shoe_mcu/motion/process_result.h

#ifndef _PRECESS_RESULT_H_
#define _PRECESS_RESULT_H_

#include "main.h"
#include "motion_config.h"

#include "footPDR.h"

#include "motion_interface.h"

#include "detect_zero_vel.h"

#define	GYR_LSB  16.4f  
#define	ACC_LSB  2048.0f 


#if SH_NUMBER == 1

			float accBias[3] =  {-0.0116f,    0.0122f,   -0.0172f,};
			float accScale[3] = {1.0015f,     1.0010f,    0.9884f,};

			//float magBias[3] = { 377.7242f,  111.6333f,  258.3704f};
			float magBias[3] = { 521.4416f,  311.3539f,  203.1051f};
			float magScale[3] = {0.0040f,    0.0038f,    0.0037,};
			
#elif SH_NUMBER == 2
			
		  float accBias[3] =  {-0.0143f,   0.0020f,   -0.0295f};
			float accScale[3] = {1.0026f,    1.0017f,    0.9876f};

			float magBias[3] = {208.19076f, 676.30954f,  -1314.16369f};
			float magScale[3] = {0.0040f,    0.0038f,    0.0039f};
			
#elif SH_NUMBER == 3

			float accBias[3] =  {-0.0073f,  0.0112f,   -0.0120f,};
			float accScale[3] = {1.0011f,    0.9997f,    0.9932f};

			//float magBias[3] = { -91.4046f,  -173.7336f,  -16.4311f};
			//float magBias[3] = { -33.7960f, -182.2888f,  -72.0429f};
			//float magBias[3] = { 98.2326f,  -244.3920f, -112.4380f};
			float magBias[3] = {  -2394.65484f, 6539.55844f,   -1429.03f};
			float magScale[3] = { 0.004f ,   0.0038f ,  0.0037f,};
			
#elif SH_NUMBER == 4
			
		  float accBias[3] = { -0.0000f,    0.0096f,   -0.0308f};
			float accScale[3] = {1.0002f,    1.0009f,    0.9910f};

			//float magBias[3] = {29.8783f,  142.8769f,  -149.3421f};
			//float magBias[3] = { 18.2790f,   93.3995f,   -146.4823};
			//float magBias[3] = { -15.8519f,   70.4827f, -128.3174f};
			
			float magBias[3] = {-72.9602f, -149.2124f, -154.5789f};
			float magScale[3] = { 0.0040f,    0.0040f,    0.0040f};

#elif SH_NUMBER == 5

			float accBias[3] = { 0.0208f,    0.0066f,   -0.0281f,};
			float accScale[3] = {1.0011f,    1.0004f,   0.9955f,};

			float magBias[3] = { 63.2058f , 113.6578f , -539.3837f};
			float magScale[3] = {0.0038f  ,  0.0038f  ,  0.0037f,};
			
#elif SH_NUMBER == 6
			
		  float accBias[3] = { -0.0173f,    0.0078f,   -0.1042f};
			float accScale[3] = {1.0015f,     1.0002f,    0.9861f};

			float magBias[3] = {97.0186f,  685.1305f, -513.0043f};
			float magScale[3] = {0.0038f,    0.0039f,    0.0037f};

#elif SH_NUMBER == 7

			float accBias[3] = { 0.0208f,    0.0066f,   -0.0281f,};
			float accScale[3] = {1.0011f,    1.0004f,   0.9955f,};

			float magBias[3] = { 63.2058f , 113.6578f , -539.3837f};
			float magScale[3] = {0.0038f  ,  0.0038f  ,  0.0037f,};
			
#elif SH_NUMBER == 8
			
			float accBias[3] = { -0.0055f,    0.0097f,   -0.0550f};
			float accScale[3] = {1.0004f,     0.9991f,    1.0000f};

			float magBias[3] = {-80.7255f,  715.1156f, -870.1321f};
			float magScale[3] = {0.0037f,    0.0038f,    0.0036f};
			
#elif SH_NUMBER == 9

			float accBias[3] =  {-0.0178f,    0.0056f,   -0.1022f};
			float accScale[3] = {1.0005f,    1.0017f,    0.9880f};

			float magBias[3] =  {-86.6536f,  341.2955f, -674.9064f};
			float magScale[3] = {0.0039f,    0.0039f ,   0.0040f,};
			
#elif SH_NUMBER == 10
			
			float accBias[3] = { -0.0069f  ,  0.0141f ,  -0.0498f};
			float accScale[3] = {1.0007f   ,   1.0031f  ,  0.9970f};

			float magBias[3] = { -77.8889f,   482.7083f, -616.4837f};
			float magScale[3] = { 0.0040f,   0.0040f,    0.0039f,};

#elif SH_NUMBER == 11

			float accBias[3] = {0.0149f,    0.0208f,   -0.0272f};
			float accScale[3] = {1.0010f ,  1.0008f ,   0.9969f};

