19d6481956
SensorFusion is always returning data at the slowest possible sampling rate (5 Hz). batch() is getting called twice, first time with the requested rate and second time with the slowest rate (which overwrites the requested rate). Fix batch call in SensorFusion::activate()
Bug: 12064319
Change-Id: If62f3e514233f69810336fd22b136b4395b667d3
(cherry picked from commit 8850909038)
79 lines
2.2 KiB
C++
79 lines
2.2 KiB
C++
/*
|
|
* Copyright (C) 2011 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.
|
|
*/
|
|
|
|
#ifndef ANDROID_SENSOR_FUSION_H
|
|
#define ANDROID_SENSOR_FUSION_H
|
|
|
|
#include <stdint.h>
|
|
#include <sys/types.h>
|
|
|
|
#include <utils/SortedVector.h>
|
|
#include <utils/Singleton.h>
|
|
#include <utils/String8.h>
|
|
|
|
#include <gui/Sensor.h>
|
|
|
|
#include "Fusion.h"
|
|
|
|
// ---------------------------------------------------------------------------
|
|
|
|
namespace android {
|
|
// ---------------------------------------------------------------------------
|
|
|
|
class SensorDevice;
|
|
|
|
class SensorFusion : public Singleton<SensorFusion> {
|
|
friend class Singleton<SensorFusion>;
|
|
|
|
SensorDevice& mSensorDevice;
|
|
Sensor mAcc;
|
|
Sensor mMag;
|
|
Sensor mGyro;
|
|
Fusion mFusion;
|
|
bool mEnabled;
|
|
float mEstimatedGyroRate;
|
|
nsecs_t mTargetDelayNs;
|
|
nsecs_t mGyroTime;
|
|
vec4_t mAttitude;
|
|
SortedVector<void*> mClients;
|
|
|
|
SensorFusion();
|
|
|
|
public:
|
|
void process(const sensors_event_t& event);
|
|
|
|
bool isEnabled() const { return mEnabled; }
|
|
bool hasEstimate() const { return mFusion.hasEstimate(); }
|
|
mat33_t getRotationMatrix() const { return mFusion.getRotationMatrix(); }
|
|
vec4_t getAttitude() const { return mAttitude; }
|
|
vec3_t getGyroBias() const { return mFusion.getBias(); }
|
|
float getEstimatedRate() const { return mEstimatedGyroRate; }
|
|
|
|
status_t activate(void* ident, bool enabled);
|
|
status_t setDelay(void* ident, int64_t ns);
|
|
|
|
float getPowerUsage() const;
|
|
int32_t getMinDelay() const;
|
|
|
|
void dump(String8& result);
|
|
};
|
|
|
|
|
|
// ---------------------------------------------------------------------------
|
|
}; // namespace android
|
|
|
|
#endif // ANDROID_SENSOR_FUSION_H
|