From b62013f6aafee08cfad25a2712dc32264e44f783 Mon Sep 17 00:00:00 2001
From: Mathias Agopian <mathias@google.com>
Date: Tue, 17 May 2011 22:54:42 -0700
Subject: [PATCH] 9-axis sensor fusion with Kalman filter

Add support for 9-axis gravity and linear-acceleration sensors
virtual orientation sensor using 9-axis fusion

Change-Id: I6717539373fce781c10e97b6fa59f68a831a592f
---
 include/gui/Sensor.h | 6 +++++-
 libs/gui/Sensor.cpp  | 8 ++++++++
 2 files changed, 13 insertions(+), 1 deletion(-)

diff --git a/include/gui/Sensor.h b/include/gui/Sensor.h
index 2de07b132..e59757a43 100644
--- a/include/gui/Sensor.h
+++ b/include/gui/Sensor.h
@@ -21,8 +21,9 @@
 #include <sys/types.h>
 
 #include <utils/Errors.h>
-#include <utils/String8.h>
 #include <utils/Flattenable.h>
+#include <utils/String8.h>
+#include <utils/Timers.h>
 
 #include <hardware/sensors.h>
 
@@ -64,6 +65,8 @@ public:
     float getResolution() const;
     float getPowerUsage() const;
     int32_t getMinDelay() const;
+    nsecs_t getMinDelayNs() const;
+    int32_t getVersion() const;
 
     // Flattenable interface
     virtual size_t getFlattenedSize() const;
@@ -83,6 +86,7 @@ private:
     float   mResolution;
     float   mPower;
     int32_t mMinDelay;
+    int32_t mVersion;
 };
 
 // ----------------------------------------------------------------------------
diff --git a/libs/gui/Sensor.cpp b/libs/gui/Sensor.cpp
index b1f37ffed..f9a2c046d 100644
--- a/libs/gui/Sensor.cpp
+++ b/libs/gui/Sensor.cpp
@@ -89,6 +89,14 @@ int32_t Sensor::getMinDelay() const {
     return mMinDelay;
 }
 
+nsecs_t Sensor::getMinDelayNs() const {
+    return getMinDelay() * 1000;
+}
+
+int32_t Sensor::getVersion() const {
+    return mVersion;
+}
+
 size_t Sensor::getFlattenedSize() const
 {
     return  sizeof(int32_t) + ((mName.length() + 3) & ~3) +