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sensorhal: allow accel bias updates while accel enabled am: 6613bf0afa

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am: 11b1616203

Change-Id: Icb3c22580b87ec515fc21da318427cd2afc8958a
This commit is contained in:
Ben Fennema
2018-05-18 12:21:10 -07:00
committed by android-build-merger
parent 2d26be046f 11b1616203
commit 090f0f588c
2 changed files with 36 additions and 4 deletions
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37
sensorhal/hubconnection.cpp
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@@ -126,6 +126,8 @@ HubConnection::HubConnection()
mMagAccuracyRestore = SENSOR_STATUS_UNRELIABLE;
mGyroBias[0] = mGyroBias[1] = mGyroBias[2] = 0.0f;
mAccelBias[0] = mAccelBias[1] = mAccelBias[2] = 0.0f;
mAccelEnabledBias[0] = mAccelEnabledBias[1] = mAccelEnabledBias[2] = 0.0f;
mAccelEnabledBiasStored = true;
memset(&mGyroOtcData, 0, sizeof(mGyroOtcData));
mLefty.accel = false;
@@ -688,6 +690,22 @@ void HubConnection::processSample(uint64_t timestamp, uint32_t type, uint32_t se
sendDirectReportEvent(&nev[cnt], 1);
if (mSensorState[sensor].enable && isSampleIntervalSatisfied(sensor, timestamp)) {
if (!mAccelEnabledBiasStored) {
// accel is enabled, but no enabled bias. Store latest bias and use
// for accel and uncalibrated accel due to:
// https://source.android.com/devices/sensors/sensor-types.html
// "The bias and scale calibration must only be updated while the sensor is deactivated,
// so as to avoid causing jumps in values during streaming."
mAccelEnabledBiasStored = true;
mAccelEnabledBias[0] = mAccelBias[0];
mAccelEnabledBias[1] = mAccelBias[1];
mAccelEnabledBias[2] = mAccelBias[2];
}
// samples arrive using latest bias
// adjust for enabled bias being different from lastest bias
sv->x += mAccelBias[0] - mAccelEnabledBias[0];
sv->y += mAccelBias[1] - mAccelEnabledBias[1];
sv->z += mAccelBias[2] - mAccelEnabledBias[2];
++cnt;
}
@@ -697,9 +715,17 @@ void HubConnection::processSample(uint64_t timestamp, uint32_t type, uint32_t se
ue->x_uncalib = sample->ix * mScaleAccel + mAccelBias[0];
ue->y_uncalib = sample->iy * mScaleAccel + mAccelBias[1];
ue->z_uncalib = sample->iz * mScaleAccel + mAccelBias[2];
ue->x_bias = mAccelBias[0];
ue->y_bias = mAccelBias[1];
ue->z_bias = mAccelBias[2];
if (!mAccelEnabledBiasStored) {
// No enabled bias (which means accel is disabled). Use latest bias.
ue->x_bias = mAccelBias[0];
ue->y_bias = mAccelBias[1];
ue->z_bias = mAccelBias[2];
} else {
// enabled bias is valid, so use it
ue->x_bias = mAccelEnabledBias[0];
ue->y_bias = mAccelEnabledBias[1];
ue->z_bias = mAccelEnabledBias[2];
}
sendDirectReportEvent(&nev[cnt], 1);
if (mSensorState[COMMS_SENSOR_ACCEL_UNCALIBRATED].enable
@@ -1552,6 +1578,11 @@ void HubConnection::queueActivate(int handle, bool enable)
Mutex::Autolock autoLock(mLock);
if (isValidHandle(handle)) {
// disabling accel, so no longer need to use the bias from when
// accel was first enabled
if (handle == COMMS_SENSOR_ACCEL && !enable)
mAccelEnabledBiasStored = false;
mSensorState[handle].enable = enable;
initConfigCmd(&cmd, handle);

3
sensorhal/hubconnection.h
View File

@@ -242,7 +242,8 @@ private:
uint8_t mMagAccuracy;
uint8_t mMagAccuracyRestore;
float mGyroBias[3], mAccelBias[3];
float mGyroBias[3], mAccelBias[3], mAccelEnabledBias[3];
bool mAccelEnabledBiasStored;
GyroOtcData mGyroOtcData;
float mScaleAccel, mScaleMag;