X-Git-Url: http://git.osdn.net/view?a=blobdiff_plain;ds=sidebyside;f=compass-calibration.c;h=602f4e2b2af1221f7dc4fee9dea1a59e18864e4c;hb=refs%2Fheads%2Fnougat-x86;hp=2a2d5dcc55abd4d6f5a398eb4f5bd37c8a709470;hpb=3848e248b88fd3a8ab065d7566b02fc7a67a58bf;p=android-x86%2Fhardware-intel-libsensors.git diff --git a/compass-calibration.c b/compass-calibration.c index 2a2d5dc..602f4e2 100644 --- a/compass-calibration.c +++ b/compass-calibration.c @@ -1,44 +1,44 @@ /* - * Copyright (C) 2014 Intel Corporation. - */ +// Copyright (c) 2015 Intel Corporation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +*/ -#include -#include #include #include -#include -#include +#include #include #include "calibration.h" #include "matrix-ops.h" #include "description.h" -#ifdef DBG_RAW_DATA -#define MAX_RAW_DATA_COUNT 2000 -#define RAW_DATA_FULL_PATH "/data/raw_compass_data_full_%d.txt" -#define RAW_DATA_SELECTED_PATH "/data/raw_compass_data_selected_%d.txt" -static FILE *raw_data = NULL; -static FILE *raw_data_selected = NULL; -static int raw_data_count = 0; -int file_no = 0; -#endif - -/* compass defines */ -#define COMPASS_CALIBRATION_PATH "/data/compass.conf" -#define EPSILON 0.000000001 - -#define MAGNETIC_LOW 960 /* 31 micro tesla squared */ -#define CAL_STEPS 5 - -/* 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, 0.25, 0.4, 0.6, 1.0 }; -static const float max_sqr_errs[CAL_STEPS] = {10.0, 10.0, 8.0, 5.0, 3.5 }; -static const unsigned int lookback_counts[CAL_STEPS] = {2, 3, 4, 5, 6 }; -/* reset calibration algorithm */ -static void reset_sample (struct compass_cal* data) +/* Compass defines */ +#define COMPASS_CALIBRATION_PATH "/data/compass.conf" +#define EPSILON 0.000000001 + +#define MAGNETIC_LOW 960 /* 31 micro tesla squared */ +#define CAL_STEPS 5 +#define CAL_VERSION 1.0 + +/* 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, 0.25, 0.4, 0.6, 1.0}; +static const float max_sqr_errs [CAL_STEPS] = {10.0, 10.0, 8.0, 5.0, 3.5}; +static const unsigned int lookback_counts [CAL_STEPS] = {2, 3, 4, 5, 6 }; + + +/* Reset calibration algorithm */ +static void reset_sample (compass_cal_t* data) { int i,j; data->sample_count = 0; @@ -49,12 +49,14 @@ static void reset_sample (struct compass_cal* data) data->average[0] = data->average[1] = data->average[2] = 0; } -static double calc_square_err (struct compass_cal* data) + +static double calc_square_err (compass_cal_t* data) { double err = 0; double raw[3][1], result[3][1], mat_diff[3][1]; int i; float stdev[3] = {0,0,0}; + double diff; for (i = 0; i < MAGN_DS_SIZE; i++) { raw[0][0] = data->sample[i][0]; @@ -68,8 +70,7 @@ static double calc_square_err (struct compass_cal* data) substract (3, 1, raw, data->offset, mat_diff); multiply(3, 3, 1, data->w_invert, mat_diff, result); - double diff = sqrt(result[0][0] * result[0][0] + result[1][0] * result[1][0] - + result[2][0] * result[2][0]) - data->bfield; + diff = sqrt(result[0][0] * result[0][0] + result[1][0] * result[1][0] + result[2][0] * result[2][0]) - data->bfield; err += diff * diff; } @@ -78,10 +79,7 @@ static double calc_square_err (struct compass_cal* data) stdev[1] = sqrt(stdev[1] / MAGN_DS_SIZE); stdev[2] = sqrt(stdev[2] / MAGN_DS_SIZE); - /* - * A sanity check - if we have too little variation for an axis - * it's best to reject the calibration