2 * Copyright (C) 2008 The Android Open Source Project
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
8 * http://www.apache.org/licenses/LICENSE-2.0
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
22 #include <sys/select.h>
23 #include <cutils/log.h>
26 #include "SensorConfig.h"
27 #include "HidSensor_Gyro3D.h"
33 struct gyro_3d_sample{
39 const struct sensor_t GyroSensor::sSensorInfo_gyro3D = {
40 "HID_SENSOR Gyro 3D", "Intel", 1, SENSORS_GYROSCOPE_HANDLE,
41 SENSOR_TYPE_GYROSCOPE, RANGE_GYRO, RESOLUTION_GYRO, 6.10f, 10000, 0, 0, {}
43 const int HID_USAGE_SENSOR_UNITS_NOT_SPECIFIED = 0x00;
44 const int HID_USAGE_SENSOR_UNITS_DEGREES_PER_SECOND = 0x15;
45 const int HID_USAGE_SENSOR_UNITS_RADIANS_PER_SECOND = 0xF012;
46 const int retry_cnt = 10;
48 GyroSensor::GyroSensor(): SensorIIODev("gyro_3d", "in_anglvel_scale", "in_anglvel_offset", "in_anglvel_", retry_cnt){
49 ALOGV("GyroSensor: constructor\n");
50 mPendingEvent.version = sizeof(sensors_event_t);
51 mPendingEvent.sensor = ID_GY;
52 mPendingEvent.type = SENSOR_TYPE_GYROSCOPE;
53 memset(mPendingEvent.data, 0, sizeof(mPendingEvent.data));
55 // CDD requires 200Hz (!), but HSB caps out at ~62Hz. Use that as
57 sample_delay_min_ms = 16;
60 int GyroSensor::processEvent(unsigned char *raw_data, size_t raw_data_len){
61 struct gyro_3d_sample *sample;
63 ALOGV(">>%s", __func__);
64 if (IsDeviceInitialized() == false){
65 ALOGE("Device was not initialized \n");
67 } if (raw_data_len < sizeof(struct gyro_3d_sample)){
68 ALOGE("Insufficient length \n");
71 sample = (struct gyro_3d_sample*)raw_data;
72 float sc = GetScaleValue();
73 mPendingEvent.data[0] = mPendingEvent.gyro.x = CONVERT_FROM_VTF16
74 (GetChannelBytesUsedSize(CHANNEL_X), sc, sample->gyro_x);
75 mPendingEvent.data[1] = mPendingEvent.gyro.y = CONVERT_FROM_VTF16
76 (GetChannelBytesUsedSize(CHANNEL_Y), sc, sample->gyro_y);
77 mPendingEvent.data[2] = mPendingEvent.gyro.z = CONVERT_FROM_VTF16
78 (GetChannelBytesUsedSize(CHANNEL_Z), sc, sample->gyro_z);
79 ALOGD("GYRO 3D Sample %fm/s2 %fm/s2 %fm/s2\n", mPendingEvent.gyro.x,
80 mPendingEvent.gyro.y, mPendingEvent.gyro.z);
81 ALOGV("<<%s", __func__);