#include "common.h"
-/* compass defines */
-#define COMPASS_CALIBRATION_PATH "/data/compass.conf"
-#define DS_SIZE 32
-#define EPSILON 0.000000001
-#define CAL_STEPS 4
-
-/* We'll have multiple calibration levels
-* so that we can provide an estimation as fast as possible
-*/
-static const float min_diffs[CAL_STEPS] = { 0.2, 0.4, 0.6, 1.0 };
-static const float max_sqr_errs[CAL_STEPS] = { 10.0, 8.0, 5.0, 3.5 };
-static const unsigned int lookback_counts[CAL_STEPS] = { 3, 4, 5, 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 100
+#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;
};
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