#include "common.h"
#include "transform.h"
#include "utils.h"
+#include "calibration.h"
/*----------------------------------------------------------------------------*/
#define CONVERT_M_Y (-CONVERT_M)
#define CONVERT_M_Z (CONVERT_M)
+#define CONVERT_GAUSS_TO_MICROTESLA(x) ( (x) * 100 )
+
/* conversion of orientation data to degree units */
#define CONVERT_O (1.0f/64.0f)
#define CONVERT_O_A (CONVERT_O)
#define CONVERT_M_MG_VTF16E14_Y(s,d,x) (convert_from_vtf_format(s,d,x)/10)
#define CONVERT_M_MG_VTF16E14_Z(s,d,x) (convert_from_vtf_format(s,d,x)/10)
-#define DATA_BYTES 2
-#define ACC_EXPONENT -2
-#define GYRO_EXPONENT -1
-#define MAGN_EXPONENT 0
-#define INC_EXPONENT -1
-#define ROT_EXPONENT -8
/*----------------------------------------------------------------------------*/
uint32_t u32;
uint64_t u64;
int i;
+ int zeroed_bits = type->storagebits - type->realbits;
- switch (type->storagebits) {
- case 64:
- u64 = 0;
-
- if (type->endianness == 'b')
- for (i=0; i<8; i++)
- u64 = (u64 << 8) | sample[i];
- else
- for (i=7; i>=0; i--)
- u64 = (u64 << 8) | sample[i];
+ u64 = 0;
- if (type->sign == 'u')
- return (int64_t) (u64 >> type->shift);
+ if (type->endianness == 'b')
+ for (i=0; i<type->storagebits/8; i++)
+ u64 = (u64 << 8) | sample[i];
+ else
+ for (i=type->storagebits/8 - 1; i>=0; i--)
+ u64 = (u64 << 8) | sample[i];
- return ((int64_t) u64) >> type->shift;
+ u64 = (u64 >> type->shift) & (~0ULL >> zeroed_bits);
- case 32:
- if (type->endianness == 'b')
- u32 = (sample[0] << 24) | (sample[1] << 16) |
- (sample[2] << 8) | sample[3];
- else
- u32 = (sample[3] << 24) | (sample[2] << 16) |
- (sample[1] << 8) | sample[0];
+ if (type->sign == 'u')
+ return (int64_t) u64; /* We don't handle unsigned 64 bits int */
- if (type->sign == 'u')
- return u32 >> type->shift;
+ switch (type->realbits) {
+ case 8:
+ return (int64_t) (int8_t) u64;
- return ((int32_t) u32) >> type->shift;
+ case 12:
+ return (int64_t) (u64 >> 11) ?
+ (((int64_t)-1) ^ 0xfff) | u64 : u64;
case 16:
- if (type->endianness == 'b')
- u16 = (sample[0] << 8) | sample[1];
- else
- u16 = (sample[1] << 8) | sample[0];
+ return (int64_t) (int16_t) u64;
- if (type->sign == 'u')
- return u16 >> type->shift;
+ case 32:
+ return (int64_t) (int32_t) u64;
- return ((int16_t) u16) >> type->shift;
+ case 64:
+ return (int64_t) u64;
}
ALOGE("Unhandled sample storage size\n");
{
int i = sensor_info[s].catalog_index;
int sensor_type = sensor_catalog[i].type;
+ float x, y, z;
switch (sensor_type) {
case SENSOR_TYPE_ACCELEROMETER:
/*
- * Invert x axis orientation from SI units - see
+ * Invert x and z axes orientation from SI units - see
* /hardware/libhardware/include/hardware/sensors.h
* for a discussion of what Android expects
*/
- data->data[0] = -data->data[0];
+ x = -data->data[0];
+ y = data->data[1];
+ z = -data->data[2];
+
+ data->data[0] = x;
+ data->data[1] = y;
+ data->data[2] = z;
+ break;
+
+ case SENSOR_TYPE_MAGNETIC_FIELD:
+ x = -data->data[0];
+ y = data->data[1];
+ z = -data->data[2];
+
+ data->data[0] = x;
+ data->data[1] = y;
+ data->data[2] = z;
+
+ /* Calibrate compass */
+ calibrate_compass (data, get_timestamp());
break;
case SENSOR_TYPE_GYROSCOPE:
+ x = -data->data[0];
+ y = data->data[1];
+ z = -data->data[2];
+
/* Limit drift */
- if ( fabs(data->data[0]) < 0.1 &&
- fabs(data->data[1]) < 0.1 &&
- fabs(data->data[2]) < 0.1) {
- data->data[0] = 0;
- data->data[1] = 0;
- data->data[2] = 0;
- }
+ if (fabs(x) < 0.1 && fabs(y) < 0.1 && fabs(z) < 0.1)
+ x = y = z = 0;
+
+ data->data[0] = x;
+ data->data[1] = y;
+ data->data[2] = z;
+ break;
+
+ case SENSOR_TYPE_AMBIENT_TEMPERATURE:
+ case SENSOR_TYPE_TEMPERATURE:
+ /* Only keep two decimals for temperature readings */
+ data->data[0] = 0.01 * ((int) (data->data[0] * 100));
break;
+
}
}
{
struct datum_info_t* sample_type = &sensor_info[s].channel[c].type_info;
int64_t s64 = sample_as_int64(sample_data, sample_type);
+ float scale = sensor_info[s].scale ?
