X-Git-Url: http://git.osdn.net/view?a=blobdiff_plain;f=gyro-calibration.c;h=dd9570c10be2df8e6a9e79c28a506ffec1399edd;hb=81202ad7aa3bf83b549687151a67486133695af8;hp=307ea89632615595bc5707f224755c3185c2cfa3;hpb=e58ac5ea4b7e578f6ce3ddbb3c17c2b2a81b0f4f;p=android-x86%2Fhardware-intel-libsensors.git

diff --git a/gyro-calibration.c b/gyro-calibration.c
index 307ea89..dd9570c 100644
--- a/gyro-calibration.c
+++ b/gyro-calibration.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2014 Intel Corporation.
+ * Copyright (C) 2014-2015 Intel Corporation.
  */
 
 #include <stdio.h>
@@ -10,7 +10,15 @@
 #include "common.h"
 #include "calibration.h"
 
-static void reset (struct gyro_cal* cal_data)
+
+/* Gyro defines */
+#define GYRO_MAX_ERR 0.05
+#define GYRO_DS_SIZE 100
+#define GYRO_CALIBRATION_PATH "/data/gyro.conf"
+#define GYRO_CAL_VERSION 1.0
+
+
+static void reset (gyro_cal_t* cal_data)
 {
 	cal_data->count = 0;
 
@@ -21,16 +29,61 @@ static void reset (struct gyro_cal* cal_data)
 }
 
 
-void gyro_cal_init (struct sensor_info_t* info)
+void gyro_cal_init (int s)
 {
-	info->cal_level = 0;
+	int ret;
+	gyro_cal_t* cal_data = (gyro_cal_t*) sensor[s].cal_data;
+	FILE* data_file;
+	float version;
+
+	sensor[s].cal_level = 0;
+
+	if (cal_data == NULL)
+		return;
+
+	reset(cal_data);
 
-	if (info->cal_data)
-		reset((struct gyro_cal*) info->cal_data);
+	data_file = fopen (GYRO_CALIBRATION_PATH, "r");
+	if (data_file == NULL)
+		return;
+
+	ret = fscanf(data_file, "%f %f %f %f", &version,
+			&cal_data->bias_x, &cal_data->bias_y, &cal_data->bias_z);
+
+	if (ret != 4 || version != GYRO_CAL_VERSION) {
+		reset(cal_data);
+		ALOGE("Gyro calibration - init failed!\n");
+	}
+
+	fclose(data_file);
 }
 
 
-static int gyro_collect (float x, float y, float z, struct gyro_cal* cal_data)
+void gyro_store_data (int s)
+{
+	int ret;
+	gyro_cal_t* cal_data = (gyro_cal_t*) sensor[s].cal_data;
+	FILE* data_file;
+
+	if (cal_data == NULL)
+		return;
+
+	data_file = fopen (GYRO_CALIBRATION_PATH, "w");
+
+	if (data_file == NULL)
+		return;
+
+	ret = fprintf(data_file, "%f %f %f %f", GYRO_CAL_VERSION,
+		cal_data->bias_x, cal_data->bias_y, cal_data->bias_z);
+
+	if (ret < 0)
+		ALOGE ("Gyro calibration - store data failed!");
+
+	fclose(data_file);
+}
+
+
+static int gyro_collect (float x, float y, float z, gyro_cal_t* cal_data)
 {
 	/* Analyze gyroscope data */
 
@@ -80,34 +133,24 @@ static int gyro_collect (float x, float y, float z, struct gyro_cal* cal_data)
 	return 1; /* Calibrated! */
 }
 
-void calibrate_gyro(struct sensors_event_t* event, struct sensor_info_t* info)
+
+void calibrate_gyro (int s, sensors_event_t* event)
 {
-	struct gyro_cal* cal_data = (struct gyro_cal*) info->cal_data;
+	gyro_cal_t* cal_data = (gyro_cal_t*) sensor[s].cal_data;
 
 	if (cal_data == NULL)
 		return;
 
 	/* Attempt gyroscope calibration if we have not reached this state */
-	if (info->cal_level == 0)
-		info->cal_level = gyro_collect(event->data[0], event->data[1],
+	if (sensor[s].cal_level == 0)
+		sensor[s].cal_level = gyro_collect(event->data[0], event->data[1],
 					       event->data[2], cal_data);
 
-	switch (event->type) {
-		case SENSOR_TYPE_GYROSCOPE:
-			/* For the gyroscope apply the bias */
-			event->data[0] = event->data[0] - cal_data->bias_x;
-			event->data[1] = event->data[1] - cal_data->bias_y;
-			event->data[2] = event->data[2] - cal_data->bias_z;
-			break;
-
-		case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
-			/*
-			 * For the uncalibrated gyroscope don't apply the bias,
-			 * but tell he Android framework what we think it is.
-			 */
-			event->uncalibrated_gyro.bias[0] = cal_data->bias_x;
-			event->uncalibrated_gyro.bias[1] = cal_data->bias_y;
-			event->uncalibrated_gyro.bias[2] = cal_data->bias_z;
-			break;
-	}
+
+	event->data[0] = event->data[0] - cal_data->bias_x;
+	event->data[1] = event->data[1] - cal_data->bias_y;
+	event->data[2] = event->data[2] - cal_data->bias_z;
+
+	if (sensor[s].cal_level)
+	       event->gyro.status = SENSOR_STATUS_ACCURACY_HIGH;
 }