initialize the system covariance matrix with non-zero
values for the gyro-bias part. this improves the initial
bias estimation speed significantly.
the initial covariance matrix should be small because the drift
changes slowly. the real problem is that we're not starting with
a good estimate of the drift, which this algorithm relies on.
so with this revert, it'll take a while for the drift to be estimated
but it won't be unstable.
Change-Id: Id5584bc114a2390d507643b2451b2650c1b90721
we used to estimate the gyro rate and deduce the period from that
but it turns out this is causing problems.
Bug: 5192288
Change-Id: I8ca826d0e11e488587bcaa1720de99e92b82f191
1) "google" sensors are now reporting AOSP as the vendor string
2) don't expose the system's sensor fusion if the HAL provides it
3) use uncalibrated gyro if availble for the system's sensor fusion
Change-Id: I25140436cdb29d55e39fd6fbbf8c44a410a83d5c
Auto disabled sensors get auto disabled after trigger.
An activation after this wasn't working because the
state was not being reset.
b/8609561
Change-Id: If72c9f27345e91671d7ad0a7a066f6dc3d255b78
1. Some sensors can wake up the AP. Add wakelocks.
2. Handle backward compatibility for rotation vector
heading accuracy.
3. Cleanup auto disabled sensors.
4. Fix race condition between enable and dispatch.
Change-Id: I39dddf12e208d83cd288201986ee994312555820
until now we were tracking when a sensors was
physically enabled or disabled and we were reporting
that to the BattaryService.
this wasn incorrect because we could have several different
apps enabling the same sensor, so the accounting by the
battery service would be incorrect in that case (depending
on the order in which these apps disabled said sensor).
BatteryService tracks sensors per uid, however SensorService
does this per binder connection, so we could have several
binder connections for the same uid, to solve this we keep
a list of sensor/uid -> count, which is the bulk of this
change.
Bug: 6661604
Change-Id: I561c198c42ba1736a8671bdacda4c76d72b9dd6f
It shouldn't have caused much harm though.
Also log a warning when enabling a sensor
for a connection that is already enabled.
Change-Id: Ia4a052381e79183cd4cb1bedc7ba08e5228d7a38
if debug.sensors is true, extra debugging
sensors are enabled and HAL provided sensor fusion
is disabled
Change-Id: I9b093424edb8c5363d1337237cdf6abe4ab266f9
we now use a better quaternion propagation equation
this is especially beneficial for lower gyroscope rates
Change-Id: Ifbf273c8a092a8849ca4fe4b9bca30787e924018
1) there was a typo when computing the system covariance
a term in dT^3 was ommitted; the impact was was very limited
because of how small this term is.
2) initialize the system covariance matrix with non-zero
values for the gyro-bias part. this improves the initial
bias estimation speed significantly.
3) added comments here and there
Change-Id: I4328c9cca73e089889d5e74b9fda99d7831762dc
some sensor HALs don't handle EINTR, make sure to catch it in the
sensorservice.
also if we ever encounter an error that we can't handle, we abort
which will restart us (or the whole system process if we're running
in it)
Bug: 5511741
Change-Id: I7051882b06980f778736b53d6cd021a99b5ca8d2
Requested rate will be clamped to the minimum rate and then
to 1ms. Previously we would return an error if a lower
rate was asked. The SensorManager documentation wording
allows this change.
We do this to get more consistancy between all the sensor
drivers / HALs
Change-Id: I199f76486fb76ccbb11e7280460a03726c767e84
When the app requests "fastest", the java layer encodes this as a
delay of 0. SensorService was passing this unchanged to the HAL.
However the HAL is required to reject delays lower that the
advertised lower delay.
Change-Id: I92be77acd3af62ffeb49e4b31e24ddcd203510e2
This is intended to absorb the cost of the IPC
to the permission controller.
Cached permission checks cost about 3us, while
full blown ones are two orders of magnitude slower.
CAVEAT: PermissionCache can only handle system
permissions safely for now, because the cache is
not purged upon global permission changes.
Change-Id: I8b8a5e71e191e3c01e8f792f253c379190eee62e
when we do our own sensor fusion, we also export an
improved orientation sensor and hide the HAL sensor.
The fused orientation sensor is much more precise, fast
and smooth.
Change-Id: I0ea843b47ad9d12f6b22cce51f8629852d423126
also use correct time propagation equation
disable the fused sensors when gyro is not present since
they were unusable in practice.
Change-Id: Iad797425784e67dc6c5690e97c71c583418cc5b5
Add support for 9-axis gravity and linear-acceleration sensors
virtual orientation sensor using 9-axis fusion
Change-Id: I6717539373fce781c10e97b6fa59f68a831a592f
SensorService main thread wasn't java-enabled. however, in
some situations we end-up calling into the BatteryService from
that thread which causes a crash.
