X-Git-Url: http://git.osdn.net/view?p=android-x86%2Fhardware-intel-libsensors.git;a=blobdiff_plain;f=gyro-calibration.c;h=6a2170f9ae50cce3ecf42c25fa0beca880588ca7;hp=48518c3f6d91ff9fa07279806a79f5c016577b5c;hb=refs%2Fheads%2Fq-x86;hpb=0bb03ae169f994cce127061b0dc7b43621e43e7b

diff --git a/gyro-calibration.c b/gyro-calibration.c
index 48518c3..6a2170f 100644
--- a/gyro-calibration.c
+++ b/gyro-calibration.c
@@ -1,6 +1,18 @@
 /*
- * 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 <stdio.h>
 #include <math.h>
@@ -15,9 +27,10 @@
 #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 (struct gyro_cal_t* cal_data)
+static void reset (gyro_cal_t* cal_data)
 {
 	cal_data->count = 0;
 
@@ -28,13 +41,14 @@ static void reset (struct gyro_cal_t* cal_data)
 }
 
 
-void gyro_cal_init (struct sensor_info_t* info)
+void gyro_cal_init (int s)
 {
 	int ret;
-	struct gyro_cal_t* cal_data = (struct gyro_cal_t*) info->cal_data;
+	gyro_cal_t* cal_data = (gyro_cal_t*) sensor[s].cal_data;
 	FILE* data_file;
+	float version;
 
-	info->cal_level = 0;
+	sensor[s].cal_level = 0;
 
 	if (cal_data == NULL)
 		return;
@@ -45,16 +59,22 @@ void gyro_cal_init (struct sensor_info_t* info)
 	if (data_file == NULL)
 		return;
 
-	ret = fscanf(data_file, "%f %f %f",
+	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);
 }
 
 
-void gyro_store_data (struct sensor_info_t* info)
+void gyro_store_data (int s)
 {
 	int ret;
-	struct gyro_cal_t* cal_data = (struct gyro_cal_t*) info->cal_data;
+	gyro_cal_t* cal_data = (gyro_cal_t*) sensor[s].cal_data;
 	FILE* data_file;
 
 	if (cal_data == NULL)
@@ -65,7 +85,7 @@ void gyro_store_data (struct sensor_info_t* info)
 	if (data_file == NULL)
 		return;
 
-	ret = fprintf(data_file, "%f %f %f",
+	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)
@@ -75,7 +95,7 @@ void gyro_store_data (struct sensor_info_t* info)
 }
 
 
-static int gyro_collect (float x, float y, float z, struct gyro_cal_t* cal_data)
+static int gyro_collect (float x, float y, float z, gyro_cal_t* cal_data)
 {
 	/* Analyze gyroscope data */
 
@@ -126,16 +146,16 @@ static int gyro_collect (float x, float y, float z, struct gyro_cal_t* cal_data)
 }
 
 
-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_t* cal_data = (struct gyro_cal_t*) 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);
 
 
@@ -143,6 +163,6 @@ void calibrate_gyro (struct sensors_event_t* event, struct sensor_info_t* info)
 	event->data[1] = event->data[1] - cal_data->bias_y;
 	event->data[2] = event->data[2] - cal_data->bias_z;
 
-	if (info->cal_level)
+	if (sensor[s].cal_level)
 	       event->gyro.status = SENSOR_STATUS_ACCURACY_HIGH;
 }