#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 "filtering.h"
/*----------------------------------------------------------------------------*/
#define CONVERT_M_Y (-CONVERT_M)
#define CONVERT_M_Z (CONVERT_M)
+#define CONVERT_GAUSS_TO_MICROTESLA(x) ( (x) * 100 )
+
/* conversion of orientation data to degree units */
#define CONVERT_O (1.0f/64.0f)
#define CONVERT_O_A (CONVERT_O)
#define CONVERT_M_MG_VTF16E14_Y(s,d,x) (convert_from_vtf_format(s,d,x)/10)
#define CONVERT_M_MG_VTF16E14_Z(s,d,x) (convert_from_vtf_format(s,d,x)/10)
-#define DATA_BYTES 2
-#define ACC_EXPONENT -2
-#define GYRO_EXPONENT -1
-#define MAGN_EXPONENT 0
-#define INC_EXPONENT -1
-#define ROT_EXPONENT -8
/*----------------------------------------------------------------------------*/
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;
- switch (type->storagebits) {
- case 64:
- u64 = 0;
+ u64 = 0;
- if (type->endianness == 'b')
- for (i=0; i<8; i++)
- u64 = (u64 << 8) | sample[i];
- else
- for (i=7; i>=0; i--)
- u64 = (u64 << 8) | sample[i];
+ if (type->endianness == 'b')
+ for (i=0; i<type->storagebits/8; i++)
+ u64 = (u64 << 8) | sample[i];
+ else
+ for (i=type->storagebits/8 - 1; i>=0; i--)
+ u64 = (u64 << 8) | sample[i];
- if (type->sign == 'u')
- return (int64_t) (u64 >> type->shift);
+ u64 = (u64 >> type->shift) & (~0ULL >> zeroed_bits);
- return ((int64_t) u64) >> type->shift;
+ if (type->sign == 'u')
+ return (int64_t) u64; /* We don't handle unsigned 64 bits int */
- case 32:
- if (type->endianness == 'b')
- u32 = (sample[0] << 24) | (sample[1] << 16) |
- (sample[2] << 8) | sample[3];
- else
- u32 = (sample[3] << 24) | (sample[2] << 16) |
- (sample[1] << 8) | sample[0];
+ /* Signed integer */
- if (type->sign == 'u')
- return u32 >> type->shift;
+ switch (type->realbits) {
+ case 0 ... 1:
+ return 0;
- return ((int32_t) u32) >> type->shift;
+ case 8:
+ return (int64_t) (int8_t) u64;
case 16:
- if (type->endianness == 'b')
- u16 = (sample[0] << 8) | sample[1];
+ return (int64_t) (int16_t) u64;
+
+ case 32:
+ return (int64_t) (int32_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
- u16 = (sample[1] << 8) | sample[0];
+ return (int64_t) u64; /* Positive value */
+ }
+}
- if (type->sign == 'u')
- return u16 >> type->shift;
- return ((int16_t) u16) >> type->shift;
+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 denoise (struct sensor_info_t* si, struct sensors_event_t* data,
+ int num_fields, int max_samples)
+{
+ /*
+ * Smooth out incoming data using a moving average over a number of
+ * samples. We accumulate one second worth of samples, or max_samples,
+ * depending on which is lower.
+ */
+
+ int i;
+ 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)
+ return;
+
+ /* Restrict window size to the min of sampling_rate and max_samples */
+ if (sampling_rate > max_samples)
+ history_size = max_samples;
+ 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) {
+ 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));
+ }
}
- ALOGE("Unhandled sample storage size\n");
- return 0;
+ 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 and calculate the moving sum */
+ for (f=0; f < num_fields; f++) {
+ /**
+ * 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];
+
+ si->history[si->history_index * num_fields + f] = data->data[f];
+ si->history_sum[f] += data->data[f];
+
+ /* 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;
}
-static void finalize_sample_default(int s, struct sensors_event_t* data)
+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;
+ /* 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) {
+ sensor_info[s].event_count++;
+ switch (sensor_info[s].type) {
case SENSOR_TYPE_ACCELEROMETER:
+ /* Always consider the accelerometer accurate */
+ data->acceleration.status = SENSOR_STATUS_ACCURACY_HIGH;
+ if (sensor_info[s].quirks & QUIRK_NOISY)
+ denoise(&sensor_info[s], data, 3, 20);
+ break;
+
+ case SENSOR_TYPE_MAGNETIC_FIELD:
+ calibrate_compass (data, &sensor_info[s], get_timestamp());
+ if (sensor_info[s].quirks & QUIRK_NOISY)
+ denoise(&sensor_info[s], data, 3, 100);
+ break;
+
+ case SENSOR_TYPE_GYROSCOPE:
+ case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
+ /*
+ * Report medium accuracy by default ; higher accuracy
+ * levels will be reported once, and if, we achieve
+ * calibration.
