blob: 9d8add169fec5e007eacd43f9e3b83777cc405c6 [file] [log] [blame]
/*
* 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) {
for (size_t i=0 ; i<count ; i++) {
if (list[i].type == SENSOR_TYPE_ACCELEROMETER) {
mAccelerometer = Sensor(list + i);
break;
}
}
const sensor_t sensor = {
.name = "Gravity Sensor",
.vendor = "AOSP",
.version = 3,
.handle = '_grv',
.type = SENSOR_TYPE_GRAVITY,
.maxRange = GRAVITY_EARTH * 2,
.resolution = mAccelerometer.getResolution(),
.power = mSensorFusion.getPowerUsage(),
.minDelay = mSensorFusion.getMinDelay(),
};
mSensor = Sensor(&sensor);
}
bool GravitySensor::process(sensors_event_t* outEvent,
const sensors_event_t& event)
{
if (event.type == SENSOR_TYPE_ACCELEROMETER) {
vec3_t g;
if (!mSensorFusion.hasEstimate(FUSION_NOMAG))
return false;
const mat33_t R(mSensorFusion.getRotationMatrix(FUSION_NOMAG));
// 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;
*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) {
return mSensorFusion.activate(FUSION_NOMAG, ident, enabled);
}
status_t GravitySensor::setDelay(void* ident, int /*handle*/, int64_t ns) {
return mSensorFusion.setDelay(FUSION_NOMAG, ident, ns);
}
// ---------------------------------------------------------------------------
}; // namespace android