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    const sensor_t sensor = {
34        .name       = "Orientation Sensor",
35        .vendor     = "AOSP",
36        .version    = 1,
37        .handle     = '_ypr',
38        .type       = SENSOR_TYPE_ORIENTATION,
39        .maxRange   = 360.0f,
40        .resolution = 1.0f/256.0f, // FIXME: real value here
41        .power      = mSensorFusion.getPowerUsage(),
42        .minDelay   = mSensorFusion.getMinDelay(),
43    };
44    mSensor = Sensor(&sensor);
45}
46
47bool OrientationSensor::process(sensors_event_t* outEvent,
48        const sensors_event_t& event)
49{
50    if (event.type == SENSOR_TYPE_ACCELEROMETER) {
51        if (mSensorFusion.hasEstimate()) {
52            vec3_t g;
53            const float rad2deg = 180 / M_PI;
54            const mat33_t R(mSensorFusion.getRotationMatrix());
55            g[0] = atan2f(-R[1][0], R[0][0])    * rad2deg;
56            g[1] = atan2f(-R[2][1], R[2][2])    * rad2deg;
57            g[2] = asinf ( R[2][0])             * rad2deg;
58            if (g[0] < 0)
59                g[0] += 360;
60
61            *outEvent = event;
62            outEvent->orientation.azimuth = g.x;
63            outEvent->orientation.pitch   = g.y;
64            outEvent->orientation.roll    = g.z;
65            outEvent->orientation.status  = SENSOR_STATUS_ACCURACY_HIGH;
66            outEvent->sensor = '_ypr';
67            outEvent->type = SENSOR_TYPE_ORIENTATION;
68            return true;
69        }
70    }
71    return false;
72}
73
74status_t OrientationSensor::activate(void* ident, bool enabled) {
75    return mSensorFusion.activate(FUSION_9AXIS, ident, enabled);
76}
77
78status_t OrientationSensor::setDelay(void* ident, int /*handle*/, int64_t ns) {
79    return mSensorFusion.setDelay(FUSION_9AXIS, ident, ns);
80}
81
82// ---------------------------------------------------------------------------
83}; // namespace android
84
85