+ */
+ data->gyro.status = SENSOR_STATUS_ACCURACY_MEDIUM;
+
/*
- * Invert x axis orientation from SI units - see
- * /hardware/libhardware/include/hardware/sensors.h
- * for a discussion of what Android expects
+ * We're only trying to calibrate data from continuously
+ * firing gyroscope drivers, as motion based ones use
+ * movement thresholds that may lead us to incorrectly
+ * estimate bias.
*/
- data->data[0] = -data->data[0];
+ if (sensor_info[s].selected_trigger !=
+ sensor_info[s].motion_trigger_name)
+ calibrate_gyro(data, &sensor_info[s]);
+
+ /* For noisy sensors we'll drop a very few number
+ * of samples to make sure we have at least MIN_SAMPLES events
+ * in the filtering queue. This is to make sure we are not sending
+ * events that can disturb our mean or stddev.
+ */
+ if (sensor_info[s].quirks & QUIRK_NOISY) {
+ denoise_median(&sensor_info[s], data, 3);
+ if((sensor_info[s].selected_trigger !=
+ sensor_info[s].motion_trigger_name) &&
+ sensor_info[s].event_count < MIN_SAMPLES)
+ return 0;
+ }
break;
- case SENSOR_TYPE_GYROSCOPE:
- /* Limit drift */
- if ( fabs(data->data[0]) < 0.1 &&
- fabs(data->data[1]) < 0.1 &&
- fabs(data->data[2]) < 0.1) {
- data->data[0] = 0;
- data->data[1] = 0;
- data->data[2] = 0;
- }
+ case SENSOR_TYPE_LIGHT:
+ case SENSOR_TYPE_AMBIENT_TEMPERATURE:
+ case SENSOR_TYPE_TEMPERATURE:
+ /* Only keep two decimals for these readings */
+ data->data[0] = 0.01 * ((int) (data->data[0] * 100));
+
+ /* ... 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;
}
+
+ /* Add this event to our global records, for filtering purposes */
+ record_sample(s, data);
+
+ return 1; /* Return sample to Android */
}
{
struct datum_info_t* sample_type = &sensor_info[s].channel[c].type_info;
int64_t s64 = sample_as_int64(sample_data, sample_type);
+ float scale = sensor_info[s].scale ?
+ sensor_info[s].scale : sensor_info[s].channel[c].scale;
+
+ /* In case correction has been requested using properties, apply it */
+ scale *= sensor_info[s].channel[c].opt_scale;
/* Apply default scaling rules */
- return (sensor_info[s].offset + s64) * sensor_info[s].scale;
+ return (sensor_info[s].offset + s64) * scale;
}
-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;
- if (sensor_type == SENSOR_TYPE_ORIENTATION) {
+ /* 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_info[s].type == SENSOR_TYPE_ORIENTATION) {
pitch = data->data[0];
roll = data->data[1];
data->data[1] = -pitch;
data->data[2] = -roll;
}
+
+ /* Add this event to our global records, for filtering purposes */
+ record_sample(s, data);
+
+ return 1; /* Return sample to Android */
}
-static float transform_sample_ISH(int s, int c, unsigned char* sample_data)
+static float transform_sample_ISH (int s, int c, unsigned char* sample_data)
{
struct datum_info_t* sample_type = &sensor_info[s].channel[c].type_info;
int val = (int) sample_as_int64(sample_data, sample_type);
- int i = sensor_info[s].catalog_index;
- int sensor_type = sensor_catalog[i].type;
+ float correction;
+ int data_bytes = (sample_type->realbits)/8;
+ int exponent = sensor_info[s].offset;
+
+ /* In case correction has been requested using properties, apply it */
