2e2a560c4b
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
79 lines
2.2 KiB
C++
79 lines
2.2 KiB
C++
/*
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* Copyright (C) 2011 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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#ifndef ANDROID_SENSOR_FUSION_H
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#define ANDROID_SENSOR_FUSION_H
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#include <stdint.h>
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#include <sys/types.h>
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#include <utils/SortedVector.h>
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#include <utils/Singleton.h>
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#include <utils/String8.h>
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#include <gui/Sensor.h>
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#include "Fusion.h"
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// ---------------------------------------------------------------------------
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namespace android {
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// ---------------------------------------------------------------------------
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class SensorDevice;
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class SensorFusion : public Singleton<SensorFusion> {
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friend class Singleton<SensorFusion>;
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SensorDevice& mSensorDevice;
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Sensor mAcc;
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Sensor mMag;
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Sensor mGyro;
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Fusion mFusion;
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bool mEnabled;
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float mEstimatedGyroRate;
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nsecs_t mTargetDelayNs;
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nsecs_t mGyroTime;
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vec4_t mAttitude;
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SortedVector<void*> mClients;
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SensorFusion();
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public:
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void process(const sensors_event_t& event);
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bool isEnabled() const { return mEnabled; }
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bool hasEstimate() const { return mFusion.hasEstimate(); }
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mat33_t getRotationMatrix() const { return mFusion.getRotationMatrix(); }
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vec4_t getAttitude() const { return mAttitude; }
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vec3_t getGyroBias() const { return mFusion.getBias(); }
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float getEstimatedRate() const { return mEstimatedGyroRate; }
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status_t activate(void* ident, bool enabled);
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status_t setDelay(void* ident, int64_t ns);
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float getPowerUsage() const;
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int32_t getMinDelay() const;
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void dump(String8& result, char* buffer, size_t SIZE);
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};
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// ---------------------------------------------------------------------------
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}; // namespace android
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#endif // ANDROID_SENSOR_FUSION_H
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