113 lines
3.3 KiB
C++
113 lines
3.3 KiB
C++
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/*
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* Copyright (C) 2010 The Android Open Source Project
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include <stdint.h>
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#include <math.h>
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#include <sys/types.h>
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#include <utils/Errors.h>
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#include <hardware/sensors.h>
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#include "GravitySensor.h"
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namespace android {
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// ---------------------------------------------------------------------------
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GravitySensor::GravitySensor(sensor_t const* list, size_t count)
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: mSensorDevice(SensorDevice::getInstance()),
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mEnabled(false), mAccTime(0),
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mLowPass(M_SQRT1_2, 1),
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mX(mLowPass), mY(mLowPass), mZ(mLowPass)
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{
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for (size_t i=0 ; i<count ; i++) {
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if (list[i].type == SENSOR_TYPE_ACCELEROMETER) {
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mAccelerometer = Sensor(list + i);
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break;
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}
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}
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}
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bool GravitySensor::process(sensors_event_t* outEvent,
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const sensors_event_t& event)
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{
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const static double NS2S = 1.0 / 1000000000.0;
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if (event.type == SENSOR_TYPE_ACCELEROMETER) {
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float x, y, z;
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const double now = event.timestamp * NS2S;
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if (mAccTime == 0) {
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x = mX.init(event.acceleration.x);
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y = mY.init(event.acceleration.y);
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z = mZ.init(event.acceleration.z);
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} else {
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double dT = now - mAccTime;
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mLowPass.setSamplingPeriod(dT);
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x = mX(event.acceleration.x);
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y = mY(event.acceleration.y);
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z = mZ(event.acceleration.z);
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}
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mAccTime = now;
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*outEvent = event;
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outEvent->data[0] = x;
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outEvent->data[1] = y;
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outEvent->data[2] = z;
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outEvent->sensor = '_grv';
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outEvent->type = SENSOR_TYPE_GRAVITY;
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return true;
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}
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return false;
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}
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bool GravitySensor::isEnabled() const {
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return mEnabled;
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}
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status_t GravitySensor::activate(void* ident, bool enabled) {
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status_t err = mSensorDevice.activate(this, mAccelerometer.getHandle(), enabled);
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if (err == NO_ERROR) {
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mEnabled = enabled;
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if (enabled) {
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mAccTime = 0;
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}
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}
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return err;
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}
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status_t GravitySensor::setDelay(void* ident, int handle, int64_t ns)
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{
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return mSensorDevice.setDelay(this, mAccelerometer.getHandle(), ns);
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}
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Sensor GravitySensor::getSensor() const {
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sensor_t hwSensor;
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hwSensor.name = "Gravity Sensor";
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hwSensor.vendor = "Google Inc.";
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hwSensor.version = 1;
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hwSensor.handle = '_grv';
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hwSensor.type = SENSOR_TYPE_GRAVITY;
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hwSensor.maxRange = mAccelerometer.getMaxValue();
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hwSensor.resolution = mAccelerometer.getResolution();
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hwSensor.power = mAccelerometer.getPowerUsage();
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hwSensor.minDelay = mAccelerometer.getMinDelay();
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Sensor sensor(&hwSensor);
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return sensor;
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}
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// ---------------------------------------------------------------------------
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}; // namespace android
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