1 /*
2  * Copyright (C) 2011 The Android Open Source Project
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  *      http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  */
16 
17 #ifndef ANDROID_SENSOR_FUSION_H
18 #define ANDROID_SENSOR_FUSION_H
19 
20 #include <stdint.h>
21 #include <sys/types.h>
22 
23 #include <utils/SortedVector.h>
24 #include <utils/Singleton.h>
25 #include <utils/String8.h>
26 
27 #include <sensor/Sensor.h>
28 
29 #include "Fusion.h"
30 
31 // ---------------------------------------------------------------------------
32 
33 namespace android {
34 // ---------------------------------------------------------------------------
35 
36 class SensorDevice;
37 
38 class SensorFusion : public Singleton<SensorFusion> {
39     friend class Singleton<SensorFusion>;
40 
41     SensorDevice& mSensorDevice;
42     Sensor mAcc;
43     Sensor mMag;
44     Sensor mGyro;
45 
46     Fusion mFusions[NUM_FUSION_MODE]; // normal, no_mag, no_gyro
47 
48     bool mEnabled[NUM_FUSION_MODE];
49 
50     vec4_t &mAttitude;
51     vec4_t mAttitudes[NUM_FUSION_MODE];
52 
53     SortedVector<void*> mClients[3];
54 
55     float mEstimatedGyroRate;
56     nsecs_t mTargetDelayNs;
57 
58     nsecs_t mGyroTime;
59     nsecs_t mAccTime;
60 
61     SensorFusion();
62 
63 public:
64     void process(const sensors_event_t& event);
65 
isEnabled()66     bool isEnabled() const {
67         return mEnabled[FUSION_9AXIS] ||
68                 mEnabled[FUSION_NOMAG] ||
69                 mEnabled[FUSION_NOGYRO];
70     }
71 
72     bool hasEstimate(int mode = FUSION_9AXIS) const {
73         return mFusions[mode].hasEstimate();
74     }
75 
76     mat33_t getRotationMatrix(int mode = FUSION_9AXIS) const {
77         return mFusions[mode].getRotationMatrix();
78     }
79 
80     vec4_t getAttitude(int mode = FUSION_9AXIS) const {
81         return mAttitudes[mode];
82     }
83 
getGyroBias()84     vec3_t getGyroBias() const { return mFusions[FUSION_9AXIS].getBias(); }
getEstimatedRate()85     float getEstimatedRate() const { return mEstimatedGyroRate; }
86 
87     status_t activate(int mode, void* ident, bool enabled);
88     status_t setDelay(int mode, void* ident, int64_t ns);
89 
90     float getPowerUsage(int mode=FUSION_9AXIS) const;
91     int32_t getMinDelay() const;
92 
93     void dump(String8& result);
94 };
95 
96 
97 // ---------------------------------------------------------------------------
98 }; // namespace android
99 
100 #endif // ANDROID_SENSOR_FUSION_H
101