpp revision 3301542828febc768e1df42892cfac4992c35474
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 "OrientationSensor.h" 26#include "SensorDevice.h" 27#include "SensorFusion.h" 28 29namespace android { 30// --------------------------------------------------------------------------- 31 32OrientationSensor::OrientationSensor() 33 : mSensorDevice(SensorDevice::getInstance()), 34 mSensorFusion(SensorFusion::getInstance()) 35{ 36} 37 38bool OrientationSensor::process(sensors_event_t* outEvent, 39 const sensors_event_t& event) 40{ 41 if (event.type == SENSOR_TYPE_ACCELEROMETER) { 42 if (mSensorFusion.hasEstimate()) { 43 vec3_t g; 44 const float rad2deg = 180 / M_PI; 45 const mat33_t R(mSensorFusion.getRotationMatrix()); 46 g[0] = atan2f(-R[1][0], R[0][0]) * rad2deg; 47 g[1] = atan2f(-R[2][1], R[2][2]) * rad2deg; 48 g[2] = asinf ( R[2][0]) * rad2deg; 49 if (g[0] < 0) 50 g[0] += 360; 51 52 *outEvent = event; 53 outEvent->orientation.azimuth = g.x; 54 outEvent->orientation.pitch = g.y; 55 outEvent->orientation.roll = g.z; 56 outEvent->orientation.status = SENSOR_STATUS_ACCURACY_HIGH; 57 outEvent->sensor = '_ypr'; 58 outEvent->type = SENSOR_TYPE_ORIENTATION; 59 return true; 60 } 61 } 62 return false; 63} 64 65status_t OrientationSensor::activate(void* ident, bool enabled) { 66 return mSensorFusion.activate(this, enabled); 67} 68 69status_t OrientationSensor::setDelay(void* ident, int handle, int64_t ns) { 70 return mSensorFusion.setDelay(this, ns); 71} 72 73Sensor OrientationSensor::getSensor() const { 74 sensor_t hwSensor; 75 hwSensor.name = "Orientation Sensor"; 76 hwSensor.vendor = "Google Inc."; 77 hwSensor.version = 1; 78 hwSensor.handle = '_ypr'; 79 hwSensor.type = SENSOR_TYPE_ORIENTATION; 80 hwSensor.maxRange = 360.0f; 81 hwSensor.resolution = 1.0f/256.0f; // FIXME: real value here 82 hwSensor.power = mSensorFusion.getPowerUsage(); 83 hwSensor.minDelay = mSensorFusion.getMinDelay(); 84 Sensor sensor(&hwSensor); 85 return sensor; 86} 87 88// --------------------------------------------------------------------------- 89}; // namespace android 90 91