1/* 2 * Copyright (C) 2010 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 "GravitySensor.h" 26#include "SensorDevice.h" 27#include "SensorFusion.h" 28 29namespace android { 30// --------------------------------------------------------------------------- 31 32GravitySensor::GravitySensor(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_ACCELEROMETER) { 38 mAccelerometer = Sensor(list + i); 39 break; 40 } 41 } 42} 43 44bool GravitySensor::process(sensors_event_t* outEvent, 45 const sensors_event_t& event) 46{ 47 const static double NS2S = 1.0 / 1000000000.0; 48 if (event.type == SENSOR_TYPE_ACCELEROMETER) { 49 vec3_t g; 50 if (!mSensorFusion.hasEstimate()) 51 return false; 52 const mat33_t R(mSensorFusion.getRotationMatrix()); 53 // FIXME: we need to estimate the length of gravity because 54 // the accelerometer may have a small scaling error. This 55 // translates to an offset in the linear-acceleration sensor. 56 g = R[2] * GRAVITY_EARTH; 57 58 *outEvent = event; 59 outEvent->data[0] = g.x; 60 outEvent->data[1] = g.y; 61 outEvent->data[2] = g.z; 62 outEvent->sensor = '_grv'; 63 outEvent->type = SENSOR_TYPE_GRAVITY; 64 return true; 65 } 66 return false; 67} 68 69status_t GravitySensor::activate(void* ident, bool enabled) { 70 return mSensorFusion.activate(this, enabled); 71} 72 73status_t GravitySensor::setDelay(void* ident, int handle, int64_t ns) { 74 return mSensorFusion.setDelay(this, ns); 75} 76 77Sensor GravitySensor::getSensor() const { 78 sensor_t hwSensor; 79 hwSensor.name = "Gravity Sensor"; 80 hwSensor.vendor = "Google Inc."; 81 hwSensor.version = 3; 82 hwSensor.handle = '_grv'; 83 hwSensor.type = SENSOR_TYPE_GRAVITY; 84 hwSensor.maxRange = GRAVITY_EARTH * 2; 85 hwSensor.resolution = mAccelerometer.getResolution(); 86 hwSensor.power = mSensorFusion.getPowerUsage(); 87 hwSensor.minDelay = mSensorFusion.getMinDelay(); 88 Sensor sensor(&hwSensor); 89 return sensor; 90} 91 92// --------------------------------------------------------------------------- 93}; // namespace android 94 95