kopia lustrzana https://github.com/Hamlib/Hamlib
58 wiersze
1.5 KiB
C++
58 wiersze
1.5 KiB
C++
#ifndef NDKIMU_H
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#define NDKIMU_H
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#include <dlfcn.h>
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#include <GLES2/gl2.h>
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#include <android/looper.h>
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#include <android/sensor.h>
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#include <cstdint>
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#include <cassert>
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#include <string>
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static const int LOOPER_ID_USER = 3;
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static const int SENSOR_HISTORY_LENGTH = 100;
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static const int SENSOR_REFRESH_RATE_HZ = 100;
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static constexpr int32_t SENSOR_REFRESH_PERIOD_US = int32_t(1000000 / SENSOR_REFRESH_RATE_HZ);
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static const float SENSOR_FILTER_ALPHA = 2.1f;
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class NdkImu
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{
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public:
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explicit NdkImu(char kPackageName[] = NULL);
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~NdkImu();
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static ASensorManager *AcquireASensorManagerInstance(char kPackageName[]);
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static bool getRotationMatrix(float R[], size_t Rlength, float I[], size_t Ilength, const float gravity[], const float geomagnetic[]);
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static float *getOrientation(const float R[], size_t Rlength, float valuesBuf[] = NULL);
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private:
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ASensorManager *sensorManager;
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const ASensor *accelerometer;
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ASensorEventQueue *accelerometerEventQueue;
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const ASensor *geomagnetic;
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ASensorEventQueue *geomagneticEventQueue;
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ALooper *looper;
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struct SensorData {
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GLfloat x;
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GLfloat y;
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GLfloat z;
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};
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SensorData sensorAccData[SENSOR_HISTORY_LENGTH*2];
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SensorData sensorAccDataFilter;
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SensorData sensorMagData[SENSOR_HISTORY_LENGTH*2];
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SensorData sensorMagDataFilter;
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int sensorAccDataIndex;
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int sensorMagDataIndex;
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public:
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void update();
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float *getAccData(float accDataBuf[] = NULL);
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float *getMagData(float magDataBuf[] = NULL);
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};
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#endif // NDKIMU_H
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