/*
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* Copyright (C) 2011 The Android Open Source Project
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include <stdint.h>
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#include <math.h>
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#include <sys/types.h>
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#include <utils/Errors.h>
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#include <hardware/sensors.h>
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#include "CorrectedGyroSensor.h"
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#include "SensorDevice.h"
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#include "SensorFusion.h"
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namespace android {
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// ---------------------------------------------------------------------------
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CorrectedGyroSensor::CorrectedGyroSensor(sensor_t const* list, size_t count)
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: VirtualSensor() {
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for (size_t i=0 ; i<count ; i++) {
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if (list[i].type == SENSOR_TYPE_GYROSCOPE) {
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mGyro = Sensor(list + i);
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break;
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}
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}
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const sensor_t sensor = {
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.name = "Corrected Gyroscope Sensor",
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.vendor = "AOSP",
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.version = 1,
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.handle = '_cgy',
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.type = SENSOR_TYPE_GYROSCOPE,
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.maxRange = mGyro.getMaxValue(),
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.resolution = mGyro.getResolution(),
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.power = mSensorFusion.getPowerUsage(),
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.minDelay = mGyro.getMinDelay(),
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};
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mSensor = Sensor(&sensor);
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}
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bool CorrectedGyroSensor::process(sensors_event_t* outEvent,
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const sensors_event_t& event)
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{
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if (event.type == SENSOR_TYPE_GYROSCOPE) {
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const vec3_t bias(mSensorFusion.getGyroBias());
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*outEvent = event;
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outEvent->data[0] -= bias.x;
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outEvent->data[1] -= bias.y;
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outEvent->data[2] -= bias.z;
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outEvent->sensor = '_cgy';
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return true;
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}
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return false;
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}
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status_t CorrectedGyroSensor::activate(void* ident, bool enabled) {
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mSensorDevice.activate(ident, mGyro.getHandle(), enabled);
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return mSensorFusion.activate(FUSION_9AXIS, ident, enabled);
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}
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status_t CorrectedGyroSensor::setDelay(void* ident, int /*handle*/, int64_t ns) {
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mSensorDevice.setDelay(ident, mGyro.getHandle(), ns);
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return mSensorFusion.setDelay(FUSION_9AXIS, ident, ns);
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}
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// ---------------------------------------------------------------------------
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}; // namespace android
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