Commit Graph

642 Commits

Author SHA1 Message Date
Jamie Gennis
0bceb84773 surfaceflinger: fix display id selection
This change fixes display ID selection so that it never chooses negative
numbers as display IDs.

Change-Id: I5af1acc7b1270b371595e096b18e2a6ad250c7ba
2012-08-24 11:12:28 -07:00
Andy McFadden
9b6a395e65 Revert "Added display initialization method"
Something doesn't seem right (again).

This reverts commit 53ade0853c.

Change-Id: Id5786997ca9dd2a447363e8ac95213ea37468504
2012-08-24 10:12:38 -07:00
Andy McFadden
53ade0853c Added display initialization method
The primary display device was being configured to "blank" by
default, which prevented the boot animation from appearing
(unless you got lucky with the hardware composer state).

Bug 6975688

(This reverts an earlier revert.)
2012-08-24 09:19:56 -07:00
Mathias Agopian
f435863467 teach HWC about multiple displays
Change-Id: I5e72a83d419a729835cb0e1ec45557b4d3fb56b1
2012-08-23 17:41:38 -07:00
Mathias Agopian
30bcc61431 remove support for HWC < 1.0
Change-Id: If7e676a6e3524afeb9af3875125d2131d95db38b
2012-08-23 16:30:12 -07:00
Mathias Agopian
e60b0687c8 HWComposer now has its own concept of display IDs
HWComposer can now create IDs representing a display
it can deal with. IDs MAIN and HDMI are reserved.
SurfaceFlinger associate HWComposer IDs with a
DisplayDevice and uses that when it talks to HWComposer.

A DisplayDevice doesn't have to have a HWComposer ID,
in that case it just can't use h/w composer composition.

Change-Id: Iec3d7ac92e0c22bf975052ae2847402f58bade71
2012-08-23 16:03:37 -07:00
Mathias Agopian
7c9e82633c Merge "simplify further vsync handling" into jb-mr1-dev 2012-08-23 15:27:09 -07:00
Mathias Agopian
f6bbd44a23 simplify further vsync handling
- we now clean-up "dead" connection in the main loop,
this entirely avoid the problem with the side effects of
releasing strong references. We now only hold on to strong
reference for the connection we will signal.

- also simplify how we build the list of "ready" connections, by
only adding them to the list when we did receive a vsync event

Change-Id: I2a84da431320a2af8e8a93e07622a1d258236f43
2012-08-23 15:26:27 -07:00
Jesse Hall
d12780ed12 Merge "Update for cleanups in hwc interface" into jb-mr1-dev 2012-08-23 09:15:53 -07:00
Ramanan Rajeswaran
bc46e0ad86 Merge "Revert "Added display initialization method"" into jb-mr1-dev 2012-08-22 14:25:48 -07:00
Ramanan Rajeswaran
f1bf89dd88 Revert "Added display initialization method"
This reverts commit 3f3956236a

Change-Id: Ia2a15d9a5db88add6019edf9d955cef1f73d432d
2012-08-22 14:23:50 -07:00
Jesse Hall
bbd164a3c7 Update for cleanups in hwc interface
Change-Id: I363fd8b085167a1af6c14b68012bda5c62bfe59f
2012-08-22 12:09:39 -07:00
Jesse Hall
8f971ff666 Pass the correct number of displays based on HWC version
Change-Id: I27372f5d3102ad56f6d67722d631ae18d37f8330
2012-08-22 12:08:18 -07:00
Andy McFadden
3f3956236a Added display initialization method
The primary display device was being configured to "blank" by
default, which prevented the boot animation from appearing
(unless you got lucky with the hardware composer state).

Bug 6975688

Change-Id: Idaa0d0b98ebb331a17d1b16774c6b05bfa1e8728
2012-08-21 13:11:51 -07:00
Mathias Agopian
a4cb35a286 fix various issues in SF's EventThread
- one issues caused most timestamps to be reported as 0
- on rare occasions an uninitialized variable could be used
- vsync counts per connection were accessed unthreadsafely

we now have 2 lists of connections in the main loop, one just
keeps a list of strong refs to the connections because once
we have a strong ref we're not allowed to release it while
holding the lock.

the 2nd list holds the connections that have a vsync event to
be reported. all the calculations are made with the lock held.

