984826cc15
Add support for 9-axis gravity and linear-acceleration sensors virtual orientation sensor using 9-axis fusion Change-Id: I6717539373fce781c10e97b6fa59f68a831a592f
132 lines
4.2 KiB
C++
132 lines
4.2 KiB
C++
/*
|
|
* Copyright (C) 2010 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.
|
|
*/
|
|
|
|
#include <stdint.h>
|
|
#include <math.h>
|
|
#include <sys/types.h>
|
|
|
|
#include <utils/Errors.h>
|
|
|
|
#include <hardware/sensors.h>
|
|
|
|
#include "GravitySensor.h"
|
|
#include "SensorDevice.h"
|
|
#include "SensorFusion.h"
|
|
|
|
namespace android {
|
|
// ---------------------------------------------------------------------------
|
|
|
|
GravitySensor::GravitySensor(sensor_t const* list, size_t count)
|
|
: mSensorDevice(SensorDevice::getInstance()),
|
|
mSensorFusion(SensorFusion::getInstance()),
|
|
mAccTime(0),
|
|
mLowPass(M_SQRT1_2, 1.5f),
|
|
mX(mLowPass), mY(mLowPass), mZ(mLowPass)
|
|
{
|
|
for (size_t i=0 ; i<count ; i++) {
|
|
if (list[i].type == SENSOR_TYPE_ACCELEROMETER) {
|
|
mAccelerometer = Sensor(list + i);
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
|
|
bool GravitySensor::process(sensors_event_t* outEvent,
|
|
const sensors_event_t& event)
|
|
{
|
|
const static double NS2S = 1.0 / 1000000000.0;
|
|
if (event.type == SENSOR_TYPE_ACCELEROMETER) {
|
|
vec3_t g;
|
|
if (mSensorFusion.hasGyro()) {
|
|
if (!mSensorFusion.hasEstimate())
|
|
return false;
|
|
const mat33_t R(mSensorFusion.getRotationMatrix());
|
|
// FIXME: we need to estimate the length of gravity because
|
|
// the accelerometer may have a small scaling error. This
|
|
// translates to an offset in the linear-acceleration sensor.
|
|
g = R[2] * GRAVITY_EARTH;
|
|
} else {
|
|
const double now = event.timestamp * NS2S;
|
|
if (mAccTime == 0) {
|
|
g.x = mX.init(event.acceleration.x);
|
|
g.y = mY.init(event.acceleration.y);
|
|
g.z = mZ.init(event.acceleration.z);
|
|
} else {
|
|
double dT = now - mAccTime;
|
|
mLowPass.setSamplingPeriod(dT);
|
|
g.x = mX(event.acceleration.x);
|
|
g.y = mY(event.acceleration.y);
|
|
g.z = mZ(event.acceleration.z);
|
|
}
|
|
g *= (GRAVITY_EARTH / length(g));
|
|
mAccTime = now;
|
|
}
|
|
*outEvent = event;
|
|
outEvent->data[0] = g.x;
|
|
outEvent->data[1] = g.y;
|
|
outEvent->data[2] = g.z;
|
|
outEvent->sensor = '_grv';
|
|
outEvent->type = SENSOR_TYPE_GRAVITY;
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
status_t GravitySensor::activate(void* ident, bool enabled) {
|
|
status_t err;
|
|
if (mSensorFusion.hasGyro()) {
|
|
err = mSensorFusion.activate(this, enabled);
|
|
} else {
|
|
err = mSensorDevice.activate(this, mAccelerometer.getHandle(), enabled);
|
|
if (err == NO_ERROR) {
|
|
if (enabled) {
|
|
mAccTime = 0;
|
|
}
|
|
}
|
|
}
|
|
return err;
|
|
}
|
|
|
|
status_t GravitySensor::setDelay(void* ident, int handle, int64_t ns)
|
|
{
|
|
if (mSensorFusion.hasGyro()) {
|
|
return mSensorFusion.setDelay(this, ns);
|
|
} else {
|
|
return mSensorDevice.setDelay(this, mAccelerometer.getHandle(), ns);
|
|
}
|
|
}
|
|
|
|
Sensor GravitySensor::getSensor() const {
|
|
sensor_t hwSensor;
|
|
hwSensor.name = "Gravity Sensor";
|
|
hwSensor.vendor = "Google Inc.";
|
|
hwSensor.version = mSensorFusion.hasGyro() ? 3 : 2;
|
|
hwSensor.handle = '_grv';
|
|
hwSensor.type = SENSOR_TYPE_GRAVITY;
|
|
hwSensor.maxRange = GRAVITY_EARTH * 2;
|
|
hwSensor.resolution = mAccelerometer.getResolution();
|
|
hwSensor.power = mSensorFusion.hasGyro() ?
|
|
mSensorFusion.getPowerUsage() : mAccelerometer.getPowerUsage();
|
|
hwSensor.minDelay = mSensorFusion.hasGyro() ?
|
|
mSensorFusion.getMinDelay() : mAccelerometer.getMinDelay();
|
|
Sensor sensor(&hwSensor);
|
|
return sensor;
|
|
}
|
|
|
|
// ---------------------------------------------------------------------------
|
|
}; // namespace android
|
|
|