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-rw-r--r--firmware/os/algos/calibration/gyroscope/gyro_cal.c278
1 files changed, 88 insertions, 190 deletions
diff --git a/firmware/os/algos/calibration/gyroscope/gyro_cal.c b/firmware/os/algos/calibration/gyroscope/gyro_cal.c
index 3179b0eb..90b25446 100644
--- a/firmware/os/algos/calibration/gyroscope/gyro_cal.c
+++ b/firmware/os/algos/calibration/gyroscope/gyro_cal.c
@@ -17,6 +17,7 @@
#include "calibration/gyroscope/gyro_cal.h"
#include <float.h>
+#include <inttypes.h>
#include <math.h>
#include <string.h>
@@ -40,6 +41,10 @@
// A debug version label to help with tracking results.
#define GYROCAL_DEBUG_VERSION_STRING "[July 05, 2017]"
+// Parameters used for sample rate estimation.
+#define GYROCAL_DEBUG_SAMPLE_RATE_NUM_INTERVALS (100)
+#define GYROCAL_DEBUG_SAMPLE_RATE_GAP_SEC (1.0f)
+
// Debug log tag string used to identify debug report output data.
#define GYROCAL_REPORT_TAG "[GYRO_CAL:REPORT]"
#endif // GYRO_CAL_DBG_ENABLED
@@ -103,26 +108,6 @@ enum DebugPrintData {
MAG_STATS_TUNING
};
-/*
- * Updates the running calculation of the gyro's mean sampling rate.
- *
- * Behavior:
- * 1) If 'debug_mean_sampling_rate_hz' pointer is not NULL then the local
- * calculation of the sampling rate is copied, and the function returns.
- * 2) Else, if 'reset_stats' is 'true' then the local estimate is reset and
- * the function returns.
- * 3) Otherwise, the local estimate of the mean sampling rates is updated.
- *
- * INPUTS:
- * sample_rate_estimator: Pointer to the estimator data structure.
- * debug_mean_sampling_rate_hz: Pointer to the mean sampling rate to update.
- * timestamp_nanos: Time stamp (nanoseconds).
- * reset_stats: Flag that signals a reset of the sampling rate estimate.
- */
-static void gyroSamplingRateUpdate(struct SampleRateData* sample_rate_estimator,
- float* debug_mean_sampling_rate_hz,
- uint64_t timestamp_nanos, bool reset_stats);
-
// Updates the information used for debug printouts.
static void gyroCalUpdateDebug(struct GyroCal* gyro_cal);
@@ -130,35 +115,13 @@ static void gyroCalUpdateDebug(struct GyroCal* gyro_cal);
static void gyroCalDebugPrintData(const struct GyroCal* gyro_cal,
char* debug_tag,
enum DebugPrintData print_data);
-
-// This conversion function is necessary for Nanohub firmware compilation (i.e.,
-// can't cast a uint64_t to a float directly). This conversion function was
-// copied from: /third_party/contexthub/firmware/src/floatRt.c
-static float floatFromUint64(uint64_t v)
-{
- uint32_t hi = v >> 32, lo = v;
-
- if (!hi) //this is very fast for cases where we fit into a uint32_t
- return (float)lo;
- else {
- return ((float)hi) * 4294967296.0f + (float)lo;
- }
-}
#endif // GYRO_CAL_DBG_ENABLED
/////// FUNCTION DEFINITIONS /////////////////////////////////////////
// Initialize the gyro calibration data structure.
-void gyroCalInit(struct GyroCal* gyro_cal, uint64_t min_still_duration_nanos,
- uint64_t max_still_duration_nanos, float bias_x, float bias_y,
- float bias_z, uint64_t calibration_time_nanos,
- uint64_t window_time_duration_nanos, float gyro_var_threshold,
- float gyro_confidence_delta, float accel_var_threshold,
- float accel_confidence_delta, float mag_var_threshold,
- float mag_confidence_delta, float stillness_threshold,
- float stillness_mean_delta_limit,
- float temperature_delta_limit_celsius,
- bool gyro_calibration_enable) {
+void gyroCalInit(struct GyroCal* gyro_cal,
+ const struct GyroCalParameters* parameters) {
// Clear gyro_cal structure memory.
memset(gyro_cal, 0, sizeof(struct GyroCal));
@@ -166,35 +129,38 @@ void gyroCalInit(struct GyroCal* gyro_cal, uint64_t min_still_duration_nanos,
// Gyro parameter input units are [rad/sec].
