#include "description.h"
#include "transform.h"
#include "utils.h"
+#include "filtering.h"
/*----------------------------------------------------------------------------*/
*/
int i;
- float total;
int f;
int sampling_rate = (int) si->sampling_rate;
int history_size;
+ int history_full = 0;
/* Don't denoise anything if we have less than two samples per second */
if (sampling_rate < 2)
si->history_index = 0;
si->history = (float*) realloc(si->history,
si->history_size * num_fields * sizeof(float));
+ if (si->history) {
+ si->history_sum = (float*) realloc(si->history_sum,
+ num_fields * sizeof(float));
+ if (si->history_sum)
+ memset(si->history_sum, 0, num_fields * sizeof(float));
+ }
}
- if (!si->history)
+ if (!si->history || !si->history_sum)
return; /* Unlikely, but still... */
/* Update initialized samples count */
if (si->history_entries < si->history_size)
si->history_entries++;
+ else
+ history_full = 1;
- /* Record new sample */
- for (f=0; f < num_fields; f++)
- si->history[si->history_index * num_fields + f] = data->data[f];
-
- /* Update our rolling index (next evicted cell) */
- si->history_index = (si->history_index + 1) % si->history_size;
-
- /* For now simply compute a mobile mean for each field */
+ /* Record new sample and calculate the moving sum */
for (f=0; f < num_fields; f++) {
- total = 0;
+ /**
+ * A field is going to be overwritten if
+ * history is full, so decrease the history sum
+ */
+ if (history_full)
+ si->history_sum[f] -=
+ si->history[si->history_index * num_fields + f];
- for (i=0; i < si->history_entries; i++)
- total += si->history[i * num_fields + f];
+ si->history[si->history_index * num_fields + f] = data->data[f];
+ si->history_sum[f] += data->data[f];
- /* Output filtered data */
- data->data[f] = total / si->history_entries;
+ /* For now simply compute a mobile mean for each field */
+ /* and output filtered data */
+ data->data[f] = si->history_sum[f] / si->history_entries;
}
+
+ /* Update our rolling index (next evicted cell) */
+ si->history_index = (si->history_index + 1) % si->history_size;
}
case SENSOR_TYPE_GYROSCOPE:
case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
- calibrate_gyro(data, &sensor_info[s]);
+ if (!(sensor_info[s].quirks & QUIRK_TERSE_DRIVER))
+ calibrate_gyro(data, &sensor_info[s]);
if (sensor_info[s].quirks & QUIRK_NOISY)
- denoise(&sensor_info[s], data, 3, 20);
+ denoise_median(&sensor_info[s], data, 3);
break;
case SENSOR_TYPE_LIGHT: