Reverse the default orientation of accelerometer

[android-x86/hardware-intel-libsensors.git] / calibration.h

diff --git a/calibration.h b/calibration.h
index 3da2156..2d17e7a 100644 (file)
--- a/calibration.h
+++ b/calibration.h
@@ -1,31 +1,26 @@
 /*
- * 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.
+*/
 
 #ifndef __CALIBRATION_H__
 #define __CALIBRATION_H__
 
-#define COMPASS_CALIBRATION_PATH "/data/compass.conf"
-#define DS_SIZE 48
-#define EPSILON 0.000000001
+#include "common.h"
 
+#define MAGN_DS_SIZE 32
 
-/* 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 1.0f
-#define FIRST_MAX_SQR_ERR 3.5f
-#define FIRST_LOOKBACK_COUNT 4
-
-#define MIN_DIFF 1.5f
-#define MAX_SQR_ERR 2.5f
-#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
 
 typedef struct {
     /* hard iron offsets */
@@ -37,12 +32,61 @@ typedef struct {
     /* geomagnetic strength */
     double bfield;
 
-} calibration_data;
+    /* selection data */
+    float sample[MAGN_DS_SIZE][3];
+    unsigned int sample_count;
+    float average[3];
+}
+compass_cal_t;
+
+
+typedef struct {
+    float bias_x, bias_y, bias_z;
+    int count;
+    float min_x, min_y, min_z;
+    float max_x, max_y, max_z;
+}
+gyro_cal_t;
+
+/* Accelerometer bias estimation and compensation */
+
+#define BUCKET_COUNT 3
+#define BUCKET_TOLERANCE 2.5   /* Maximum monitoring distance from value of interest, in m/s² */
+#define SLICES 100                 /* We currently have 3 buckets per axis, and 100 slices per bucket ; then we distribute incoming samples among slices */
+
+typedef struct
+{
+    int version;
+    int bucket_count;
+    int slices;
+    float bucket_tolerance;
+
+    uint64_t bucket[3][BUCKET_COUNT][SLICES];  /* How many samples fell in each of the slices, per axis */
+    uint64_t bucket_usage[3][BUCKET_COUNT];    /* How many samples fell in each of the buckets (= sum of the slice counts) */
+
+    /* Estimated bias, according to accumulated data */
+    float accel_bias_x;
+    float accel_bias_y;
+    float accel_bias_z;
+
+    uint64_t last_estimation_ts;
+}
+accel_cal_t;
+
+
+typedef double mat_input_t[MAGN_DS_SIZE][3];
+
+
+void calibrate_compass  (int s, sensors_event_t* event);
+void compass_read_data  (int s);
+void compass_store_data (int s);
 
-typedef double mat_input_t[DS_SIZE][3];
+void calibrate_gyro     (int s, sensors_event_t* event);
+void gyro_cal_init      (int s);
+void gyro_store_data    (int s);
 
-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_accel    (int s, sensors_event_t* event);
+void accel_cal_init     (int s);
+void accel_cal_store   (int s);
 
 #endif