From ab764de51f6f903deacfc1556fe8498fc4f73088 Mon Sep 17 00:00:00 2001 From: Rudolf Tammekivi Date: Sat, 2 Feb 2013 15:30:52 +0200 Subject: 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 --- .../legacy/LegacyRotationVectorSensor.h | 60 ++++++++++++++++++++++ 1 file changed, 60 insertions(+) create mode 100644 services/sensorservice/legacy/LegacyRotationVectorSensor.h (limited to 'services/sensorservice/legacy/LegacyRotationVectorSensor.h') 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 +#include + +#include + +#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 -- cgit v1.1