#include <utils/Log.h>
#include <cutils/properties.h>
#include <hardware/sensors.h>
+#include "calibration.h"
#include "common.h"
+#include "description.h"
#include "transform.h"
#include "utils.h"
-#include "calibration.h"
/*----------------------------------------------------------------------------*/
static int64_t sample_as_int64(unsigned char* sample, struct datum_info_t* type)
{
- uint16_t u16;
- uint32_t u32;
uint64_t u64;
int i;
int zeroed_bits = type->storagebits - type->realbits;
+ uint64_t sign_mask;
+ uint64_t value_mask;
u64 = 0;
if (type->sign == 'u')
return (int64_t) u64; /* We don't handle unsigned 64 bits int */
+ /* Signed integer */
+
switch (type->realbits) {
+ case 0 ... 1:
+ return 0;
+
case 8:
return (int64_t) (int8_t) u64;
- case 12:
- return (int64_t) (u64 >> 11) ?
- (((int64_t)-1) ^ 0xfff) | u64 : u64;
-
case 16:
return (int64_t) (int16_t) u64;
case 64:
return (int64_t) u64;
+
+ default:
+ sign_mask = 1 << (type->realbits-1);
+ value_mask = sign_mask - 1;
+
+ if (u64 & sign_mask)
+ /* Negative value: return 2-complement */
+ return - ((~u64 & value_mask) + 1);
+ else
+ return (int64_t) u64; /* Positive value */
}
+}
- ALOGE("Unhandled sample storage size\n");
- return 0;
+
+static void reorder_fields(float* data, unsigned char map[MAX_CHANNELS])
+{
+ int i;
+ float temp[MAX_CHANNELS];
+
+ for (i=0; i<MAX_CHANNELS; i++)
+ temp[i] = data[map[i]];
+
+ for (i=0; i<MAX_CHANNELS; i++)
+ data[i] = temp[i];
}
-static void finalize_sample_default(int s, struct sensors_event_t* data)
+static void denoise (struct sensor_info_t* si, struct sensors_event_t* data,
+ int num_fields)
+{
+ int i;
+ float total;
+ int f;
+ int sampling_rate = (int) si->sampling_rate;
+ int history_size;
+
+ /* Don't denoise anything if we have less than two samples per second */
+ if (sampling_rate < 2)
+ return;
+
+ /* Restrict window size in case of a very high sampling rate */
+ if (sampling_rate > 100)
+ history_size = 100;
+ else
+ history_size = sampling_rate;
+
+ /* Reset history if we're operating on an incorrect window size */
+ if (si->history_size != history_size) {
+ si->history_size = history_size;
+ si->history_entries = 0;
+ si->history_index = 0;
+ si->history = (float*) realloc(si->history,
+ si->history_size * num_fields * sizeof(float));
+ }
+
+ if (!si->history)
+ return; /* Unlikely, but still... */
+
+ /* Update initialized samples count */
+ if (si->history_entries < si->history_size)
+ si->history_entries++;
+
+ /* 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 */
+ for (f=0; f < num_fields; f++) {
+ total = 0;
+
+ for (i=0; i < si->history_entries; i++)
+ total += si->history[i * num_fields + f];
+
+ /* Output filtered data */
+ data->data[f] = total / si->history_entries;
+ }
+}
+
+
+static int finalize_sample_default(int s, struct sensors_event_t* data)
{
int i = sensor_info[s].catalog_index;
int sensor_type = sensor_catalog[i].type;
- float x, y, z;
+
+ /* Swap fields if we have a custom channel ordering on this sensor */
+ if (sensor_info[s].quirks & QUIRK_FIELD_ORDERING)
+ reorder_fields(data->data, sensor_info[s].order);
switch (sensor_type) {
case SENSOR_TYPE_ACCELEROMETER:
- /*
- * Invert x and z axes orientation from SI units - see
- * /hardware/libhardware/include/hardware/sensors.h
- * for a discussion of what Android expects
- */
- x = -data->data[0];
- y = data->data[1];
- z = -data->data[2];
-
- data->data[0] = x;
- data->data[1] = y;
- data->data[2] = z;
+ if (sensor_info[s].quirks & QUIRK_NOISY)
+ denoise(&sensor_info[s], data, 3);
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());
+ calibrate_compass (data, &sensor_info[s], get_timestamp());
+ if (sensor_info[s].quirks & QUIRK_NOISY)
+ denoise(&sensor_info[s], data, 3);
break;
case SENSOR_TYPE_GYROSCOPE:
- x = -data->data[0];
- y = data->data[1];
- z = -data->data[2];
-
- data->data[0] = x;
- data->data[1] = y;
- data->data[2] = z;
-
+ case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
calibrate_gyro(data, &sensor_info[s]);
+ if (sensor_info[s].quirks & QUIRK_NOISY)
+ denoise(&sensor_info[s], data, 3);
break;
+ case SENSOR_TYPE_LIGHT:
case SENSOR_TYPE_AMBIENT_TEMPERATURE:
case SENSOR_TYPE_TEMPERATURE:
- /* Only keep two decimals for temperature readings */
+ /* Only keep two decimals for these readings */
data->data[0] = 0.01 * ((int) (data->data[0] * 100));
- break;
+ /* ... fall through ... */
+
+ case SENSOR_TYPE_PROXIMITY:
+ /*
+ * These are on change sensors ; drop the sample if it
+ * has the same value as the previously reported one.
+ */
+ if (data->data[0] == sensor_info[s].prev_val)
+ return 0;
+
+ sensor_info[s].prev_val = data->data[0];
+ break;
}
+
+ return 1; /* Return sample to Android */
}
}
-static void finalize_sample_ISH(int s, struct sensors_event_t* data)
+static int finalize_sample_ISH(int s, struct sensors_event_t* data)
{
int i = sensor_info[s].catalog_index;
int sensor_type = sensor_catalog[i].type;
float pitch, roll, yaw;
+ /* Swap fields if we have a custom channel ordering on this sensor */
+ if (sensor_info[s].quirks & QUIRK_FIELD_ORDERING)
+ reorder_fields(data->data, sensor_info[s].order);
+
if (sensor_type == SENSOR_TYPE_ORIENTATION) {
pitch = data->data[0];
data->data[1] = -pitch;
data->data[2] = -roll;
}
+
+ return 1; /* Return sample to Android */
}