Change-Id: Iacfad3745b05df79d9ece3719bd4c34ddbfd5b83
2012-08-20 21:41:29 -07:00
Mathias Agopian
10125f00a5 Fix deadlock in SF.
problem was that we were acquiring a strong reference
on Connection object with a lock held, when those
got out of scope (lock still held) their dtor
could be called if all other refs had dropped,
the dtor would acquire the lock again to
remove the Connection from the main list. boom.

we rearange the code so this doesn't happen.

Bug: 6942208

Change-Id: I0a0ebabce2842d29d60d645b64aac2f26640e59b
2012-08-17 18:48:56 -07:00
Mathias Agopian
cd60f99aba refactor compositing code to avoid multiple eglMakeCurrent() calls
when multiple displays are connected, we ended-up having to
call eglMakeCurrent() twice per display due to a limitation
in EGL. this fixes that.

Change-Id: I11e4584df50f8c24bbecee74e37b28b3ee031d2f
2012-08-16 20:58:58 -07:00
Mathias Agopian
5f20e2d446 reimplement wifi display hack with new external display SF framework
fix a few bugs with external displays

- HWComposer doesn't really handle multiple displays yet
  so there is a lot of ugliness there

- We also need to make sure that external displays are not
  blanked by default

- due to some EGL limitations surfaces being swapped need
  to be current

Change-Id: I82bff05b43bcebd8da863c7c76b4edbc3bc223a9
2012-08-16 20:58:58 -07:00
Mathias Agopian
818b46058a display states can't share the dirty flags
Change-Id: Ifade9f2f1a0df9a36aede77a6cf5eee4be534f98
2012-08-16 20:58:57 -07:00
Mathias Agopian
111b2d8922 binder interfaces can't be compared directly
we always need to compare their binder

Change-Id: I70d554ebc5009fe81e87923235f91451f32e1a30
2012-08-16 20:55:28 -07:00
Mathias Agopian
13233e067b oopsie, missed a spot when fixing b/6970310
Change-Id: Ia320fddc7cc4b0666a4fee678af710ecf5f83ff5
2012-08-15 16:14:33 -07:00
Mathias Agopian
3559b07a88 we were mistakenly optimizing out SF's main transactions in some cases
due to a typo, SF's main transaction was conditional to having a
display transaction.

more correct fix for 6970310

Bug: 6970310
Change-Id: Iafd8c4e02afa5db829cc1c65950cfcc74754c6af
2012-08-15 13:46:03 -07:00
Jeff Brown
ac1f70bb71 Use new PowerManager API.
Change-Id: I66165d9954e2d1da9204216382a05a873f1393f4
2012-08-15 01:16:39 -07:00
Jeff Brown
01eb979243 Fix layer removal transaction.
Layers were not properly being removed because we were
setting the wrong transaction type flag at the time of
removal.

When layers are removed, we must use eDisplayTransactionNeeded,
not eTransactionNeeded, to ensure that the mLayersRemoved
flag is checked and the appropriate cleanup occurs.

Bug: 6970310
Change-Id: Id4b2897a34d4ac00aa0f92349c0ec6db95c1aaf7
2012-08-15 01:16:16 -07:00
Jesse Hall
ea599dfff0 Don't crash when recovering from WM death
Bug: 6956162
Change-Id: I27244b960c77187b4c4cd7297989c4c872e94a3a
2012-08-14 15:33:04 -07:00
Mathias Agopian
20128300e0 make sure to repaint the screen when unblank()ing
Change-Id: I38e3a8e6bb31ef3d2f1fcaec7490cb92a4427db2
2012-08-13 18:32:13 -07:00
Mathias Agopian
8b736f138c xdpi / ydpi were reported as 0
Bug: 6975723
Change-Id: Ia7fa37ec11e2308804f5034959a37e508d292d31
2012-08-13 17:54:26 -07:00
Mathias Agopian
e57f292595 make multi-display more real
- displays are represented by a binder on the client side
- c++ clients can now create and modify displays

Change-Id: I203ea5b4beae0819d742ec5171c27568f4e8354b
2012-08-10 17:32:33 -07:00
Mathias Agopian
ef7b9c7eac screenshots could stop working after camera was used
once a secure window is put on screen the display
would retain its "secure" flag forever, preventing
screenshots from being taken.