// Accel parameter input units are [m/sec^2].
// Magnetometer parameter input units are [uT].
- gyroStillDetInit(&gyro_cal->gyro_stillness_detect, gyro_var_threshold,
- gyro_confidence_delta);
- gyroStillDetInit(&gyro_cal->accel_stillness_detect, accel_var_threshold,
- accel_confidence_delta);
- gyroStillDetInit(&gyro_cal->mag_stillness_detect, mag_var_threshold,
- mag_confidence_delta);
+ gyroStillDetInit(&gyro_cal->gyro_stillness_detect,
+ parameters->gyro_var_threshold,
+ parameters->gyro_confidence_delta);
+ gyroStillDetInit(&gyro_cal->accel_stillness_detect,
+ parameters->accel_var_threshold,
+ parameters->accel_confidence_delta);
+ gyroStillDetInit(&gyro_cal->mag_stillness_detect,
+ parameters->mag_var_threshold,
+ parameters->mag_confidence_delta);
// Reset stillness flag and start timestamp.
gyro_cal->prev_still = false;
gyro_cal->start_still_time_nanos = 0;
// Set the min and max window stillness duration.
- gyro_cal->min_still_duration_nanos = min_still_duration_nanos;
- gyro_cal->max_still_duration_nanos = max_still_duration_nanos;
+ gyro_cal->min_still_duration_nanos = parameters->min_still_duration_nanos;
+ gyro_cal->max_still_duration_nanos = parameters->max_still_duration_nanos;
// Sets the duration of the stillness processing windows.
- gyro_cal->window_time_duration_nanos = window_time_duration_nanos;
+ gyro_cal->window_time_duration_nanos = parameters->window_time_duration_nanos;
// Set the watchdog timeout duration.
gyro_cal->gyro_watchdog_timeout_duration_nanos = GYRO_WATCHDOG_TIMEOUT_NANOS;
// Load the last valid cal from system memory.
- gyro_cal->bias_x = bias_x; // [rad/sec]
- gyro_cal->bias_y = bias_y; // [rad/sec]
- gyro_cal->bias_z = bias_z; // [rad/sec]
- gyro_cal->calibration_time_nanos = calibration_time_nanos;
+ gyro_cal->bias_x = parameters->bias_x; // [rad/sec]
+ gyro_cal->bias_y = parameters->bias_y; // [rad/sec]
+ gyro_cal->bias_z = parameters->bias_z; // [rad/sec]
+ gyro_cal->calibration_time_nanos = parameters->calibration_time_nanos;
// Set the stillness threshold required for gyro bias calibration.
- gyro_cal->stillness_threshold = stillness_threshold;
+ gyro_cal->stillness_threshold = parameters->stillness_threshold;
// Current window end-time used to assist in keeping sensor data collection in
// sync. Setting this to zero signals that sensor data will be dropped until a
@@ -202,13 +168,14 @@ void gyroCalInit(struct GyroCal* gyro_cal, uint64_t min_still_duration_nanos,
gyro_cal->stillness_win_endtime_nanos = 0;
// Gyro calibrations will be applied (see, gyroCalRemoveBias()).
- gyro_cal->gyro_calibration_enable = (gyro_calibration_enable > 0);
+ gyro_cal->gyro_calibration_enable = (parameters->gyro_calibration_enable > 0);
// Sets the stability limit for the stillness window mean acceptable delta.
- gyro_cal->stillness_mean_delta_limit = stillness_mean_delta_limit;
+ gyro_cal->stillness_mean_delta_limit = parameters->stillness_mean_delta_limit;
// Sets the min/max temperature delta limit for the stillness period.
