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Commit b62013f6 authored by Mathias Agopian's avatar Mathias Agopian
Browse files

9-axis sensor fusion with Kalman filter 

Add support for 9-axis gravity and linear-acceleration sensors
virtual orientation sensor using 9-axis fusion

Change-Id: I6717539373fce781c10e97b6fa59f68a831a592f
parent bc008464

include/gui/Sensor.h

+5 −1
Original line number Original line Diff line number Diff line
@@ -21,8 +21,9 @@ 
#include <sys/types.h>

#include <sys/types.h>





#include <utils/Errors.h>

#include <utils/Errors.h>

#include <utils/String8.h>

#include <utils/Flattenable.h>

#include <utils/Flattenable.h>

#include <utils/String8.h>

#include <utils/Timers.h>





#include <hardware/sensors.h>

#include <hardware/sensors.h>
@@ -64,6 +65,8 @@ public: 
    float getResolution() const;

    float getResolution() const;

    float getPowerUsage() const;

    float getPowerUsage() const;

    int32_t getMinDelay() const;

    int32_t getMinDelay() const;

    nsecs_t getMinDelayNs() const;

    int32_t getVersion() const;





    // Flattenable interface

    // Flattenable interface

    virtual size_t getFlattenedSize() const;

    virtual size_t getFlattenedSize() const;
@@ -83,6 +86,7 @@ private: 
    float   mResolution;

    float   mResolution;

    float   mPower;

    float   mPower;

    int32_t mMinDelay;

    int32_t mMinDelay;

    int32_t mVersion;

};

};





// ----------------------------------------------------------------------------

// ----------------------------------------------------------------------------

libs/gui/Sensor.cpp

+8 −0
Original line number Original line Diff line number Diff line
@@ -89,6 +89,14 @@ int32_t Sensor::getMinDelay() const { 
    return mMinDelay;

    return mMinDelay;

}

}





nsecs_t Sensor::getMinDelayNs() const {

    return getMinDelay() * 1000;

}



int32_t Sensor::getVersion() const {

    return mVersion;

}



size_t Sensor::getFlattenedSize() const

size_t Sensor::getFlattenedSize() const

{

{

    return  sizeof(int32_t) + ((mName.length() + 3) & ~3) +

    return  sizeof(int32_t) + ((mName.length() + 3) & ~3) +