0319306670
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
95 lines
2.9 KiB
C++
95 lines
2.9 KiB
C++
/*
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* Copyright (C) 2010 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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#include <stdint.h>
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#include <math.h>
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#include <sys/types.h>
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#include <utils/Errors.h>
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#include <hardware/sensors.h>
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#include "GravitySensor.h"
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#include "SensorDevice.h"
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#include "SensorFusion.h"
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namespace android {
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// ---------------------------------------------------------------------------
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GravitySensor::GravitySensor(sensor_t const* list, size_t count)
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: mSensorDevice(SensorDevice::getInstance()),
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mSensorFusion(SensorFusion::getInstance())
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{
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for (size_t i=0 ; i<count ; i++) {
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if (list[i].type == SENSOR_TYPE_ACCELEROMETER) {
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mAccelerometer = Sensor(list + i);
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break;
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}
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}
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}
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bool GravitySensor::process(sensors_event_t* outEvent,
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const sensors_event_t& event)
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{
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const static double NS2S = 1.0 / 1000000000.0;
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if (event.type == SENSOR_TYPE_ACCELEROMETER) {
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vec3_t g;
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if (!mSensorFusion.hasEstimate())
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return false;
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const mat33_t R(mSensorFusion.getRotationMatrix());
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// FIXME: we need to estimate the length of gravity because
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// the accelerometer may have a small scaling error. This
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// translates to an offset in the linear-acceleration sensor.
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g = R[2] * GRAVITY_EARTH;
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*outEvent = event;
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outEvent->data[0] = g.x;
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outEvent->data[1] = g.y;
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outEvent->data[2] = g.z;
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outEvent->sensor = '_grv';
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outEvent->type = SENSOR_TYPE_GRAVITY;
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return true;
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}
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return false;
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}
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status_t GravitySensor::activate(void* ident, bool enabled) {
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return mSensorFusion.activate(this, enabled);
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}
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status_t GravitySensor::setDelay(void* ident, int handle, int64_t ns) {
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return mSensorFusion.setDelay(this, ns);
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}
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Sensor GravitySensor::getSensor() const {
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sensor_t hwSensor;
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hwSensor.name = "Gravity Sensor";
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hwSensor.vendor = "AOSP";
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hwSensor.version = 3;
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hwSensor.handle = '_grv';
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hwSensor.type = SENSOR_TYPE_GRAVITY;
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hwSensor.maxRange = GRAVITY_EARTH * 2;
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hwSensor.resolution = mAccelerometer.getResolution();
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hwSensor.power = mSensorFusion.getPowerUsage();
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hwSensor.minDelay = mSensorFusion.getMinDelay();
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Sensor sensor(&hwSensor);
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return sensor;
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}
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// ---------------------------------------------------------------------------
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}; // namespace android
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