- gyro_cal->temperature_delta_limit_celsius = temperature_delta_limit_celsius;
+ gyro_cal->temperature_delta_limit_celsius =
+ parameters->temperature_delta_limit_celsius;
// Ensures that the data tracking functionality is reset.
gyroStillMeanTracker(gyro_cal, DO_RESET);
@@ -221,41 +188,47 @@ void gyroCalInit(struct GyroCal* gyro_cal, uint64_t min_still_duration_nanos,
CAL_DEBUG_LOG("[GYRO_CAL:INIT]", "Online gyroscope calibration DISABLED.");
}
- // Ensures that the gyro sampling rate estimate is reset.
- gyroSamplingRateUpdate(&gyro_cal->sample_rate_estimator, NULL, 0,
- /*reset_stats=*/true);
+ // Initializes the gyro sampling rate estimator.
+ sampleRateEstimatorInit(&gyro_cal->debug_gyro_cal.sample_rate_estimator,
+ GYROCAL_DEBUG_SAMPLE_RATE_NUM_INTERVALS,
+ GYROCAL_DEBUG_SAMPLE_RATE_GAP_SEC);
#endif // GYRO_CAL_DBG_ENABLED
}
// Void pointer in the gyro calibration data structure (doesn't do anything
// except prevent compiler warnings).
-void gyroCalDestroy(struct GyroCal* gyro_cal) {
- (void)gyro_cal;
-}
+void gyroCalDestroy(struct GyroCal* gyro_cal) { (void)gyro_cal; }
// Get the most recent bias calibration value.
void gyroCalGetBias(struct GyroCal* gyro_cal, float* bias_x, float* bias_y,
- float* bias_z, float* temperature_celsius) {
+ float* bias_z, float* temperature_celsius,
+ uint64_t* calibration_time_nanos) {
*bias_x = gyro_cal->bias_x;
*bias_y = gyro_cal->bias_y;
*bias_z = gyro_cal->bias_z;
+ *calibration_time_nanos = gyro_cal->calibration_time_nanos;
*temperature_celsius = gyro_cal->bias_temperature_celsius;
}
// Set an initial bias calibration value.
void gyroCalSetBias(struct GyroCal* gyro_cal, float bias_x, float bias_y,
- float bias_z, uint64_t calibration_time_nanos) {
+ float bias_z, float temperature_celsius,
+ uint64_t calibration_time_nanos) {
gyro_cal->bias_x = bias_x;
gyro_cal->bias_y = bias_y;
gyro_cal->bias_z = bias_z;
gyro_cal->calibration_time_nanos = calibration_time_nanos;
+ gyro_cal->bias_temperature_celsius = temperature_celsius;
#ifdef GYRO_CAL_DBG_ENABLED
CAL_DEBUG_LOG("[GYRO_CAL:SET BIAS]",
- "Gyro Bias Calibration [mDPS]: " CAL_FORMAT_3DIGITS_TRIPLET,
- CAL_ENCODE_FLOAT(gyro_cal->bias_x * RAD_TO_MDEG, 3),
- CAL_ENCODE_FLOAT(gyro_cal->bias_y * RAD_TO_MDEG, 3),
- CAL_ENCODE_FLOAT(gyro_cal->bias_z * RAD_TO_MDEG, 3));
+ "Offset|Temp|Time [mDPS|C|nsec]: " CAL_FORMAT_3DIGITS_TRIPLET
+ ", " CAL_FORMAT_3DIGITS ", %" PRIu64,
+ CAL_ENCODE_FLOAT(bias_x * RAD_TO_MDEG, 3),
+ CAL_ENCODE_FLOAT(bias_y * RAD_TO_MDEG, 3),
+ CAL_ENCODE_FLOAT(bias_z * RAD_TO_MDEG, 3),
+ CAL_ENCODE_FLOAT(temperature_celsius, 3),
+ calibration_time_nanos);
#endif // GYRO_CAL_DBG_ENABLED
}
@@ -298,8 +271,8 @@ void gyroCalUpdateGyro(struct GyroCal* gyro_cal, uint64_t sample_time_nanos,
#ifdef GYRO_CAL_DBG_ENABLED
// Update the gyro sampling rate estimate.