+ correction = sensor_info[s].channel[c].opt_scale;
- switch (sensor_type) {
+ switch (sensor_info[s].type) {
case SENSOR_TYPE_ACCELEROMETER:
switch (c) {
case 0:
- return CONVERT_A_G_VTF16E14_X(
- DATA_BYTES, ACC_EXPONENT, val);
+ return correction *
+ CONVERT_A_G_VTF16E14_X(
+ data_bytes, exponent, val);
case 1:
- return CONVERT_A_G_VTF16E14_Y(
- DATA_BYTES, ACC_EXPONENT, val);
+ return correction *
+ CONVERT_A_G_VTF16E14_Y(
+ data_bytes, exponent, val);
case 2:
- return CONVERT_A_G_VTF16E14_Z(
- DATA_BYTES, ACC_EXPONENT, val);
+ return correction *
+ CONVERT_A_G_VTF16E14_Z(
+ data_bytes, exponent, val);
}
break;
case SENSOR_TYPE_GYROSCOPE:
switch (c) {
case 0:
- return CONVERT_G_D_VTF16E14_X(
- DATA_BYTES, GYRO_EXPONENT, val);
+ return correction *
+ CONVERT_G_D_VTF16E14_X(
+ data_bytes, exponent, val);
case 1:
- return CONVERT_G_D_VTF16E14_Y(
- DATA_BYTES, GYRO_EXPONENT, val);
+ return correction *
+ CONVERT_G_D_VTF16E14_Y(
+ data_bytes, exponent, val);
case 2:
- return CONVERT_G_D_VTF16E14_Z(
- DATA_BYTES, GYRO_EXPONENT, val);
+ return correction *
+ CONVERT_G_D_VTF16E14_Z(
+ data_bytes, exponent, val);
}
break;
case SENSOR_TYPE_MAGNETIC_FIELD:
switch (c) {
case 0:
- return CONVERT_M_MG_VTF16E14_X(
- DATA_BYTES, MAGN_EXPONENT, val);
+ return correction *
+ CONVERT_M_MG_VTF16E14_X(
+ data_bytes, exponent, val);
case 1:
- return CONVERT_M_MG_VTF16E14_Y(
- DATA_BYTES, MAGN_EXPONENT, val);
+ return correction *
+ CONVERT_M_MG_VTF16E14_Y(
+ data_bytes, exponent, val);
case 2:
- return CONVERT_M_MG_VTF16E14_Z(
- DATA_BYTES, MAGN_EXPONENT, val);
+ return correction *
+ CONVERT_M_MG_VTF16E14_Z(
+ data_bytes, exponent, val);
}
break;
+ case SENSOR_TYPE_LIGHT:
+ return (float) val;
+
case SENSOR_TYPE_ORIENTATION:
- return convert_from_vtf_format(DATA_BYTES, INC_EXPONENT,
- val);
+ return correction * convert_from_vtf_format(
+ data_bytes, exponent, val);
case SENSOR_TYPE_ROTATION_VECTOR:
- return convert_from_vtf_format(DATA_BYTES, ROT_EXPONENT,
- val);
+ return correction * convert_from_vtf_format(
+ data_bytes, exponent, val);
}
return 0;
int i = sensor_info[s].catalog_index;
const char* raw_path = sensor_catalog[i].channel[c].raw_path;
const char* input_path = sensor_catalog[i].channel[c].input_path;
- float scale = sensor_info[s].scale;
+ float scale = sensor_info[s].scale ?
+ sensor_info[s].scale : sensor_info[s].channel[c].scale;
float offset = sensor_info[s].offset;
+ int sensor_type = sensor_catalog[i].type;
+ float correction;
+
+ /* In case correction has been requested using properties, apply it */
+ correction = sensor_info[s].channel[c].opt_scale;
/* Acquire a sample value for sensor s / channel c through sysfs */
ret = sysfs_read_float(sysfs_path, &val);
if (!ret) {
- return val;
+ return val * correction;
}
};
if (ret == -1)
return 0;
- return (val + offset) * scale;
+ /*
+ There is no transform ops defined yet for Raw sysfs values
+ Use this function to perform transformation as well.
+ */
+ if (sensor_type == SENSOR_TYPE_MAGNETIC_FIELD)
+ return CONVERT_GAUSS_TO_MICROTESLA ((val + offset) * scale) *
+ correction;
+
+ return (val + offset) * scale * correction;
}
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