Bug: 6933967
Change-Id: I5be8355145ca7d580d84552311642f8fa912fe6a
2012-08-10 15:23:41 -07:00
Mathias Agopian
748f3df66f avoid crashing when we don't have an h/w composer
should fix the emulator

Bug: 6956162
Change-Id: I38247b59d276b8db078c4dc2caba7d3fb545912c
2012-08-10 14:36:40 -07:00
Mathias Agopian
3165cc21cf libgui includes refactoring
Change-Id: I1d24ec17f5003ec2abab5f7472daaff4cc4cc2d3
2012-08-10 13:18:24 -07:00
Mathias Agopian
1e26087493 Add a display parameter to HWComposer where needed
- also replace C casts with C++ casts
- only the interface is changed, HWComposer still doesn't
  fully handle multiple displays

Change-Id: I48eb89bff2edb76bf1d4d41f46802b9b2a7166a8
2012-08-10 13:18:24 -07:00
Mathias Agopian
28947d7fbf now able to set the layer stack on a DisplayDevice
Change-Id: Ia9691cf221b9444c243eb468d9e276a30e600b6b
2012-08-10 13:18:23 -07:00
Jesse Hall
b685c54283 Changes to support multi-display HWC
Change-Id: I07efff54f2980dcb013935747b03e099b8f1181b
2012-08-07 12:16:36 -07:00
Jamie Gennis
14bd369e4b Merge changes Ic3d35a93,I46ec942d into jb-mr1-dev
* changes:
  SurfaceTexture: fix an out of bounds array access
  surfaceflinger: refactor FrambufferSurface
2012-08-06 19:15:51 -07:00
Jamie Gennis
1a4d883dcc surfaceflinger: refactor FrambufferSurface
This change refactors the FramebufferSurface class to inherit from the new
ConsumerBase class.

Bug: 6620200
Change-Id: I46ec942ddb019658e3c5e79465548b171b2261f2
2012-08-06 18:55:01 -07:00
Greg Hackmann
92516c84ef fix pdk build
Change-Id: Ia4db8e1e8ee18ac112bf13a5ab2a75edb08fc70f
Signed-off-by: Greg Hackmann <ghackmann@google.com>
2012-08-06 13:55:56 -07:00
Mathias Agopian
028a7572c8 DisplayDevice doesn't need weak pointers or polymorphism
let's use a LightRefBase for now.

Change-Id: Ida068fa902343a8f89ffb6d34c2cd4627ab43c6c
2012-08-05 01:23:51 -07:00
Mathias Agopian
4297734c11 turn DisplayDevice into a reference-counted object
it's safer this way because this object owns an
EGLSurface which cannot be easily reference-counted.

it also gives us the ability to sub-class it, which
we might want to do soon.

Change-Id: I07358bb052dc5a13b4f2196b2c2b6e6e94c4bb4f
2012-08-05 00:40:46 -07:00
Mathias Agopian
d8552d796c DisplayDevice only needs ANativeWindow not SurfaceTextureClient
Change-Id: Ib5be5af8bede435c8d5d9fabf586d28d0e74c2cb
2012-08-04 21:39:11 -07:00
Mathias Agopian
888c822c4c remove a dependency of DisplayDevice on the refresh rate
this remove a dependency (not all) on FramebufferSurface

Change-Id: Ie07ce70760cdcedfb41b5b41bea8da45637bf474
2012-08-04 21:23:47 -07:00
Mathias Agopian
c1d359d42b break SF dependencies on libdvm and libandroid_runtime
these libraries are only needed for debugging and are now
linked at runtime if needed.

Change-Id: I03f138523c6de166a1e2700d4454d4a854aee145
2012-08-04 20:09:48 -07:00
Mathias Agopian
92efd84f37 screen-off animation won't be handled by SF anymore
Change-Id: Idc41386804ae7d7eb981c36e1bc55c270870c8d0
2012-08-03 13:22:58 -07:00
Mathias Agopian
92a979a92c We now have a real list of displays.
displays can be dynamically added or removed, and the
list is part of the SF's transaction.

Change-Id: I4186ea39f1317c0e7c044f869004017738968fab
2012-08-02 22:24:12 -07:00
Mathias Agopian
fcb239d3da don't filter when capturing a screenshot unless needed
bug: 6919952
Change-Id: Ia6fbe9bc7e533a64cfdd6ef7f0cd6b9f11feb947
2012-08-02 22:24:12 -07:00
Mathias Agopian
d3ee231edd cleanups in preparation of bigger changes
- fix typo drawForSreenshot misspelled
- get rid of DisplayDeviceBase
- removed unused or unneeded code
- always pass a DisplayDevice to Layer methods that are called
  on a per-display basis (to make it clear that this could be
  called more than once per composition).

