| /* |
| * 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. |
| */ |
| |
| #ifndef ANDROID_SENSOR_FUSION_H |
| #define ANDROID_SENSOR_FUSION_H |
| |
| #include <stdint.h> |
| #include <sys/types.h> |
| |
| #include <utils/SortedVector.h> |
| #include <utils/Singleton.h> |
| #include <utils/String8.h> |
| |
| #include <sensor/Sensor.h> |
| |
| #include "Fusion.h" |
| |
| // --------------------------------------------------------------------------- |
| |
| namespace android { |
| // --------------------------------------------------------------------------- |
| |
| class SensorDevice; |
| |
| class SensorFusion : public Singleton<SensorFusion> { |
| friend class Singleton<SensorFusion>; |
| |
| SensorDevice& mSensorDevice; |
| Sensor mAcc; |
| Sensor mMag; |
| Sensor mGyro; |
| |
| Fusion mFusions[NUM_FUSION_MODE]; // normal, no_mag, no_gyro |
| |
| bool mEnabled[NUM_FUSION_MODE]; |
| |
| vec4_t &mAttitude; |
| vec4_t mAttitudes[NUM_FUSION_MODE]; |
| |
| SortedVector<void*> mClients[3]; |
| |
| float mEstimatedGyroRate; |
| nsecs_t mTargetDelayNs; |
| |
| nsecs_t mGyroTime; |
| nsecs_t mAccTime; |
| |
| SensorFusion(); |
| |
| public: |
| void process(const sensors_event_t& event); |
| |
| bool isEnabled() const { |
| return mEnabled[FUSION_9AXIS] || |
| mEnabled[FUSION_NOMAG] || |
| mEnabled[FUSION_NOGYRO]; |
| } |
| |
| bool hasEstimate(int mode = FUSION_9AXIS) const { |
| return mFusions[mode].hasEstimate(); |
| } |
| |
| mat33_t getRotationMatrix(int mode = FUSION_9AXIS) const { |
| return mFusions[mode].getRotationMatrix(); |
| } |
| |
| vec4_t getAttitude(int mode = FUSION_9AXIS) const { |
| return mAttitudes[mode]; |
| } |
| |
| vec3_t getGyroBias() const { return mFusions[FUSION_9AXIS].getBias(); } |
| float getEstimatedRate() const { return mEstimatedGyroRate; } |
| |
| status_t activate(int mode, void* ident, bool enabled); |
| status_t setDelay(int mode, void* ident, int64_t ns); |
| |
| float getPowerUsage(int mode=FUSION_9AXIS) const; |
| int32_t getMinDelay() const; |
| |
| void dump(String8& result); |
| }; |
| |
| |
| // --------------------------------------------------------------------------- |
| }; // namespace android |
| |
| #endif // ANDROID_SENSOR_FUSION_H |