- gyroSamplingRateUpdate(&gyro_cal->sample_rate_estimator, NULL,
- sample_time_nanos, /*reset_stats=*/false);
+ sampleRateEstimatorUpdate(&gyro_cal->debug_gyro_cal.sample_rate_estimator,
+ sample_time_nanos);
#endif // GYRO_CAL_DBG_ENABLED
// Pass gyro data to stillness detector
@@ -396,7 +369,7 @@ void deviceStillnessCheck(struct GyroCal* gyro_cal,
// Determines if the device is currently still.
device_is_still = (conf_still > gyro_cal->stillness_threshold) &&
- !mean_not_stable && !min_max_temp_exceeded;
+ !mean_not_stable && !min_max_temp_exceeded;
if (device_is_still) {
// Device is "still" logic:
@@ -440,12 +413,6 @@ void deviceStillnessCheck(struct GyroCal* gyro_cal,
computeGyroCal(gyro_cal,
gyro_cal->gyro_stillness_detect.last_sample_time);
-#ifdef GYRO_CAL_DBG_ENABLED
- // Resets the sampling rate estimate.
- gyroSamplingRateUpdate(&gyro_cal->sample_rate_estimator, NULL,
- sample_time_nanos, /*reset_stats=*/true);
-#endif // GYRO_CAL_DBG_ENABLED
-
// Update stillness flag. Force the start of a new stillness period.
gyro_cal->prev_still = false;
} else {
@@ -484,12 +451,6 @@ void deviceStillnessCheck(struct GyroCal* gyro_cal,
gyroTemperatureStatsTracker(gyro_cal, 0.0f, DO_RESET);
gyroStillMeanTracker(gyro_cal, DO_RESET);
-#ifdef GYRO_CAL_DBG_ENABLED
- // Resets the sampling rate estimate.
- gyroSamplingRateUpdate(&gyro_cal->sample_rate_estimator, NULL,
- sample_time_nanos, /*reset_stats=*/true);
-#endif // GYRO_CAL_DBG_ENABLED
-
// Update stillness flag.
gyro_cal->prev_still = false;
}
@@ -501,17 +462,17 @@ void deviceStillnessCheck(struct GyroCal* gyro_cal,
// Calculates a new gyro bias offset calibration value.
void computeGyroCal(struct GyroCal* gyro_cal, uint64_t calibration_time_nanos) {
// Check to see if new calibration values is within acceptable range.
- if (!(gyro_cal->gyro_stillness_detect.prev_mean_x < MAX_GYRO_BIAS &&
+ if (!(gyro_cal->gyro_stillness_detect.prev_mean_x < MAX_GYRO_BIAS &&
gyro_cal->gyro_stillness_detect.prev_mean_x > -MAX_GYRO_BIAS &&
- gyro_cal->gyro_stillness_detect.prev_mean_y < MAX_GYRO_BIAS &&
+ gyro_cal->gyro_stillness_detect.prev_mean_y < MAX_GYRO_BIAS &&
gyro_cal->gyro_stillness_detect.prev_mean_y > -MAX_GYRO_BIAS &&
- gyro_cal->gyro_stillness_detect.prev_mean_z < MAX_GYRO_BIAS &&
+ gyro_cal->gyro_stillness_detect.prev_mean_z < MAX_GYRO_BIAS &&
gyro_cal->gyro_stillness_detect.prev_mean_z > -MAX_GYRO_BIAS)) {
#ifdef GYRO_CAL_DBG_ENABLED
CAL_DEBUG_LOG(
"[GYRO_CAL:REJECT]",
"Offset|Temp|Time [mDPS|C|nsec]: " CAL_FORMAT_3DIGITS_TRIPLET
- ", " CAL_FORMAT_3DIGITS ", %llu",
+ ", " CAL_FORMAT_3DIGITS ", %" PRIu64,
CAL_ENCODE_FLOAT(
gyro_cal->gyro_stillness_detect.prev_mean_x * RAD_TO_MDEG, 3),
CAL_ENCODE_FLOAT(
@@ -519,7 +480,7 @@ void computeGyroCal(struct GyroCal* gyro_cal, uint64_t calibration_time_nanos) {
CAL_ENCODE_FLOAT(
gyro_cal->gyro_stillness_detect.prev_mean_z * RAD_TO_MDEG, 3),
CAL_ENCODE_FLOAT(gyro_cal->temperature_mean_celsius, 3),
- (unsigned long long int)calibration_time_nanos);
+ calibration_time_nanos);
#endif // GYRO_CAL_DBG_ENABLED
// Outside of range. Ignore, reset, and continue.