than risking a wrong calibration. - */ + /* A sanity check - if we have too little variation for an axis it's best to reject the calibration than risking a wrong calibration */ if (stdev[0] <= 1 || stdev[1] <= 1 || stdev[2] <= 1) return max_sqr_errs[0]; @@ -89,8 +87,9 @@ static double calc_square_err (struct compass_cal* data) return err; } + /* Given an real symmetric 3x3 matrix A, compute the eigenvalues */ -static void compute_eigenvalues(double mat[3][3], double* eig1, double* eig2, double* eig3) +static void compute_eigenvalues (double mat[3][3], double* eig1, double* eig2, double* eig3) { double p = mat[0][1] * mat[0][1] + mat[0][2] * mat[0][2] + mat[1][2] * mat[1][2]; @@ -124,16 +123,17 @@ static void compute_eigenvalues(double mat[3][3], double* eig1, double* eig2, do if (r <= -1.0) phi = M_PI/3; else if (r >= 1.0) - phi = 0; - else - phi = acos(r) / 3; + phi = 0; + else + phi = acos(r) / 3; *eig3 = q + 2 * p * cos(phi); *eig1 = q + 2 * p * cos(phi + 2 * M_PI / 3); *eig2 = 3 * q - *eig1 - *eig3; } -static void calc_evector(double mat[3][3], double eig, double vec[3][1]) + +static void calc_evector (double mat[3][3], double eig, double vec[3][1]) { double h[3][3]; double x_tmp[2][2]; @@ -159,6 +159,7 @@ static void calc_evector(double mat[3][3], double eig, double vec[3][1]) vec[2][0] = temp2 / norm; } + static int ellipsoid_fit (mat_input_t m, double offset[3][1], double w_invert[3][3], double* bfield) { int i; @@ -187,6 +188,7 @@ static int ellipsoid_fit (mat_input_t m, double offset[3][1], double w_invert[3] h[i][7] = -1 * m[i][2] * m[i][2]; h[i][8] = 1; } + transpose (MAGN_DS_SIZE, 9, h, h_trans); multiply (9, MAGN_DS_SIZE, 9, h_trans, h, result); invert (9, result, p_temp1); @@ -213,7 +215,6 @@ static int ellipsoid_fit (mat_input_t m, double offset[3][1], double w_invert[3] double off_y = offset[1][0]; double off_z = offset[2][0]; - a[0][0] = 1.0 / (p[8][0] + off_x * off_x + p[6][0] * off_y * off_y + p[7][0] * off_z * off_z + p[3][0] * off_x * off_y + p[4][0] * off_x * off_z + p[5][0] * off_y * off_z); @@ -261,6 +262,7 @@ static int ellipsoid_fit (mat_input_t m, double offset[3][1], double w_invert[3] transpose(3, 3, evecs, evecs_trans); multiply (3, 3, 3, temp1, evecs_trans, temp); transpose (3, 3, temp, w_invert); + *bfield = pow(sqrt(1/eig1) * sqrt(1/eig2) * sqrt(1/eig3), 1.0/3.0); if (*bfield < 0) @@ -271,59 +273,38 @@ static int ellipsoid_fit (mat_input_t m, double offset[3][1], double w_invert[3] return 1; } -static void compass_cal_init (FILE* data_file, struct sensor_info_t* info) -{ -#ifdef DBG_RAW_DATA - if (raw_data) { - fclose(raw_data); - raw_data = NULL; - } - - if (raw_data_selected) { - fclose(raw_data_selected); - raw_data_selected = NULL; - } +static void compass_cal_init (FILE* data_file, sensor_info_t* info) +{ + compass_cal_t* cal_data = (compass_cal_t*) info->cal_data; + int cal_steps = (info->max_cal_level && info->max_cal_level <= CAL_STEPS) ? info->max_cal_level : CAL_STEPS; + float version; - char path[64]; - snprintf(path, 64, RAW_DATA_FULL_PATH, file_no); - raw_data = fopen(path,"w+"); - snprintf(path, 64, RAW_DATA_SELECTED_PATH, file_no); - raw_data_selected = fopen(path,"w+"); - file_no++; - raw_data_count = 0; -#endif - - struct compass_cal* cal_data = (struct compass_cal*) info->cal_data; - int