/* * Copyright (C) 2011 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 "OrientationSensor.h" #include "SensorDevice.h" #include "SensorFusion.h" namespace android { // --------------------------------------------------------------------------- OrientationSensor::OrientationSensor() : mSensorDevice(SensorDevice::getInstance()), mSensorFusion(SensorFusion::getInstance()) { // FIXME: instead of using the SensorFusion code, we should use // the SENSOR_TYPE_ROTATION_VECTOR instead. This way we could use the // HAL's implementation. } bool OrientationSensor::process(sensors_event_t* outEvent, const sensors_event_t& event) { if (event.type == SENSOR_TYPE_ACCELEROMETER) { if (mSensorFusion.hasEstimate()) { vec3_t g; const float rad2deg = 180 / M_PI; const mat33_t R(mSensorFusion.getRotationMatrix()); g[0] = atan2f(-R[1][0], R[0][0]) * rad2deg; g[1] = atan2f(-R[2][1], R[2][2]) * rad2deg; g[2] = asinf ( R[2][0]) * rad2deg; if (g[0] < 0) g[0] += 360; *outEvent = event; outEvent->orientation.azimuth = g.x; outEvent->orientation.pitch = g.y; outEvent->orientation.roll = g.z; outEvent->orientation.status = SENSOR_STATUS_ACCURACY_HIGH; outEvent->sensor = '_ypr'; outEvent->type = SENSOR_TYPE_ORIENTATION; return true; } } return false; } status_t OrientationSensor::activate(void* ident, bool enabled) { return mSensorFusion.activate(ident, enabled); } status_t OrientationSensor::setDelay(void* ident, int /*handle*/, int64_t ns) { return mSensorFusion.setDelay(ident, ns); } Sensor OrientationSensor::getSensor() const { sensor_t hwSensor; hwSensor.name = "Orientation Sensor"; hwSensor.vendor = "AOSP"; hwSensor.version = 1; hwSensor.handle = '_ypr'; hwSensor.type = SENSOR_TYPE_ORIENTATION; hwSensor.maxRange = 360.0f; hwSensor.resolution = 1.0f/256.0f; // FIXME: real value here hwSensor.power = mSensorFusion.getPowerUsage(); hwSensor.minDelay = mSensorFusion.getMinDelay(); Sensor sensor(&hwSensor); return sensor; } // --------------------------------------------------------------------------- }; // namespace android