@@ -580,21 +541,17 @@ void checkWatchdog(struct GyroCal* gyro_cal, uint64_t sample_time_nanos) {
#ifdef GYRO_CAL_DBG_ENABLED
gyro_cal->debug_watchdog_count++;
if (sample_time_nanos < gyro_cal->gyro_watchdog_start_nanos) {
- CAL_DEBUG_LOG(
- "[GYRO_CAL:WATCHDOG]",
- "Total#, Timestamp | Delta [nsec]: %lu, %llu, -%llu",
- (unsigned long int)gyro_cal->debug_watchdog_count,
- (unsigned long long int)sample_time_nanos,
- (unsigned long long int)(gyro_cal->gyro_watchdog_start_nanos -
- sample_time_nanos));
+ CAL_DEBUG_LOG("[GYRO_CAL:WATCHDOG]",
+ "Total#, Timestamp | Delta [nsec]: %zu, %" PRIu64
+ ", -%" PRIu64,
+ gyro_cal->debug_watchdog_count, sample_time_nanos,
+ gyro_cal->gyro_watchdog_start_nanos - sample_time_nanos);
} else {
- CAL_DEBUG_LOG(
- "[GYRO_CAL:WATCHDOG]",
- "Total#, Timestamp | Delta [nsec]: %lu, %llu, %llu",
- (unsigned long int)gyro_cal->debug_watchdog_count,
- (unsigned long long int)sample_time_nanos,
- (unsigned long long int)(sample_time_nanos -
- gyro_cal->gyro_watchdog_start_nanos));
+ CAL_DEBUG_LOG("[GYRO_CAL:WATCHDOG]",
+ "Total#, Timestamp | Delta [nsec]: %zu, %" PRIu64
+ ", %" PRIu64,
+ gyro_cal->debug_watchdog_count, sample_time_nanos,
+ sample_time_nanos - gyro_cal->gyro_watchdog_start_nanos);
}
#endif // GYRO_CAL_DBG_ENABLED
@@ -607,12 +564,6 @@ void checkWatchdog(struct GyroCal* gyro_cal, uint64_t sample_time_nanos) {
gyroTemperatureStatsTracker(gyro_cal, 0.0f, DO_RESET);
gyroStillMeanTracker(gyro_cal, DO_RESET);
-#ifdef GYRO_CAL_DBG_ENABLED
- // Resets the sampling rate estimate.
- gyroSamplingRateUpdate(&gyro_cal->sample_rate_estimator, NULL,
- sample_time_nanos, /*reset_stats=*/true);
-#endif // GYRO_CAL_DBG_ENABLED
-
// Resets the stillness window end-time.
gyro_cal->stillness_win_endtime_nanos = 0;
@@ -631,7 +582,6 @@ void checkWatchdog(struct GyroCal* gyro_cal, uint64_t sample_time_nanos) {
}
// Assert watchdog timeout flags.