Change-Id: Id948b7e09fe5c06db0e42d40d6ed75dd095c7f44
2012-08-02 22:24:12 -07:00
Mathias Agopian
0f2f5ff75b rename DisplayHardware to DisplayDevice
Change-Id: I3f7250cd914e0da4f9ec2c9403587bbe12f3cc62
2012-08-02 22:24:12 -07:00
Mathias Agopian
be246f86bd Layers are now sorted by layer-stack first, then by z-order
Change-Id: I7a82929df5ba87b9d88cc5be87e1a233bc4628e9
2012-08-02 22:24:12 -07:00
Mathias Agopian
52bbb1ae23 getting closer to final main composition loop
Change-Id: Icd63782366ffd11d9ea00c925ae5783ed7440cdb
2012-08-02 22:24:12 -07:00
Mathias Agopian
87baae104a get rid of global regions that should be tracked per display
Change-Id: I3b871860cc29f1b2fdcc22b0c577a6eae65d9296
2012-08-02 22:24:12 -07:00
Jesse Hall
34a09ba1ef Move eglSwapBuffers out of HWComposer
Commit 8630320 moved the eglSwapBuffers fallback (for devices with no
HWC implementation) from DisplayHardware to HWComposer. But HWComposer
only knows about the framebuffer EGL display and surface handles if
there is a HWC, so it was always passing bogus handles.

This change moves the eglSwapBuffers fallback up to SurfaceFlinger,
which has access to the framebuffer EGL handles.

Bug: 6886613
Change-Id: Iad3f5ff7c90ee48d7053999e6a4548d6794b6ebd
2012-07-30 16:10:49 -07:00
Mathias Agopian
c666cae2d5 get rid of the shared-memory control block
Change-Id: If814060aca1d2ff2619d4adcd57296983d207f7f
2012-07-25 21:13:10 -07:00
Mathias Agopian
028508cad5 hopefully fixe a race condition in sf initialization
if we received a vsync event during SF init, we could crash
as not all objects were ready to go.

Change-Id: Ie11b46e3eb1b37a709dd8757843d444f93dd0189
2012-07-25 21:13:10 -07:00
Mathias Agopian
8630320433 split HWComposer out of DisplayHardware
we will only ever have a single instance of HWComposer, so
it's now an attribute of SurfaceFlinger, instead of being part
of DisplayHardware.

DisplayHardware now just represents a "display" (it should be renamed).

Change-Id: Iec191e57686868e1df6daa8b880a286c9fefde56
2012-07-24 22:49:49 -07:00
Mathias Agopian
98a121aa91 get rid of ro.sf.hwrotation, it's not used anymore
Change-Id: I2ee469ac89ecd65d7187be5cab08b5cc18f67cbe
2012-07-24 21:42:27 -07:00
Mathias Agopian
8785578391 add a layerStack attribute to Layers.
this attribute can be set through a regular transaction using
SurfaceComposerClient (just like any other attribute, eg: position or size)

Change-Id: I701a47c677ea6442ca713728a93335328cd2b172
2012-07-24 21:42:27 -07:00
Mathias Agopian
8b33f03232 update SF binder protocol to support setting display attributes
no change of functionality -- the old behavior is implemented
on top of this new protocol.
this new protocol will allow, eventually, to pass informations
about displays and layer stacks.

Change-Id: Ic6c2295e61ec8ecbc8ce01ab7664e35d928202fc
2012-07-24 20:43:54 -07:00
Mathias Agopian
921e6ac4b7 SurfaceFlinger cleanup
mostly refactored SurfaceFlinger.h, but also removed dead code.
cleaned-up a few includes as well.

Change-Id: Ib15f4ffe567912b61ee98aa076c6a283b72811b5
2012-07-24 00:09:35 -07:00
Jesse Hall
6ee93c0d36 Increment iterator on early-out too
Bug: 6860046
Change-Id: I82f9e4062cb58d5479c9d8dc5f2f0770a1dcc605
2012-07-23 13:12:28 -07:00
Jesse Hall
a6b32db164 Handle empty HWC layer list when composing
Bug: 6777877
Change-Id: I71e9b948d04dda33d45cfa986d9c7e28328cf749
2012-07-20 11:46:58 -07:00
Mathias Agopian
a49126087b factor EGL/GL and surface creation out of DisplayHardware
Change-Id: Icd85a6a4caad06f056578008af3e21666fa8b1f4
2012-07-19 14:14:58 -07:00
Mathias Agopian
3b1d2b6b2b mVisibleLayersSortedByZ is now maintained per display
Change-Id: Idcdb77eba1a3f99b3e4b2150128a82acaffcd2a8
2012-07-19 14:13:46 -07:00
Colin Cross
f0048f9604 Merge "surfaceflinger: call into hardware composer to blank screen" 2012-07-16 15:58:28 -07:00
Colin Cross
10fbdb6059 surfaceflinger: call into hardware composer to blank screen
Call into the new HWC blank operation to blank or unblank the screen.
Legacy systems may have already blanked the screen via early suspend,
and can choose to not implement the blank operation in their hardware
composer implementation.

