Add version number to calibration data

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

diff --git a/calibration.h b/calibration.h
index fc8f3e9..d353d43 100644 (file)
--- a/calibration.h
+++ b/calibration.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2014 Intel Corporation.
+ * Copyright (C) 2014-2015 Intel Corporation.
  */
 
 #ifndef __CALIBRATION_H__
@@ -9,7 +9,8 @@
 
 #define MAGN_DS_SIZE 32
 
-struct compass_cal {
+
+typedef struct {
     /* hard iron offsets */
     double offset[3][1];
 
@@ -23,22 +24,57 @@ struct compass_cal {
     float sample[MAGN_DS_SIZE][3];
     unsigned int sample_count;
     float average[3];
-};
+}
+compass_cal_t;
+
 
-struct gyro_cal {
+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 1     /* 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 (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);
+void calibrate_compass  (sensors_event_t* event, sensor_info_t* info);
+void compass_read_data  (sensor_info_t* info);
+void compass_store_data (sensor_info_t* info);
+
+void calibrate_gyro     (sensors_event_t* event, sensor_info_t* info);
+void gyro_cal_init      (sensor_info_t* info);
+void gyro_store_data    (sensor_info_t* info);
+
+void calibrate_accel    (int s, sensors_event_t* event);
+void accel_cal_init     (int s);
+void accel_cal_store   (int s);
+
 #endif