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/*
* Copyright (C) 2010 The Android Open Source Project
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include <stdint.h>
#include <math.h>
#include <sys/types.h>
#include <utils/Errors.h>
#include <hardware/sensors.h>
#include "RotationVectorSensor.h"
namespace android {
// ---------------------------------------------------------------------------
RotationVectorSensor::RotationVectorSensor(int mode) :
mMode(mode) {
const sensor_t sensor = {
.name = getSensorName(),
.vendor = "AOSP",
.version = 3,
.handle = getSensorToken(),
.type = getSensorType(),
.maxRange = 1,
.resolution = 1.0f / (1<<24),
.power = mSensorFusion.getPowerUsage(),
.minDelay = mSensorFusion.getMinDelay(),
};
mSensor = Sensor(&sensor);
}
bool RotationVectorSensor::process(sensors_event_t* outEvent,
const sensors_event_t& event)
{
if (event.type == SENSOR_TYPE_ACCELEROMETER) {
if (mSensorFusion.hasEstimate(mMode)) {
const vec4_t q(mSensorFusion.getAttitude(mMode));
*outEvent = event;
outEvent->data[0] = q.x;
outEvent->data[1] = q.y;
outEvent->data[2] = q.z;
outEvent->data[3] = q.w;
outEvent->sensor = getSensorToken();
outEvent->type = getSensorType();
return true;
}
}
return false;
}
status_t RotationVectorSensor::activate(void* ident, bool enabled) {
return mSensorFusion.activate(mMode, ident, enabled);
}
status_t RotationVectorSensor::setDelay(void* ident, int /*handle*/, int64_t ns) {
return mSensorFusion.setDelay(mMode, ident, ns);
}
int RotationVectorSensor::getSensorType() const {
switch(mMode) {
case FUSION_9AXIS:
return SENSOR_TYPE_ROTATION_VECTOR;
case FUSION_NOMAG:
return SENSOR_TYPE_GAME_ROTATION_VECTOR;
case FUSION_NOGYRO:
return SENSOR_TYPE_GEOMAGNETIC_ROTATION_VECTOR;
default:
assert(0);
return 0;
}
}
const char* RotationVectorSensor::getSensorName() const {
switch(mMode) {
case FUSION_9AXIS:
return "Rotation Vector Sensor";
case FUSION_NOMAG:
return "Game Rotation Vector Sensor";
case FUSION_NOGYRO:
return "GeoMag Rotation Vector Sensor";
default:
assert(0);
return NULL;
}
}
int RotationVectorSensor::getSensorToken() const {
switch(mMode) {
case FUSION_9AXIS:
return '_rov';
case FUSION_NOMAG:
return '_gar';
case FUSION_NOGYRO:
return '_geo';
default:
assert(0);
return 0;
}
}
// ---------------------------------------------------------------------------
GyroDriftSensor::GyroDriftSensor() {
const sensor_t sensor = {
.name = "Gyroscope Bias (debug)",
.vendor = "AOSP",
.version = 1,
.handle = '_gbs',
.type = SENSOR_TYPE_ACCELEROMETER,
.maxRange = 1,
.resolution = 1.0f / (1<<24),
.power = mSensorFusion.getPowerUsage(),
.minDelay = mSensorFusion.getMinDelay(),
};
mSensor = Sensor(&sensor);
}
bool GyroDriftSensor::process(sensors_event_t* outEvent,
const sensors_event_t& event)
{
if (event.type == SENSOR_TYPE_ACCELEROMETER) {
if (mSensorFusion.hasEstimate()) {
const vec3_t b(mSensorFusion.getGyroBias());
*outEvent = event;
outEvent->data[0] = b.x;
outEvent->data[1] = b.y;
outEvent->data[2] = b.z;
outEvent->sensor = '_gbs';
outEvent->type = SENSOR_TYPE_ACCELEROMETER;
return true;
}
}
return false;
}
status_t GyroDriftSensor::activate(void* ident, bool enabled) {
return mSensorFusion.activate(FUSION_9AXIS, ident, enabled);
}
status_t GyroDriftSensor::setDelay(void* ident, int /*handle*/, int64_t ns) {
return mSensorFusion.setDelay(FUSION_9AXIS, ident, ns);
}
// ---------------------------------------------------------------------------
}; // namespace android
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