Change-Id: Iffba90e4c4b743dba84d62f1342001a9db31916d
Make sure to send an event down only for sensors that report a value only on data
change. Other sensors, will naturally send an event when the next event is available.
Bug: 4025681
Change-Id: I6d444deda388b6bc9a33e3371e09d390f1566ec5
when an app dies, make sure to disable all sensors that process
is connected to, regardless of wether this was the LAST connection
to this sensor.
Change-Id: I9c72b1792eee03815304674d5c2f25b5270e4748
The cut-off frequency of the lowpass filter was too high
for the sampling rate used by DELAY_NORMAL.
Now we use the same filters used for the gravity vector
(cascaded biquad at 1.5 Hz)
Change-Id: I319dc4f449a3abd553d61b196a9ddcf7782f912d
whether a physical sensor needed to be active or not was managed by
a simpe reference counter; unfortunatelly nothing prevented it to
get out of sync if a sensor was disabled more than once.
sensorservice already maintainted a list of all the "clients"
connected to a physical sensor; we now use that list to determine if
a sensor should be enabled. This can never be "out-of-sync" since
this is the only data structure linking a sensor to a user of that
sensor.
also removed the isEnabled() method, which was never used and
implemented wrongly (since it didn't take into account that a sensor
could be disabled for a client but not of another).
Change-Id: I789affb877728ca957e99f7ba749def37c4db1c7
Most accelerometers have 8-bits accuracy so we beed to
reject 48dB in thestop-band, which requires a 4-th order
filter at the cut-off frequency we're using.
Change-Id: Ic00421d38d751641f86b1f3ad7663e6b44a91198
- upadte documentation for rotation vector
- update method dealing with rotation vector to deal with 4 components
- virtual rotation-vector sensor reports all four components
- improve SensorManager documentation layout
Whent he 4-th component of the rotation-vector is present, we can save
a square-root when computing the quaternion or rotation matrix from it.
Change-Id: Ia84d278dd5f0909fab1c5ba050f8df2679e2c7c8
indeed, by construction of the rotation matrix, it is
guaranteed to have a length of 1.
moreover, the normalization code was missing a square-root,
fortunatelly, since the length is 1, this didn't cause any
damage (since sqrt(1) = 1).
Change-Id: I9facd668caaf5bb3bfccb139ab872f2bb2066365
Rework sensorservice to allow "virtual sensors", that is
sensors that report a synthetized value based on real sensors.
the main change to sensorservice is around managing which real
sensor need to be activated and which rate to use.
The logic for all this has been moved into SensorDevice, which
essentially wraps the sensor HAL but adds two features to it:
- it keeps track of which sensors need to be activated
- it keeps track of what rate needs to be used
For this purpose an "identity" is associated with each real sensor
activation, so we can track them.
On start-up we check for gravity, linear-acceleration and
rotation-vector sensors, if they're not present in the HAL, we
synthetize them in sensor-service.
Change-Id: I841db2c1b37ef127ed571efa21732ecc5adf1800
the per-connection state assumed the main sensorservice
lock was held during access. This is however not true while
pre-processing the events just before sending them to clients.
Therefore, there was a small window during which this state
could be modified while being used.
we now have an internal lock that protects this state.
Change-Id: I594680f20f09d6a4f1f38f093a1d3f650dcef1be
We only recorded the last received event (which is needed when a sensor
is activated on a connection) when there was some connection active.
This should fix an issue where sometimes the light sensor doesn't
return an event whent activated.
we also didn't need to hold the main lock while dispatching events
to clients.
Change-Id: I6c6386c040051ce205e3c0516c678e0603fa45e1
the increased maximum rate is needed for proper gyro integration, current gyro
parts can sample at up to 800Hz
Change-Id: Ide75f6d5bc7a0fdafeb2dafd72db39e7afb9e794
As part of this change, consolidated and cleaned up the Looper API so
that there are fewer distinctions between the NDK and non-NDK declarations
(no need for two callback types, etc.).
Removed the dependence on specific constants from sys/poll.h such as
POLLIN. Instead looper.h defines events like LOOPER_EVENT_INPUT for
the events that it supports. That should help make any future
under-the-hood implementation changes easier.
Fixed a couple of compiler warnings along the way.
Change-Id: I449a7ec780bf061bdd325452f823673e2b39b6ae
SensorService now correctly sends the last known
state of a sensor as soon as a new connection is made.
This fixes the issue where, for instance, an application
could wait a long time before getting the light or proximity
sensor initial state.
Change-Id: Ic41392f3626e26c4f15746c7e17c7ecd44bbb10b
remove old sensor service and implement SensorManager
on top of the new (native) SensorManger API.
Change-Id: Iddb77d498755da3e11646473a44d651f12f40281
