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
33namespace android {
34// ---------------------------------------------------------------------------
35
36class SensorDevice;
37
38class SensorFusion : public Singleton<SensorFusion> {
39    friend class Singleton<SensorFusion>;
40
41    SensorDevice& mSensorDevice;
42    Sensor mAcc;
43    Sensor mMag;
44    Sensor mGyro;
45
46    Fusion mFusions[NUM_FUSION_MODE]; // normal, no_mag, no_gyro
47
48    bool mEnabled[NUM_FUSION_MODE];
49
50    vec4_t &mAttitude;
51    vec4_t mAttitudes[NUM_FUSION_MODE];
52
53    SortedVector<void*> mClients[3];
54
55    float mEstimatedGyroRate;
56    nsecs_t mTargetDelayNs;
57
58    nsecs_t mGyroTime;
59    nsecs_t mAccTime;
60
61    SensorFusion();
62
63public:
64    void process(const sensors_event_t& event);
65
66    bool isEnabled() const {
67        return mEnabled[FUSION_9AXIS] ||
68                mEnabled[FUSION_NOMAG] ||
69                mEnabled[FUSION_NOGYRO];
70    }
71
72    bool hasEstimate(int mode = FUSION_9AXIS) const {
73        return mFusions[mode].hasEstimate();
74    }
75
76    mat33_t getRotationMatrix(int mode = FUSION_9AXIS) const {
77        return mFusions[mode].getRotationMatrix();
78    }
79
80    vec4_t getAttitude(int mode = FUSION_9AXIS) const {
81        return mAttitudes[mode];
82    }
83
84    vec3_t getGyroBias() const { return mFusions[FUSION_9AXIS].getBias(); }
85    float getEstimatedRate() const { return mEstimatedGyroRate; }
86
87    status_t activate(int mode, void* ident, bool enabled);
88    status_t setDelay(int mode, void* ident, int64_t ns);
89
90    float getPowerUsage(int mode=FUSION_9AXIS) const;
91    int32_t getMinDelay() const;
92
93    void dump(String8& result);
94};
95
96
97// ---------------------------------------------------------------------------
98}; // namespace android
99
100#endif // ANDROID_SENSOR_FUSION_H
101