- gyro_cal->gyro_watchdog_timeout |= watchdog_timeout;
gyro_cal->gyro_watchdog_start_nanos = 0;
}
}
@@ -833,53 +783,6 @@ bool gyroStillMeanTracker(struct GyroCal* gyro_cal,
}
#ifdef GYRO_CAL_DBG_ENABLED
-void gyroSamplingRateUpdate(struct SampleRateData* sample_rate_estimator,
- float* debug_mean_sampling_rate_hz,
- uint64_t timestamp_nanos, bool reset_stats) {
- // If 'debug_mean_sampling_rate_hz' is not NULL then this function just reads
- // out the estimate of the sampling rate.
- if (debug_mean_sampling_rate_hz) {
- if (sample_rate_estimator->num_samples > 1 &&
- sample_rate_estimator->time_delta_accumulator > 0) {
- // Computes the final mean calculation.
- *debug_mean_sampling_rate_hz =
- sample_rate_estimator->num_samples /
- (floatFromUint64(sample_rate_estimator->time_delta_accumulator) *
- NANOS_TO_SEC);
- } else {
- // Not enough samples to compute a valid sample rate estimate. Indicate
- // this with a -1 value.
- *debug_mean_sampling_rate_hz = -1.0f;
- }
- reset_stats = true;
- }
-
- // Resets the sampling rate mean estimator data.
- if (reset_stats) {
- sample_rate_estimator->last_timestamp_nanos = 0;
- sample_rate_estimator->time_delta_accumulator = 0;
- sample_rate_estimator->num_samples = 0;
- return;
- }
-
- // Skip adding this data to the accumulator if:
- // 1. A bad timestamp was received (i.e., time not monotonic).
- // 2. 'last_timestamp_nanos' is zero.
- if (timestamp_nanos <= sample_rate_estimator->last_timestamp_nanos ||
- sample_rate_estimator->last_timestamp_nanos == 0) {
- sample_rate_estimator->last_timestamp_nanos = timestamp_nanos;
- return;
- }
-
- // Increments the number of samples.
- sample_rate_estimator->num_samples++;
-
- // Accumulate the time steps.
- sample_rate_estimator->time_delta_accumulator +=
- timestamp_nanos - sample_rate_estimator->last_timestamp_nanos;
- sample_rate_estimator->last_timestamp_nanos = timestamp_nanos;
-}
-
void gyroCalUpdateDebug(struct GyroCal* gyro_cal) {
// Only update this data if debug printing is not currently in progress
// (i.e., don't want to risk overwriting debug information that is actively
@@ -912,11 +815,6 @@ void gyroCalUpdateDebug(struct GyroCal* gyro_cal) {
gyro_cal->debug_gyro_cal.calibration[1] = gyro_cal->bias_y;
gyro_cal->debug_gyro_cal.calibration[2] = gyro_cal->bias_z;
- // Records the mean gyroscope sampling rate.
- gyroSamplingRateUpdate(&gyro_cal->sample_rate_estimator,
- &gyro_cal->debug_gyro_cal.mean_sampling_rate_hz, 0,
- /*reset_stats=*/true);
-
// Records the min/max gyroscope window stillness mean values.
memcpy(gyro_cal->debug_gyro_cal.gyro_winmean_min, gyro_cal->gyro_winmean_min,
sizeof(gyro_cal->gyro_winmean_min));
@@ -983,8 +881,9 @@ void gyroCalDebugPrintData(const struct GyroCal* gyro_cal, char* debug_tag,
CAL_DEBUG_LOG(
debug_tag,
"Cal#|Offset|Temp|Time [mDPS|C|nsec]: "
- "%lu, " CAL_FORMAT_3DIGITS_TRIPLET ", " CAL_FORMAT_3DIGITS ", %llu",
- (unsigned long int)gyro_cal->debug_calibration_count,
+ "%zu, " CAL_FORMAT_3DIGITS_TRIPLET ", " CAL_FORMAT_3DIGITS
+ ", %" PRIu64,
+ gyro_cal->debug_calibration_count,
CAL_ENCODE_FLOAT(
gyro_cal->debug_gyro_cal.calibration[0] * RAD_TO_MDEG, 3),
CAL_ENCODE_FLOAT(
@@ -993,8 +892,7 @@ void gyroCalDebugPrintData(const struct GyroCal* gyro_cal, char* debug_tag,
gyro_cal->debug_gyro_cal.calibration[2] * RAD_TO_MDEG, 3),
CAL_ENCODE_FLOAT(gyro_cal->debug_gyro_cal.temperature_mean_celsius,
3),
- (unsigned long long int)
- gyro_cal->debug_gyro_cal.end_still_time_nanos);
+ gyro_cal->debug_gyro_cal.end_still_time_nanos);
break;
case STILLNESS_DATA:
@@ -1003,13 +901,11 @@ void gyroCalDebugPrintData(const struct GyroCal* gyro_cal, char* debug_tag,
: -1.0f; // Signals that magnetometer was not used.
