GMIN-2992: Start with -dev trigger before switching to -any-motion

[android-x86/hardware-intel-libsensors.git] / transform.c

diff --git a/transform.c b/transform.c
index ed66613..e86fe1a 100644 (file)
--- a/transform.c
+++ b/transform.c
@@ -195,14 +195,21 @@ static void denoise (struct sensor_info_t* si, struct sensors_event_t* data,
        float total;
        int f;
        int sampling_rate = (int) si->sampling_rate;
+       int history_size;
 
-       /* We're recording 1s worth of samples ; need suitable sampling rate */
-       if (sampling_rate < 1)
+       /* Don't denoise anything if we have less than two samples per second */
+       if (sampling_rate < 2)
                return;
 
-       /* Reset history if a new sampling rate is detected */
-       if (si->history_size != sampling_rate) {
-               si->history_size = sampling_rate;
+       /* 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,
@@ -212,34 +219,26 @@ static void denoise (struct sensor_info_t* si, struct sensors_event_t* data,
        if (!si->history)
                return; /* Unlikely, but still... */
 
-       /* Populate beginning of array as we go */
-       if (si->history_entries < si->history_size) {
-               for (f=0; f<num_fields; f++)
-                       si->history[si->history_entries * num_fields + f] =
-                               data->data[f];
-
+       /* Update initialized samples count */
+       if (si->history_entries < si->history_size)
                si->history_entries++;
-       }
-
-       /* Once we get enough data, start filtering */
-       if (si->history_entries == si->history_size) {
 
-               /* For now simply compute a mobile mean */
-               for (f=0; f<num_fields; f++) {
-                       total = 0;
+       /* Record new sample */
+       for (f=0; f < num_fields; f++)
+               si->history[si->history_index * num_fields + f] = data->data[f];
 
-                       for (i=0; i<si->history_size; i++)
-                               total += si->history[i * num_fields + f];
+       /* Update our rolling index (next evicted cell) */
+       si->history_index = (si->history_index + 1) % si->history_size;
 
-                       si->history[si->history_index * num_fields + f] =
-                               data->data[f];
+       /* For now simply compute a mobile mean for each field */
+       for (f=0; f < num_fields; f++) {
+               total = 0;
 
-                       /* Output filtered data */
-                       data->data[f] = total / si->history_size;
-               }
+               for (i=0; i < si->history_entries; i++)
+                               total += si->history[i * num_fields + f];
 
-               /* Update our rolling index (next evicted cell) */
-               si->history_index = (si->history_index + 1) % si->history_size;
+               /* Output filtered data */
+               data->data[f] = total / si->history_entries;
        }
 }
 
@@ -255,6 +254,8 @@ static int finalize_sample_default(int s, struct sensors_event_t* data)
 
        switch (sensor_type) {
                case SENSOR_TYPE_ACCELEROMETER:
+                       if (sensor_info[s].quirks & QUIRK_NOISY)
+                               denoise(&sensor_info[s], data, 3);
                        break;
 
                case SENSOR_TYPE_MAGNETIC_FIELD:
@@ -266,6 +267,8 @@ static int finalize_sample_default(int s, struct sensors_event_t* data)
                case SENSOR_TYPE_GYROSCOPE:
                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: