sensorservice: Add legacy sensors fusion.

This change allows devices with accelerometer & magnetometer but
without gyroscope to still get virtual sensors such as Gravity,
Linear Acceleration and Rotation Vector.

Change-Id: Ibb90b70845c766ab52c843557446e34649a7d6d9

1 files changed, 60 insertions, 0 deletions

diff --git a/services/sensorservice/legacy/LegacyRotationVectorSensor.h b/services/sensorservice/legacy/LegacyRotationVectorSensor.h
new file mode 100644
index 0000000..4208819
--- /dev/null
+++ b/services/sensorservice/legacy/LegacyRotationVectorSensor.h
@@ -0,0 +1,60 @@
+/*
+ * 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.
+ */
+
+#ifndef ANDROID_LEGACY_ROTATION_VECTOR_SENSOR_H
+#define ANDROID_LEGACY_ROTATION_VECTOR_SENSOR_H
+
+#include <stdint.h>
+#include <sys/types.h>
+
+#include <gui/Sensor.h>
+
+#include "../SensorDevice.h"
+#include "../SensorInterface.h"
+
+#include "../Fusion.h"
+#include "../SensorFusion.h"
+#include "SecondOrderLowPassFilter.h"
+
+// ---------------------------------------------------------------------------
+namespace android {
+// ---------------------------------------------------------------------------
+
+class LegacyRotationVectorSensor : public SensorInterface {
+    SensorDevice& mSensorDevice;
+    SensorFusion& mSensorFusion;
+    float mMagData[3];
+    double mAccTime;
+    double mMagTime;
+    SecondOrderLowPassFilter mALowPass;
+    CascadedBiquadFilter mAX, mAY, mAZ;
+    SecondOrderLowPassFilter mMLowPass;
+    CascadedBiquadFilter mMX, mMY, mMZ;
+
+public:
+    LegacyRotationVectorSensor();
+    virtual bool process(sensors_event_t* outEvent,
+            const sensors_event_t& event);
+    virtual status_t activate(void* ident, bool enabled);
+    virtual status_t setDelay(void* ident, int handle, int64_t ns);
+    virtual Sensor getSensor() const;
+    virtual bool isVirtual() const { return true; }
+};
+
+// ---------------------------------------------------------------------------
+}; // namespace android
+
+#endif // ANDROID_LEGACY_ROTATION_VECTOR_SENSOR_H