/*
- * Copyright (C) 2014 Intel Corporation.
+ * Copyright (C) 2014-2015 Intel Corporation.
*/
#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 */
/* 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;
+
+
+typedef double mat_input_t[MAGN_DS_SIZE][3];
+
-typedef double mat_input_t[DS_SIZE][3];
+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_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_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);
#endif