Change-Id: Ib403c8c0e36367a2cfef3e1d124872fcfeb9e7cb
2012-07-13 15:48:50 -07:00
Mathias Agopian
4fec873a98 one more step towards multiple display support
- remove dependency on cached state in validateVisibility
- get rid of mVertices and mTransformedBounds
- get rid of validateVisibility
- get rid of unlockPageFlip
- handleTransaction now returns a dirty region
- computevisibileregion now uses window-manager space
2012-07-10 14:29:27 -07:00
Jesse Hall
c5c5a14c06 Only set acquire fences on overlay layers
Change-Id: I08e8173f83580de5a4e43a0ba5ea03e5ec6e8782
2012-07-02 16:49:28 -07:00
Jesse Hall
dc5b485f74 Pass fence to HWC on first use of buffer
Also do a CPU-wait on the fence before using it for GL composition.

Change-Id: I0f645a42a44803276cae11b904e5a26d65871562
2012-06-30 21:38:51 -07:00
Jesse Hall
b42b1ac158 Return fence from acquireBuffer
Change-Id: Iab22054c1dc4fd84affab3cc5bbdcd5a1e689666
2012-06-30 21:38:51 -07:00
Mathias Agopian
33264868ba add a way to enable debugging sensors at runtime
if debug.sensors is true, extra debugging
sensors are enabled and HAL provided sensor fusion
is disabled

Change-Id: I9b093424edb8c5363d1337237cdf6abe4ab266f9
2012-06-28 19:46:54 -07:00
Mathias Agopian
bdf277355d improve sensor fusion
we now use a better quaternion propagation equation
this is especially beneficial for lower gyroscope rates

Change-Id: Ifbf273c8a092a8849ca4fe4b9bca30787e924018
2012-06-28 18:21:43 -07:00
Mathias Agopian
8f11b24a72 add some comments
Change-Id: Ia2e2c9531715fc2bd5b51c4dc58389e01abfe7e6
2012-06-28 17:35:14 -07:00
Mathias Agopian
1b03149f35 get rid of GraphicPlane
its functionality is now folded into DisplayHardware
there will be more changes in that area.
2012-06-28 17:27:19 -07:00
Mathias Agopian
3094df359d First prototype atttempting to support an external display
both API and implementation will change, this is just a prototype
intended to show feasability.

SurfaceFlinger is passed an ISurfaceTexture through a new
callback, it is in turn used to create an EGLSurface which
surfaceflinger will draw into in addition to the main screen.

Change-Id: Id0bbb0b854bb7bae44d57246a90b65d4567f9a21
2012-06-28 15:51:08 -07:00
Mathias Agopian
dc5b63e40e small improvement to sensor fusion
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
2012-06-27 17:07:56 -07:00
Mathias Agopian
8dd4fe8dd3 fix a potential buffer overflow in sensorservice
Bug: 6580560
Change-Id: Icf6cafbca09174515a964a7cd69d8cc589ad52de
2012-06-27 17:07:56 -07:00
Mathias Agopian
d1920ffede Fix a stack corruption in sensorservice
Bug: 6576732
Change-Id: If0f2fb0d0c35b932fb77cd262e676042145b28f9
2012-06-27 17:07:56 -07:00
Mathias Agopian
a5c106a4f0 fix a typo causing sensor event to be sorted in reverse chronological order
Change-Id: I041c64616d88ed1abb5efc90ed9eb0d9baeb4832
2012-06-27 17:07:56 -07:00
Mathias Agopian
907103bf18 usea socketpair instead of a pipe in BitTube
Bug: 6252830
Change-Id: I363cc7e9f73a5b7d8bbccee312c6d8938c84e99a
2012-06-27 17:07:56 -07:00
Steve Block
f5a1230d32 Rename (IF_)LOGE(_IF) to (IF_)ALOGE(_IF) DO NOT MERGE
See https://android-git.corp.google.com/g/#/c/157220