CAL_DEBUG_LOG(
debug_tag,
- "Cal#|Stillness|Confidence [nsec]: %lu, "
- "%llu, " CAL_FORMAT_3DIGITS_TRIPLET,
- (unsigned long int)gyro_cal->debug_calibration_count,
- (unsigned long long int)(gyro_cal->debug_gyro_cal
- .end_still_time_nanos -
- gyro_cal->debug_gyro_cal
- .start_still_time_nanos),
+ "Cal#|Stillness|Confidence [nsec]: %zu, "
+ "%" PRIu64 ", " CAL_FORMAT_3DIGITS_TRIPLET,
+ gyro_cal->debug_calibration_count,
+ gyro_cal->debug_gyro_cal.end_still_time_nanos -
+ gyro_cal->debug_gyro_cal.start_still_time_nanos,
CAL_ENCODE_FLOAT(gyro_cal->debug_gyro_cal.gyro_stillness_conf, 3),
CAL_ENCODE_FLOAT(gyro_cal->debug_gyro_cal.accel_stillness_conf, 3),
CAL_ENCODE_FLOAT(mag_data, 3));
@@ -1019,9 +915,9 @@ void gyroCalDebugPrintData(const struct GyroCal* gyro_cal, char* debug_tag,
CAL_DEBUG_LOG(
debug_tag,
"Cal#|Mean|Min|Max|Delta|Sample Rate [C|Hz]: "
- "%lu, " CAL_FORMAT_3DIGITS_TRIPLET ", " CAL_FORMAT_3DIGITS
+ "%zu, " CAL_FORMAT_3DIGITS_TRIPLET ", " CAL_FORMAT_3DIGITS
", " CAL_FORMAT_3DIGITS,
- (unsigned long int)gyro_cal->debug_calibration_count,
+ gyro_cal->debug_calibration_count,
CAL_ENCODE_FLOAT(gyro_cal->debug_gyro_cal.temperature_mean_celsius,
3),
CAL_ENCODE_FLOAT(gyro_cal->debug_gyro_cal.temperature_min_celsius, 3),
@@ -1029,15 +925,17 @@ void gyroCalDebugPrintData(const struct GyroCal* gyro_cal, char* debug_tag,
CAL_ENCODE_FLOAT(gyro_cal->debug_gyro_cal.temperature_max_celsius -
gyro_cal->debug_gyro_cal.temperature_min_celsius,
3),
- CAL_ENCODE_FLOAT(gyro_cal->debug_gyro_cal.mean_sampling_rate_hz, 3));
+ CAL_ENCODE_FLOAT(gyro_cal->debug_gyro_cal.sample_rate_estimator
+ .mean_sampling_rate_estimate_hz,
+ 3));
break;
case GYRO_MINMAX_STILLNESS_MEAN:
CAL_DEBUG_LOG(
debug_tag,
"Cal#|Gyro Peak Stillness Variation [mDPS]: "
- "%lu, " CAL_FORMAT_3DIGITS_TRIPLET,
- (unsigned long int)gyro_cal->debug_calibration_count,
+ "%zu, " CAL_FORMAT_3DIGITS_TRIPLET,
+ gyro_cal->debug_calibration_count,
CAL_ENCODE_FLOAT((gyro_cal->debug_gyro_cal.gyro_winmean_max[0] -
gyro_cal->debug_gyro_cal.gyro_winmean_min[0]) *
RAD_TO_MDEG,
@@ -1055,9 +953,9 @@ void gyroCalDebugPrintData(const struct GyroCal* gyro_cal, char* debug_tag,
