commit 76c7c028ba3f0eeb17b7cf4709883ace0ffc83c5
author Jinkyu Song <jksong@sta.samsung.com> Fri Oct 14 20:27:46 2011 -0700
committer Mathias Agopian <mathias@google.com> Sat Oct 15 22:36:53 2011 -0700
tree 159635e29330c94fe4eb9e780350b4fe75ba3ff9
parent 7f7785f89f4e04c27f0bb6cb11776778305f3c39

SensorHAL: Reset compass calibration

If compass calibration is not achieved for 10 seconds,
it starts over the whole calibration process.

Change-Id: Id362542985b464d10c99fa49ca465b1892ea5c5a
Signed-off-by: Jinkyu Song <jksong@sta.samsung.com>

mlsdk/mllite/mlsupervisor.c

diff --git a/mlsdk/mllite/mlsupervisor.c b/mlsdk/mllite/mlsupervisor.c
index 017907f..139297f 100644
--- a/mlsdk/mllite/mlsupervisor.c
+++ b/mlsdk/mllite/mlsupervisor.c
@@ -61,6 +61,8 @@
 static int compassCalStableCount = 0;
 static int compassCalCount = 0;
 static int coiltimerstart = 0;
+static unsigned long disturbtime = 0;
+static int disturbtimerstart = 0;
 
 static yas_filter_if_s f;
 static yas_filter_handle_t handle;
@@ -425,6 +427,16 @@
                             (long) (tmp64 / inv_obj.compass_sens);
                     }
                     //Additions:
+                    if ((inv_obj.compass_state == 1) &&
+                            (inv_obj.compass_overunder == 0)) {
+                        if (disturbtimerstart == 0) {
+                            disturbtimerstart = 1;
+                            disturbtime = ctime;
+                        }
+                    } else {
+                        disturbtimerstart = 0;
+                    }
+
                     if (inv_obj.compass_overunder) {
                         if (coiltimerstart == 0) {
                             coiltimerstart = 1;
@@ -439,6 +451,16 @@
                             coiltimerstart = 0;
                         }
                     }
+
+                    if (disturbtimerstart == 1) {
+                        if (ctime - disturbtime > 10000) {
+                            inv_obj.flags[INV_COMPASS_OFFSET_VALID] = 0;
+                            inv_set_compass_offset();
+                            inv_reset_compass_calibration();
+                            MPL_LOGI("Compass reset! inv_reset_compass_calibration \n");
+                            disturbtimerstart = 0;
+                        }
+                    }
                 }
                 if (inv_obj.external_slave_callback) {
                     result = inv_obj.external_slave_callback(&inv_obj);