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    : 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
55bool 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
70status_t CorrectedGyroSensor::activate(void* ident, bool enabled) {
71    mSensorDevice.activate(ident, mGyro.getHandle(), enabled);
72    return mSensorFusion.activate(FUSION_9AXIS, ident, enabled);
73}
74
75status_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