#include "common.h"
-/* compass defines */
-#define COMPASS_CALIBRATION_PATH "/data/compass.conf"
-#define DS_SIZE 48
-#define EPSILON 0.000000001
-
-
-/* If no cal data is present - first calibration will
- use a more relaxed set of values to get an initial
- calibration faster */
-#define FIRST_MIN_DIFF 0.5f
-#define FIRST_MAX_SQR_ERR 5.0f
-#define FIRST_LOOKBACK_COUNT 4
-
-#define MIN_DIFF 1.0f
-#define MAX_SQR_ERR 3.5f
-#define LOOKBACK_COUNT 6
-
-
-#ifdef DBG_RAW_DATA
-#define RAW_DATA_FULL_PATH "/data/raw_compass_data_full_%d.txt"
-#define RAW_DATA_SELECTED_PATH "/data/raw_compass_data_selected_%d.txt"
-#endif
-
-/* gyro defines */
-#define GYRO_MAX_ERR 0.05f
-#define GYRO_DS_SIZE 8
+#define MAGN_DS_SIZE 32
struct compass_cal {
/* hard iron offsets */
double bfield;
/* selection data */
- float sample[DS_SIZE][3];
+ float sample[MAGN_DS_SIZE][3];
unsigned int sample_count;
};
struct gyro_cal {
- float bias[3];
- int start;
+ float bias_x, bias_y, bias_z;
int count;
- float sample[GYRO_DS_SIZE][3];
+ float min_x, min_y, min_z;
+ float max_x, max_y, max_z;
};
-typedef double mat_input_t[DS_SIZE][3];
+typedef double mat_input_t[MAGN_DS_SIZE][3];
-void calibrate_compass (struct sensors_event_t* event, struct sensor_info_t* info, int64_t time);
+void calibrate_compass (struct sensors_event_t* event, struct sensor_info_t* info);
void compass_read_data (struct sensor_info_t* info);
void compass_store_data (struct sensor_info_t* info);
void calibrate_gyro(struct sensors_event_t* event, struct sensor_info_t* info);
void gyro_cal_init(struct sensor_info_t* info);
+void gyro_store_data (struct sensor_info_t* info);
#endif