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
94 lines
3.0 KiB
C++
94 lines
3.0 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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#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 "OrientationSensor.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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OrientationSensor::OrientationSensor()
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: mSensorDevice(SensorDevice::getInstance()),
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mSensorFusion(SensorFusion::getInstance())
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{
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// FIXME: instead of using the SensorFusion code, we should use
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// the SENSOR_TYPE_ROTATION_VECTOR instead. This way we could use the
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// HAL's implementation.
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}
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bool OrientationSensor::process(sensors_event_t* outEvent,
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const sensors_event_t& event)
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{
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if (event.type == SENSOR_TYPE_ACCELEROMETER) {
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if (mSensorFusion.hasEstimate()) {
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vec3_t g;
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const float rad2deg = 180 / M_PI;
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const mat33_t R(mSensorFusion.getRotationMatrix());
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g[0] = atan2f(-R[1][0], R[0][0]) * rad2deg;
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g[1] = atan2f(-R[2][1], R[2][2]) * rad2deg;
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g[2] = asinf ( R[2][0]) * rad2deg;
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if (g[0] < 0)
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g[0] += 360;
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*outEvent = event;
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outEvent->orientation.azimuth = g.x;
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outEvent->orientation.pitch = g.y;
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outEvent->orientation.roll = g.z;
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outEvent->orientation.status = SENSOR_STATUS_ACCURACY_HIGH;
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outEvent->sensor = '_ypr';
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outEvent->type = SENSOR_TYPE_ORIENTATION;
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return true;
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}
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}
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return false;
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}
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status_t OrientationSensor::activate(void* ident, bool enabled) {
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return mSensorFusion.activate(this, enabled);
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}
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status_t OrientationSensor::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 OrientationSensor::getSensor() const {
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sensor_t hwSensor;
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hwSensor.name = "Orientation Sensor";
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hwSensor.vendor = "AOSP";
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hwSensor.version = 1;
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hwSensor.handle = '_ypr';
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hwSensor.type = SENSOR_TYPE_ORIENTATION;
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hwSensor.maxRange = 360.0f;
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hwSensor.resolution = 1.0f/256.0f; // FIXME: real value here
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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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