			//float magBias[3] = { -66.0267f,  473.8725f, -529.6988f};
			//float magScale[3] = {0.0040f,    0.0040f,    0.0040f};
			float magBias[3] = { -79.0751f,  471.0133f, -600.3712f};
			float magScale[3] = {0.0040f,    0.0041f ,   0.0039f};
			
#elif SH_NUMBER == 12
			
			float accBias[3] = {0.0025f,    0.0086f,   -0.0016f,};
			float accScale[3] = {1.0007f,    1.0009f,    0.9948f,};

			//float magBias[3] = {54.5925f,  293.4265f,  -684.2667f,};
			float magBias[3] = {36.3369f,  314.0196f, -709.6340f,};
			float magScale[3] = {0.0040f,    0.0040f,    0.0041f,};
			
#elif SH_NUMBER == 13
			
			float accBias[3] =  {0.0063f,    0.0053f,    0.0138f,};
			float accScale[3] = {0.9993f,    1.0022f,    0.9883f,};

			float magBias[3] = {292.1026f,  633.6321f, -664.0924f,};
			float magScale[3] = {0.0039f,    0.0039f,    0.0037f};

#elif SH_NUMBER == 14
			
			float accBias[3] =  {0.0244f,    0.0082f,    0.0898f,};
			float accScale[3] = {0.9992f,    1.0024f,    0.9848f,};

			float magBias[3] =  {82.3285f,  418.0601f, -636.9080f};
			float magScale[3] = {0.0041f ,   0.0042f,    0.0040f};
			
#elif SH_NUMBER == 15
			
			float accBias[3] =  {-0.0199f ,   0.0149f ,  -0.0832f,};
			float accScale[3] = {1.0006f ,   1.0012f ,   0.9883f,};

			float magBias[3] =  { -83.9929f,  378.1395f, -683.2781f};
			float magScale[3] = {0.0039f,    0.0040f,    0.0041f};
			
#elif SH_NUMBER == 16
			
			float accBias[3] =  {-0.0062f,    0.0176f,   -0.0461f};
			float accScale[3] = {1.0006f,     1.0030f,    0.9965f};

			float magBias[3] =  {-66.5185f,  497.9997f, -618.6814f};
			float magScale[3] = {0.0040f,    0.0041f,    0.0040f};
			
#elif SH_NUMBER == 17
			
			float accBias[3] =  {0.0201f,    0.0207f,    0.1268f};
			float accScale[3] = {0.9984f,    1.0027f,    0.9927f};

			float magBias[3] =  {1238.45506f,  553.76179f,  -466.85981f};
			float magScale[3] = {0.0041f,    0.0045f,    0.0043f};
			
#elif SH_NUMBER == 18
			
			float accBias[3] =  {-0.0338f,    0.0088f,   -0.0118f};
			float accScale[3] = { 0.9995f,    1.0009f,    0.9926f};

			float magBias[3] =  {1471.773663f,    551.73478f,  -348.20543f};
			float magScale[3] = {0.0041f,   0.0046f,   0.0043f};
			
#elif SH_NUMBER == 19
			
			float accBias[3] =  {-0.017644f,    0.0044866f,    -0.048548f};
			float accScale[3] = { 1.0011f,      1.0001f,       0.9911f};

			float magBias[3] =  {294.8f,       1054.5f,      -254.15f};
			float magScale[3] = {0.004482f,    0.0041116f,     0.004236f};
			
#elif SH_NUMBER == 20
			
			float accBias[3] =  {-0.02376f,      0.01068f,     0.069101f};
			float accScale[3] = { 0.99977f,       1.0007f,      0.99655f};

			float magBias[3] =  { 285.12f,       1218.7f,      -416.98f};
			float magScale[3] = {0.004411f,    0.0040035f,   0.0041864f};
			
#elif SH_NUMBER == 21
			
			float accBias[3] =  { 0.0176f,    0.0217f,    0.1217f};
			float accScale[3] = { 1.0032f,    1.0025f,    0.9973f};

			float magBias[3] =  {357.05161f,  1111.658506f, -434.721060f};
			float magScale[3] = {0.0044f,    0.004f,   0.0042f};
			
#elif SH_NUMBER == 22
			
			float accBias[3] =  { -0.0371f,    0.0082f,   -0.0177f};
			float accScale[3] = { 1.0032f,    1.0025f,    0.9973f};

			float magBias[3] =  {443.781061f,  1401.779316f,  -264.01198f};
			float magScale[3] = {0.0046f,    0.0041f,   0.0043f};
			
#elif SH_NUMBER == 23

			float accBias[3] =  {  -0.0294f,    0.0088f,    0.0213f};
			float accScale[3] = { 1.0037f,     0.9976f,    0.9940f};

			float magBias[3] =  {508.4243192f,     1189.075561f,    -373.32054f};
			float magScale[3] = {0.0046f,    0.0042f,  0.0041};
			
