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
130 lines
3.9 KiB
C++
130 lines
3.9 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 "RotationVectorSensor.h"
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namespace android {
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// ---------------------------------------------------------------------------
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RotationVectorSensor::RotationVectorSensor()
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: mSensorDevice(SensorDevice::getInstance()),
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mSensorFusion(SensorFusion::getInstance())
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{
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}
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bool RotationVectorSensor::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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const vec4_t q(mSensorFusion.getAttitude());
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*outEvent = event;
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outEvent->data[0] = q.x;
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outEvent->data[1] = q.y;
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outEvent->data[2] = q.z;
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outEvent->data[3] = q.w;
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outEvent->sensor = '_rov';
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outEvent->type = SENSOR_TYPE_ROTATION_VECTOR;
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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 RotationVectorSensor::activate(void* ident, bool enabled) {
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return mSensorFusion.activate(this, enabled);
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}
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status_t RotationVectorSensor::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 RotationVectorSensor::getSensor() const {
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sensor_t hwSensor;
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hwSensor.name = "Rotation Vector Sensor";
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hwSensor.vendor = "AOSP";
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hwSensor.version = 3;
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hwSensor.handle = '_rov';
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hwSensor.type = SENSOR_TYPE_ROTATION_VECTOR;
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hwSensor.maxRange = 1;
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hwSensor.resolution = 1.0f / (1<<24);
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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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GyroDriftSensor::GyroDriftSensor()
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: mSensorDevice(SensorDevice::getInstance()),
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mSensorFusion(SensorFusion::getInstance())
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{
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}
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bool GyroDriftSensor::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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const vec3_t b(mSensorFusion.getGyroBias());
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*outEvent = event;
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outEvent->data[0] = b.x;
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outEvent->data[1] = b.y;
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outEvent->data[2] = b.z;
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outEvent->sensor = '_gbs';
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outEvent->type = SENSOR_TYPE_ACCELEROMETER;
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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 GyroDriftSensor::activate(void* ident, bool enabled) {
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return mSensorFusion.activate(this, enabled);
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}
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status_t GyroDriftSensor::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 GyroDriftSensor::getSensor() const {
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sensor_t hwSensor;
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hwSensor.name = "Gyroscope Bias (debug)";
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hwSensor.vendor = "AOSP";
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hwSensor.version = 1;
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hwSensor.handle = '_gbs';
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hwSensor.type = SENSOR_TYPE_ACCELEROMETER;
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hwSensor.maxRange = 1;
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hwSensor.resolution = 1.0f / (1<<24);
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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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