#ifndef __CALIBRATION_H__
#define __CALIBRATION_H__
+#include "common.h"
+
+/* compass defines */
#define COMPASS_CALIBRATION_PATH "/data/compass.conf"
-#define DS_SIZE 48
+#define DS_SIZE 32
#define EPSILON 0.000000001
+#define CAL_STEPS 4
-
-/* 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
-
+#define MAGNETIC_LOW 960 /* 31 micro tesla squared */
+#define MAGNETIC_HIGH 3600 /* 60 micro tesla squared */
#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
-typedef struct {
+/* gyro defines */
+#define GYRO_MAX_ERR 0.05f
+#define GYRO_DS_SIZE 100
+
+struct compass_cal {
/* hard iron offsets */
double offset[3][1];
/* geomagnetic strength */
double bfield;
-} calibration_data;
+ /* selection data */
+ float sample[DS_SIZE][3];
+ unsigned int sample_count;
+};
+
+struct gyro_cal {
+ float bias_x, bias_y, bias_z;
+ int count;
+ float min_x, min_y, min_z;
+ float max_x, max_y, max_z;
+};
typedef double mat_input_t[DS_SIZE][3];
-void calibrate_compass (struct sensors_event_t* event, int64_t time);
-void compass_read_data (const char* config_path);
-void compass_store_data (const char* config_path);
+void calibrate_compass (struct sensors_event_t* event, struct sensor_info_t* info, int64_t time);
+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);
#endif