+ sensor_info[s].scale : sensor_info[s].channel[c].scale;
+
+ /* In case correction has been requested using properties, apply it */
+ scale *= sensor_info[s].channel[c].opt_scale;
/* Apply default scaling rules */
- return (sensor_info[s].offset + s64) * sensor_info[s].scale;
+ return (sensor_info[s].offset + s64) * scale;
}
int val = (int) sample_as_int64(sample_data, sample_type);
int i = sensor_info[s].catalog_index;
int sensor_type = sensor_catalog[i].type;
+ float correction;
+ int data_bytes = (sample_type->realbits)/8;
+ int exponent = sensor_info[s].offset;
+
+ /* In case correction has been requested using properties, apply it */
+ correction = sensor_info[s].channel[c].opt_scale;
switch (sensor_type) {
case SENSOR_TYPE_ACCELEROMETER:
switch (c) {
case 0:
- return CONVERT_A_G_VTF16E14_X(
- DATA_BYTES, ACC_EXPONENT, val);
+ return correction *
+ CONVERT_A_G_VTF16E14_X(
+ data_bytes, exponent, val);
case 1:
- return CONVERT_A_G_VTF16E14_Y(
- DATA_BYTES, ACC_EXPONENT, val);
+ return correction *
+ CONVERT_A_G_VTF16E14_Y(
+ data_bytes, exponent, val);
case 2:
- return CONVERT_A_G_VTF16E14_Z(
- DATA_BYTES, ACC_EXPONENT, val);
+ return correction *
+ CONVERT_A_G_VTF16E14_Z(
+ data_bytes, exponent, val);
}
break;
case SENSOR_TYPE_GYROSCOPE:
switch (c) {
case 0:
- return CONVERT_G_D_VTF16E14_X(
- DATA_BYTES, GYRO_EXPONENT, val);
+ return correction *
+ CONVERT_G_D_VTF16E14_X(
+ data_bytes, exponent, val);
case 1:
- return CONVERT_G_D_VTF16E14_Y(
- DATA_BYTES, GYRO_EXPONENT, val);
+ return correction *
+ CONVERT_G_D_VTF16E14_Y(
+ data_bytes, exponent, val);
case 2:
- return CONVERT_G_D_VTF16E14_Z(
- DATA_BYTES, GYRO_EXPONENT, val);
+ return correction *
+ CONVERT_G_D_VTF16E14_Z(
+ data_bytes, exponent, val);
}
break;
case SENSOR_TYPE_MAGNETIC_FIELD:
switch (c) {
case 0:
- return CONVERT_M_MG_VTF16E14_X(
- DATA_BYTES, MAGN_EXPONENT, val);
+ return correction *
+ CONVERT_M_MG_VTF16E14_X(
+ data_bytes, exponent, val);
case 1:
- return CONVERT_M_MG_VTF16E14_Y(
- DATA_BYTES, MAGN_EXPONENT, val);
+ return correction *
+ CONVERT_M_MG_VTF16E14_Y(
+ data_bytes, exponent, val);
case 2:
- return CONVERT_M_MG_VTF16E14_Z(
- DATA_BYTES, MAGN_EXPONENT, val);
+ return correction *
+ CONVERT_M_MG_VTF16E14_Z(
+ data_bytes, exponent, val);
}
break;
case SENSOR_TYPE_ORIENTATION:
- return convert_from_vtf_format(DATA_BYTES, INC_EXPONENT,
- val);
+ return correction * convert_from_vtf_format(
+ data_bytes, exponent, val);
case SENSOR_TYPE_ROTATION_VECTOR:
- return convert_from_vtf_format(DATA_BYTES, ROT_EXPONENT,
- val);
+ return correction * convert_from_vtf_format(
+ data_bytes, exponent, val);
}
return 0;
int i = sensor_info[s].catalog_index;
const char* raw_path = sensor_catalog[i].channel[c].raw_path;
const char* input_path = sensor_catalog[i].channel[c].input_path;
- float scale = sensor_info[s].scale;
+ float scale = sensor_info[s].scale ?
+ sensor_info[s].scale : sensor_info[s].channel[c].scale;
float offset = sensor_info[s].offset;
+ int sensor_type = sensor_catalog[i].type;
+ float correction;
+
+ /* In case correction has been requested using properties, apply it */
+ correction = sensor_info[s].channel[c].opt_scale;
/* Acquire a sample value for sensor s / channel c through sysfs */
ret = sysfs_read_float(sysfs_path, &val);
if (!ret) {
- return val;
+ return val * correction;
}
};
if (ret == -1)
return 0;
- return (val + offset) * scale;
+ /*
+ There is no transform ops defined yet for Raw sysfs values
+ Use this function to perform transformation as well.
+ */
+ if (sensor_type == SENSOR_TYPE_MAGNETIC_FIELD)
+ return CONVERT_GAUSS_TO_MICROTESLA ((val + offset) * scale) *
+ correction;
+
+ return (val + offset) * scale * correction;
}
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