cal_steps = (info->max_cal_level && info->max_cal_level <= CAL_STEPS) ? - info->max_cal_level : CAL_STEPS; if (cal_data == NULL) return; - int data_count = 14; + int data_count = 15; reset_sample(cal_data); if (!info->cal_level && data_file != NULL) { - int ret = fscanf(data_file, "%d %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf", - &info->cal_level, &cal_data->offset[0][0], &cal_data->offset[1][0], &cal_data->offset[2][0], + int ret = fscanf(data_file, "%f %d %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf", + &version, &info->cal_level, + &cal_data->offset[0][0], &cal_data->offset[1][0], &cal_data->offset[2][0], &cal_data->w_invert[0][0], &cal_data->w_invert[0][1], &cal_data->w_invert[0][2], &cal_data->w_invert[1][0], &cal_data->w_invert[1][1], &cal_data->w_invert[1][2], &cal_data->w_invert[2][0], &cal_data->w_invert[2][1], &cal_data->w_invert[2][2], &cal_data->bfield); - if (ret != data_count || info->cal_level >= cal_steps) { + if (ret != data_count || info->cal_level >= cal_steps || version != CAL_VERSION) info->cal_level = 0; - } } - if (info->cal_level) { ALOGV("CompassCalibration: load old data, caldata: %f %f %f %f %f %f %f %f %f %f %f %f %f", cal_data->offset[0][0], cal_data->offset[1][0], cal_data->offset[2][0], cal_data->w_invert[0][0], cal_data->w_invert[0][1], cal_data->w_invert[0][2], cal_data->w_invert[1][0], cal_data->w_invert[1][1], cal_data->w_invert[1][2], cal_data->w_invert[2][0], cal_data->w_invert[2][1], cal_data->w_invert[2][2], cal_data->bfield); - } else { cal_data->offset[0][0] = 0; cal_data->offset[1][0] = 0; @@ -341,35 +322,37 @@ static void compass_cal_init (FILE* data_file, struct sensor_info_t* info) cal_data->bfield = 0; } - } -static void compass_store_result(FILE* data_file, struct sensor_info_t* info) + +static void compass_store_result (FILE* data_file, sensor_info_t* info) { - struct compass_cal* cal_data = (struct compass_cal*) info->cal_data; + compass_cal_t* cal_data = (compass_cal_t*) info->cal_data; if (data_file == NULL || cal_data == NULL) return; - int ret = fprintf(data_file, "%d %f %f %f %f %f %f %f %f %f %f %f %f %f\n", - info->cal_level, cal_data->offset[0][0], cal_data->offset[1][0], cal_data->offset[2][0], + int ret = fprintf(data_file, "%f %d %f %f %f %f %f %f %f %f %f %f %f %f %f\n", + CAL_VERSION, info->cal_level, + cal_data->offset[0][0], cal_data->offset[1][0], cal_data->offset[2][0], cal_data->w_invert[0][0], cal_data->w_invert[0][1], cal_data->w_invert[0][2], cal_data->w_invert[1][0], cal_data->w_invert[1][1], cal_data->w_invert[1][2], cal_data->w_invert[2][0], cal_data->w_invert[2][1], cal_data->w_invert[2][2], cal_data->bfield); if (ret < 0) - ALOGE ("compass calibration - store data failed!"); + ALOGE ("Compass calibration - store data failed!"); } -static int compass_collect (struct sensors_event_t* event, struct sensor_info_t* info) + +static int compass_collect (sensors_event_t* event, sensor_info_t* info) { float data[3] = {event->magnetic.x, event->magnetic.y, event->magnetic.z}; unsigned int index,j; unsigned int lookback_count; float min_diff; - struct compass_cal* cal_data = (struct compass_cal*) info->cal_data; + compass_cal_t* cal_data = (compass_cal_t*) info->cal_data; if (cal_data == NULL) return -1; @@ -378,38 +361,18 @@ static int compass_collect (struct sensors_event_t* event, struct sensor_info_t* if (data[0] == 0 || data[1] == 0 || data[2] == 0) return -1; -#ifdef DBG_RAW_DATA - if (raw_data && raw_data_count < MAX_RAW_DATA_COUNT) { - fprintf(raw_data, "%f %f %f\n", (double)data[0], (double)data[1], - (double)data[2]); - raw_data_count++; - } - - if (raw_data && raw_data_count >= MAX_RAW_DATA_COUNT) { - fclose(raw_data); - raw_data = NULL; - } -#endif - lookback_count = lookback_counts[info->cal_level]; min_diff = min_diffs[info->cal_level]; - /* - * For the current point to be accepted, each x/y/z value must be different - * enough to the last several collected points. - */ + /* For the current point to be accepted, each x/y/z value must be different enough to the last several collected points */ if (cal_data->sample_count > 0 && cal_data->sample_count < MAGN_DS_SIZE) { - unsigned int lookback = lookback_count < cal_data->sample_count ? lookback_count : - cal_data->sample_count; - for (index = 0; index < lookback; index++){ - for (j = 0; j < 3; j++) { + unsigned int lookback = lookback_count < cal_data->sample_count ? lookback_count : cal_data->sample_count; + for (index = 0; index < lookback; index++) + for (j = 0; j < 3; j++) if (fabsf(data[j] - cal_data->sample[cal_data->sample_count-1-index][j]) < min_diff) { - ALOGV("CompassCalibration:point reject: [%f,%f,%f], selected_count=%d", - data[0], data[1], data[2], cal_data->sample_count); - return 0; + ALOGV("CompassCalibration:point reject: [%f,%f,%f], selected_count=%d", data[0], data[1], data[2], cal_data->sample_count); + return 0; } - } - } } if (cal_data->sample_count < MAGN_DS_SIZE) { @@ -418,18 +381,13 @@ static int compass_collect (struct sensors_event_t* event, struct sensor_info_t* cal_data->average[0] += data[0]; cal_data->average[1] += data[1]; cal_data->average[2] += data[2]; - ALOGV("CompassCalibration:point collected [%f,%f,%f], selected_count=%d", - (double)data[0], (double)data[1], (double)data[2], cal_data->sample_count); -#ifdef DBG_RAW_DATA - if (raw_data_selected) { - fprintf(raw_data_selected, "%f %f %f\n", (double)data[0], (double)data[1], (double)data[2]); - } -#endif + ALOGV("CompassCalibration:point collected [%f,%f,%f], selected_count=%d", (double)data[0], (double)data[1], (double)data[2], cal_data->sample_count); } return 1; } -static void scale_event (struct sensors_event_t* event) + +static void scale_event (sensors_event_t* event) { float sqr_norm = 0; float sanity_norm = 0; @@ -448,13 +406,13 @@ static void scale_event (struct sensors_event_t* event) event->magnetic.x = event->magnetic.x * scale; event->magnetic.y = event->magnetic.y * scale; event->magnetic.z = event->magnetic.z * scale; - } } -static void compass_compute_cal (struct sensors_event_t* event, struct sensor_info_t* info) + +static void compass_compute_cal (sensors_event_t* event, sensor_info_t* info) { - struct compass_cal* cal_data = (struct compass_cal*) info->cal_data; + compass_cal_t* cal_data = (compass_cal_t*) info->cal_data; double result[3][1], raw[3][1], diff[3][1]; if (!info->cal_level || cal_data == NULL) @@ -475,21 +433,20 @@ static void compass_compute_cal (struct sensors_event_t* event, struct sensor_in } -static int compass_ready (struct sensor_info_t* info) +static int compass_ready (sensor_info_t* info) { mat_input_t