Bug: 5449033
Change-Id: Ic9c19d30693bd56755f55906127cd6bd7126096c
2012-06-27 17:07:56 -07:00
Steve Block
3c20fbed7f Rename (IF_)LOGW(_IF) to (IF_)ALOGW(_IF) DO NOT MERGE
See https://android-git.corp.google.com/g/157065

Bug: 5449033
Change-Id: I00a4b904f9449e6f93b7fd35eac28640d7929e69
2012-06-27 17:07:56 -07:00
Steve Block
c7839e8976 Rename (IF_)LOGI(_IF) to (IF_)ALOGI(_IF) DO NOT MERGE
See https://android-git.corp.google.com/g/156801

Bug: 5449033
Change-Id: Ib08fe86d23db91ee153e9f91a99a35c42b9208ea
2012-06-27 17:07:56 -07:00
Steve Block
a551237de1 Rename (IF_)LOGD(_IF) to (IF_)ALOGD(_IF) DO NOT MERGE
See https://android-git.corp.google.com/g/156016

Bug: 5449033
Change-Id: I4c4e33bb9df3e39e11cd985e193e6fbab4635298
2012-06-27 17:07:56 -07:00
Mathias Agopian
1a62301fc5 handle EINTR when calling sensor HAL's poll function
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
2012-06-27 17:07:56 -07:00
Mathias Agopian
62569ecf52 SensorService now always clamps the requested rate
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
2012-06-27 17:07:56 -07:00
Mathias Agopian
ae09d65f5b fix an issue where SensorService could request an invalid sensor delay
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
2012-06-27 17:07:56 -07:00
Mathias Agopian
b3989276d1 Rename SensorChannel to BitTube 2012-06-27 17:07:55 -07:00
Mathias Agopian
667102f6b0 improve sensorservice dumpsys
Change-Id: I8b53d5cab884c3aca16d95df5fbf288368d52e8b
2012-06-27 17:07:55 -07:00
Mathias Agopian
b9e152637a improve sensorservice_test output
Change-Id: I6248b6f1f001fedec1bddcddfcd2b381d9bb4bf4
2012-06-27 17:07:55 -07:00
Mathias Agopian
a83f45c6c7 Fix a few style issues and remove LOG spam
Change-Id: I6b6f75373f4ac28f98dea6a6f1c2567a6aa02243
2012-06-27 17:07:55 -07:00
Michael Johnson
3e87d8dade More error checks to avoid div by zero.
Change-Id: I18e5b72d02bf5420c14334d3a03f18fa40572d31
2012-06-27 17:07:55 -07:00
Max Braun
a01b4e237d Fix occasional fusion divergence by detecting it and resetting the fusion.
Change-Id: I51186e12fb9b2316e3671e3908174f4495df89a0
2012-06-27 17:07:55 -07:00
Mathias Agopian
16bcf66afa have the sensorsevice test print the delay of the first received event
Change-Id: I89d63122574c3f8790f00512c76d59b463acf18f
2012-06-27 17:07:55 -07:00
Mathias Agopian
16c3e4ae72 silence sensorservice when it's dropping events
Change-Id: Ib05862e545aa780821aa605e45ab189f530494b7
2012-06-27 17:07:55 -07:00
Mathias Agopian
7b2b32f2e7 sensorservice: be more robust when there are no sensor h/w
Bug: 5030108
Change-Id: I45b85b3c492b9268cb0ae44d2e5fc8c708b6e66e
2012-06-27 17:07:55 -07:00
Jeff Brown
0be7a26220 Remove the simulator target from all makefiles. Bug: 5010576
Change-Id: I04d722f258951a3078fe07899f5bbe8aac02a8e8
2012-06-27 17:07:55 -07:00
Mathias Agopian
1cb13461a8 PermissionCache caches permission checks
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
2012-06-27 17:07:55 -07:00
Mathias Agopian
eaf2d0bfe3 cleanup Kalman filter parameters, add/fix comments/units
Change-Id: Iedcae7164af8f7ea0e048ea7c72d0f35d16d739f
2012-06-27 17:07:55 -07:00
Mathias Agopian
010e422301 improve orientation sensor with gyro data
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
2012-06-27 17:07:55 -07:00
Mathias Agopian
3301542828 use quaternions instead of MRPs
also use correct time propagation equation
disable the fused sensors when gyro is not present since
they were unusable in practice.

Change-Id: Iad797425784e67dc6c5690e97c71c583418cc5b5
2012-06-27 17:07:55 -07:00
Mathias Agopian
984826cc15 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
2012-06-27 17:07:54 -07:00