case ACCEL_STATS:
CAL_DEBUG_LOG(debug_tag,
"Cal#|Accel Mean|Var [m/sec^2|(m/sec^2)^2]: "
- "%lu, " CAL_FORMAT_3DIGITS_TRIPLET
+ "%zu, " CAL_FORMAT_3DIGITS_TRIPLET
", " CAL_FORMAT_6DIGITS_TRIPLET,
- (unsigned long int)gyro_cal->debug_calibration_count,
+ gyro_cal->debug_calibration_count,
CAL_ENCODE_FLOAT(gyro_cal->debug_gyro_cal.accel_mean[0], 3),
CAL_ENCODE_FLOAT(gyro_cal->debug_gyro_cal.accel_mean[1], 3),
CAL_ENCODE_FLOAT(gyro_cal->debug_gyro_cal.accel_mean[2], 3),
@@ -1069,9 +967,9 @@ void gyroCalDebugPrintData(const struct GyroCal* gyro_cal, char* debug_tag,
case GYRO_STATS:
CAL_DEBUG_LOG(
debug_tag,
- "Cal#|Gyro Mean|Var [mDPS|mDPS^2]: %lu, " CAL_FORMAT_3DIGITS_TRIPLET
+ "Cal#|Gyro Mean|Var [mDPS|mDPS^2]: %zu, " CAL_FORMAT_3DIGITS_TRIPLET
", " CAL_FORMAT_3DIGITS_TRIPLET,
- (unsigned long int)gyro_cal->debug_calibration_count,
+ gyro_cal->debug_calibration_count,
CAL_ENCODE_FLOAT(gyro_cal->debug_gyro_cal.gyro_mean[0] * RAD_TO_MDEG,
3),
CAL_ENCODE_FLOAT(gyro_cal->debug_gyro_cal.gyro_mean[1] * RAD_TO_MDEG,
@@ -1093,9 +991,9 @@ void gyroCalDebugPrintData(const struct GyroCal* gyro_cal, char* debug_tag,
if (gyro_cal->debug_gyro_cal.using_mag_sensor) {
CAL_DEBUG_LOG(
debug_tag,
- "Cal#|Mag Mean|Var [uT|uT^2]: %lu, " CAL_FORMAT_3DIGITS_TRIPLET
+ "Cal#|Mag Mean|Var [uT|uT^2]: %zu, " CAL_FORMAT_3DIGITS_TRIPLET
", " CAL_FORMAT_6DIGITS_TRIPLET,
- (unsigned long int)gyro_cal->debug_calibration_count,
+ gyro_cal->debug_calibration_count,
CAL_ENCODE_FLOAT(gyro_cal->debug_gyro_cal.mag_mean[0], 3),
CAL_ENCODE_FLOAT(gyro_cal->debug_gyro_cal.mag_mean[1], 3),
CAL_ENCODE_FLOAT(gyro_cal->debug_gyro_cal.mag_mean[2], 3),
@@ -1104,9 +1002,9 @@ void gyroCalDebugPrintData(const struct GyroCal* gyro_cal, char* debug_tag,
CAL_ENCODE_FLOAT(gyro_cal->debug_gyro_cal.mag_var[2], 6));
} else {
CAL_DEBUG_LOG(debug_tag,
- "Cal#|Mag Mean|Var [uT|uT^2]: %lu, 0, 0, 0, -1.0, -1.0, "
+ "Cal#|Mag Mean|Var [uT|uT^2]: %zu, 0, 0, 0, -1.0, -1.0, "
"-1.0",
- (unsigned long int)gyro_cal->debug_calibration_count);
+ gyro_cal->debug_calibration_count);
}
break;
generated by cgit v1.2.3 (git 2.25.1) at 2024-07-01 16:45:42 +0000