#elif SH_NUMBER == 24

			float accBias[3] =  { -0.0119f,   -0.0012f,    0.0454f};
			float accScale[3] = { 1.0002f,    0.9956f,    1.0038f};

			float magBias[3] =  {726.44178f,    710.183522f,   -510.867688f};
			float magScale[3] = {0.0045f,         0.0041f,       0.0042f};

#elif SH_NUMBER == 25

			float accBias[3] =  { -0.0065f,    0.0027f,    0.0271f};
			float accScale[3] = { 1.0005f,    0.9992f,    0.9952f};

			float magBias[3] =  {213.41965895f,  1127.6071397f,   -188.07170366f};
			float magScale[3] = {0.0044f,  0.004f,   0.0041f};
			
#elif SH_NUMBER == 26

			float accBias[3] =  {  -0.0132f,    0.0037f,   -0.0090f};
			float accScale[3] = { 1.0022f,    1.0008f,    0.9946f};

			float magBias[3] =  {705.2909f,  888.2859f,  -162.9662f};
			float magScale[3] = { 0.0045f,    0.0041f,    0.0043f};
			
#elif SH_NUMBER == 27

			float accBias[3] =  { -0.0176f,   0.0093f,    0.0459f};
			float accScale[3] = { 1.0022f,    1.0004f,    1.0050f};

			float magBias[3] =  {-123.9147f,   -5.1146f, -268.7183f};
			float magScale[3] = {0.0045f,    0.0040f,    0.0042f};
			
#elif SH_NUMBER == 28

			float accBias[3] =  { -0.0226f,   0.0083f,    0.0473f};
			float accScale[3] = { 1.0006f,    1.0019f,    0.9971f};

			float magBias[3] =  { 270.3228f,   7.2314f,  -93.2455f};
			float magScale[3] = { 0.0044f,     0.0039f,    0.0040f};
			
#elif SH_NUMBER == 31

			float accBias[3] =  { -0.007613f,   0.0049329f,  -0.022617f};
			float accScale[3] = { 1.0374647f,   0.98994f,  0.995096f};

			float magBias[3] =  { -591.6082f,  760.9560f, -194.1897};
			float magScale[3] = { 0.0047f,    0.0043f,    0.0043f};
			
#elif SH_NUMBER == 32

			float accBias[3] =  {   -0.006894f,   0.013296f,  -0.030154f};
			float accScale[3] = {  0.98567f,   1.0142618f,   0.99747f};

			float magBias[3] =  {  -526.1854f,  553.1508f, -142.6464f};
			float magScale[3] = { 0.0045f,    0.0042f,   0.0042f};
			
#elif SH_NUMBER == 33

			float accBias[3] =  {  -0.0091f,    0.0124f,   -0.0790f};
			float accScale[3] = {  1.0021f,    0.9966f,    0.9928f};

			float magBias[3] = {813.1402436536083f, 280.82271197483055f, -29.053538226463385f}; 
			float magScale[3] = {0.0042312985166727685f, 0.003920572901665482f, 0.0039770217454643255f}; 
			
#elif SH_NUMBER == 34

			float accBias[3] =  { -0.0141f,    0.0072f,    0.0308f};
			float accScale[3] = {  1.0091f ,   0.9943f ,   1.0023f};

			float magBias[3] = {-122.09773026023785f, -588.9466945960162f, -277.99760629602105f}; 
			float magScale[3] = {0.004216299267535813f, 0.003918950857638731f, 0.003974970092518379f}; 

#			
		
	
#endif

#ifdef WHITE_SH0

		#if IS_HOST
		
			float accBias[3] = { -0.0055f,    0.0114f,   -0.0075f};
			float accScale[3] = {1.0011f,    0.9997f,    0.9930f};

			float magBias[3] = { 98.5793f, -199.4005f, -188.8333f};
			float magScale[3] = {0.0040f,    0.0040f,    0.0037f};
			
		#else
		/* slave*/
			float accBias[3] = { 0.0009f,    0.0062f,   -0.0224f};
			float accScale[3] = {1.0000f,    1.0006f,    0.9913f};

			float magBias[3] = { -75.9748f,   80.7247, -134.6379f};
			float magScale[3] = { 0.0039f,    0.0037f,    0.0037f};
		#endif

#elif defined BLUE_SHO
			
		
		#if IS_HOST
			float accBias[3] = { -0.0118f ,   0.0130f ,  -0.0026f};
			float accScale[3] = {1.0015f  ,  1.0011f ,  0.9896f};

			float magBias[3] = { 569.5943f , 271.8484f , 298.8276f};
			float magScale[3] = {0.0040f  ,  0.0037f  ,  0.0039f};
		#else
		/* slave*/
			float accBias[3] = {-0.0299f,    0.0114f ,  -0.0716f};
			float accScale[3] = {1.0017f,    1.0023f,    0.9884f};

			float magBias[3] = {324.02837f,  599.89072f,  -1323.1148f};
			float magScale[3] = {0.0039f,   0.0037f,   0.0037f};
		#endif


#endif

#endif