IRDA-3484: Add support for filter property

As of today, filtering is only engaged if a sensor has the noisy
quirk. If it is, we use median filtering for gyroscopes and moving
average for magnetometers. Let's allow for a filter configuration
item that would force any of the available filters selectively.

filter=median
filter=average

will supersede the default choice. There's no reason to support
a none setting, as it's the default.

Change-Id: I7f85738e3b770d86efe9a709495c08ca36ba4024
Tracked-On: https://jira01.devtools.intel.com/browse/IRDA-3484
Signed-off-by: Patrick Porlan <patrick.porlan@intel.com>

diff --git a/common.h b/common.h
index e8d5497..baf0632 100644 (file)
--- a/common.h
+++ b/common.h
@@ -38,6 +38,9 @@
 #define ARRAY_SIZE(x) sizeof(x)/sizeof(x[0])
 #define REPORTING_MODE(x)      ((x) & 0x06)
 
+#define FILTER_TYPE_NONE               0
+#define FILTER_TYPE_MOVING_AVERAGE     1
+#define FILTER_TYPE_MEDIAN             2
 
 typedef struct
 {
@@ -242,6 +245,8 @@ typedef struct
         * events before filtering kicks in. We can also use it for statistics.
         */
        uint64_t event_count;
+
+       int filter_type;        /* FILTER_ specification for this sensor ; default is FILTER_NONE */
 }
 sensor_info_t;
 

diff --git a/control.c b/control.c
index e63695c..3751131 100644 (file)
--- a/control.c
+++ b/control.c
@@ -919,7 +919,7 @@ int sensor_activate (int s, int enabled, int from_virtual)
        sensor[s].event_count = 0;
        sensor[s].meta_data_pending = 0;
 
-       if (enabled && (sensor[s].quirks & QUIRK_NOISY))
+       if (enabled)
                setup_noise_filtering(s);       /* Initialize filtering data if required */
 
        if (!sensor[s].is_polling) {

diff --git a/description.c b/description.c
index 36730cc..539358e 100644 (file)
--- a/description.c
+++ b/description.c
@@ -83,7 +83,7 @@
  * properties values happen to have its iio device name set to bmg160.
  */
 
-static int sensor_get_st_prop (int s, const char* sel, char val[MAX_NAME_SIZE])
+int sensor_get_st_prop (int s, const char* sel, char val[MAX_NAME_SIZE])
 {
        char prop_name[PROP_NAME_MAX];
        char prop_val[PROP_VALUE_MAX];

diff --git a/description.h b/description.h
index aef3f21..a5f50f4 100644 (file)
--- a/description.h
+++ b/description.h
@@ -38,5 +38,6 @@ int           sensor_get_fl_prop      (int s, const char* sel, float* val);
 int            sensor_get_order        (int s,unsigned char map[MAX_CHANNELS]);
 int            sensor_get_cal_steps    (int s);
 char*          sensor_get_string_type  (int s);
+int            sensor_get_st_prop      (int s, const char* sel, char val[MAX_NAME_SIZE]);
 
 #endif

diff --git a/filtering.c b/filtering.c
index 4d82869..510737c 100644 (file)
--- a/filtering.c
+++ b/filtering.c
@@ -6,7 +6,7 @@
 #include <utils/Log.h>
 #include "common.h"
 #include "filtering.h"
-
+#include "description.h"
 
 typedef struct
 {
@@ -200,8 +200,36 @@ static void denoise_average (sensor_info_t* si, sensors_event_t* data, int num_f
 
 void setup_noise_filtering (int s)
 {
-       switch (sensor[s].type) {
-               case SENSOR_TYPE_GYROSCOPE:
+       char filter_buf[MAX_NAME_SIZE];
+
+       /* By default, don't apply filtering */
+       sensor[s].filter_type = FILTER_TYPE_NONE;
+
+       /* If noisy, start with default filter for sensor type */
+       if (sensor[s].quirks & QUIRK_NOISY)
+               switch (sensor[s].type) {
+                       case SENSOR_TYPE_GYROSCOPE:
+                               sensor[s].filter_type = FILTER_TYPE_MEDIAN;
+                               break;
+
+                       case SENSOR_TYPE_MAGNETIC_FIELD:
+                               sensor[s].filter_type = FILTER_TYPE_MOVING_AVERAGE;
+                               break;
+               }
+
+       /* Use whatever was specified if there's an explicit configuration choice for this sensor */
+
+       filter_buf[0] = '\0';
+       sensor_get_st_prop(s, "filter", filter_buf);
+
+       if (strstr(filter_buf, "median"))
+               sensor[s].filter_type = FILTER_TYPE_MEDIAN;
+
+       if (strstr(filter_buf, "average"))
+               sensor[s].filter_type = FILTER_TYPE_MOVING_AVERAGE;
+
+       switch (sensor[s].filter_type) {
+               case FILTER_TYPE_MEDIAN:
                        denoise_median_init(s, 3, 5);
                        break;
        }
@@ -210,12 +238,12 @@ void setup_noise_filtering (int s)
 
 void denoise (int s, sensors_event_t* data)
 {
-       switch (sensor[s].type) {
-               case SENSOR_TYPE_GYROSCOPE:
+       switch (sensor[s].filter_type) {
+               case FILTER_TYPE_MEDIAN:
                        denoise_median(&sensor[s], data, 3);
                        break;
 
-               case SENSOR_TYPE_MAGNETIC_FIELD:
+               case FILTER_TYPE_MOVING_AVERAGE:
                        denoise_average(&sensor[s], data, 3 , 20);
                        break;
        }

diff --git a/transform.c b/transform.c
index 9911bee..bc6178d 100644 (file)
--- a/transform.c
+++ b/transform.c
@@ -299,14 +299,12 @@ static int finalize_sample_default (int s, sensors_event_t* data)
                case SENSOR_TYPE_ACCELEROMETER:
                        /* Always consider the accelerometer accurate */
                        data->acceleration.status = SENSOR_STATUS_ACCURACY_HIGH;
-                       if (sensor[s].quirks & QUIRK_NOISY)
-                               denoise(s, data);
+                       denoise(s, data);
                        break;
 
                case SENSOR_TYPE_MAGNETIC_FIELD:
                        calibrate_compass (data, &sensor[s]);
-                       if (sensor[s].quirks & QUIRK_NOISY)
-                               denoise(s, data);
+                       denoise(s, data);
                        break;
 
                case SENSOR_TYPE_GYROSCOPE:
@@ -326,7 +324,7 @@ static int finalize_sample_default (int s, sensors_event_t* data)
                         * For noisy sensors drop a few samples to make sure we have at least GYRO_MIN_SAMPLES events in the
                         * filtering queue. This improves mean and std dev.
                         */
-                       if (sensor[s].quirks & QUIRK_NOISY) {
+                       if (sensor[s].filter_type) {
                                if (sensor[s].selected_trigger !=
                                    sensor[s].motion_trigger_name &&
                                    sensor[s].event_count < GYRO_MIN_SAMPLES)