mat; int i; float max_sqr_err; - struct compass_cal* cal_data = (struct compass_cal*) info->cal_data; + compass_cal_t* cal_data = (compass_cal_t*) info->cal_data; + compass_cal_t new_cal_data; /* - * Some sensors take unrealistically long to calibrate at higher levels. - * We'll use a max_cal_level if we have such a property setup, or go with - * the default settings if not. + * Some sensors take unrealistically long to calibrate at higher levels. We'll use a max_cal_level if we have such a property setup, + * or go with the default settings if not. */ - int cal_steps = (info->max_cal_level && info->max_cal_level <= CAL_STEPS) ? - info->max_cal_level : CAL_STEPS; + int cal_steps = (info->max_cal_level && info->max_cal_level <= CAL_STEPS) ? info->max_cal_level : CAL_STEPS; if (cal_data->sample_count < MAGN_DS_SIZE) return info->cal_level; @@ -509,17 +466,16 @@ static int compass_ready (struct sensor_info_t* info) mat[i][2] = cal_data->sample[i][2]; } - /* check if result is good */ - struct compass_cal new_cal_data; - /* the sample data must remain the same */ + /* Check if result is good. The sample data must remain the same */ new_cal_data = *cal_data; + if (ellipsoid_fit(mat, new_cal_data.offset, new_cal_data.w_invert, &new_cal_data.bfield)) { double new_err = calc_square_err (&new_cal_data); ALOGI("new err is %f, max sqr err id %f", new_err,max_sqr_err); if (new_err < max_sqr_err) { double err = calc_square_err(cal_data); if (new_err < err) { - /* new cal data is better, so we switch to the new */ + /* New cal data is better, so we switch to the new */ memcpy(cal_data->offset, new_cal_data.offset, sizeof(cal_data->offset)); memcpy(cal_data->w_invert, new_cal_data.w_invert, sizeof(cal_data->w_invert)); cal_data->bfield = new_cal_data.bfield; @@ -538,54 +494,55 @@ static int compass_ready (struct sensor_info_t* info) } -void calibrate_compass (struct sensors_event_t* event, struct sensor_info_t* info) +void calibrate_compass (int s, sensors_event_t* event) { int cal_level; /* Calibration is continuous */ - compass_collect (event, info); + compass_collect (event, &sensor[s]); - cal_level = compass_ready(info); + cal_level = compass_ready(&sensor[s]); switch (cal_level) { - case 0: scale_event(event); event->magnetic.status = SENSOR_STATUS_UNRELIABLE; break; case 1: - compass_compute_cal (event, info); + compass_compute_cal (event, &sensor[s]); event->magnetic.status = SENSOR_STATUS_ACCURACY_LOW; break; case 2: - compass_compute_cal (event, info); + compass_compute_cal (event, &sensor[s]); event->magnetic.status = SENSOR_STATUS_ACCURACY_MEDIUM; break; default: - compass_compute_cal (event, info); + compass_compute_cal (event, &sensor[s]); event->magnetic.status = SENSOR_STATUS_ACCURACY_HIGH; break; } } -void compass_read_data (struct sensor_info_t* info) +void compass_read_data (int s) { FILE* data_file = fopen (COMPASS_CALIBRATION_PATH, "r"); - compass_cal_init(data_file, info); + compass_cal_init(data_file, &sensor[s]); + if (data_file) fclose(data_file); } -void compass_store_data (struct sensor_info_t* info) + +void compass_store_data (int s) { FILE* data_file = fopen (COMPASS_CALIBRATION_PATH, "w"); - compass_store_result(data_file, info); + compass_store_result(data_file, &sensor[s]); + if (data_file) fclose(data_file); - }