1 files changed, 93 insertions, 0 deletions
diff --git a/firmware/os/algos/calibration/online_calibration/accelerometer/accel_offset_cal/accel_offset_cal.cc b/firmware/os/algos/calibration/online_calibration/accelerometer/accel_offset_cal/accel_offset_cal.cc
new file mode 100644
index 00000000..e9def4e6
--- /dev/null
+++ b/firmware/os/algos/calibration/online_calibration/accelerometer/accel_offset_cal/accel_offset_cal.cc
@@ -0,0 +1,93 @@
+/*
+ * Copyright (C) 2018 The Android Open Source Project
+ *
+ * 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 "calibration/online_calibration/accelerometer/accel_offset_cal/accel_offset_cal.h"
+
+#include "calibration/util/cal_log.h"
+
+namespace online_calibration {
+
+void AccelOffsetCal::Initialize(
+    const AccelCalParameters& accel_cal_parameters) {
+  accelCalInit(&accel_cal_, &accel_cal_parameters);
+  InitializeCalData();
+}
+
+CalibrationTypeFlags AccelOffsetCal::SetMeasurement(const SensorData& sample) {
+  // Routes the input sensor sample to the calibration algorithm.
+  switch (sample.type) {
+    case SensorType::kAccelerometerMps2:
+      accelCalRun(&accel_cal_, sample.timestamp_nanos,
+                  sample.data[SensorIndex::kXAxis],
+                  sample.data[SensorIndex::kYAxis],
+                  sample.data[SensorIndex::kZAxis],  // [m/sec^2]
+                  temperature_celsius_);
+
+#ifdef ACCEL_CAL_DBG_ENABLED
+      // Prints debug data report.
+      accelCalDebPrint(&accel_cal_, temperature_celsius_);
+#endif
+      break;
+
+    case SensorType::kTemperatureCelsius:
+      temperature_celsius_ = sample.data[SensorIndex::kSingleAxis];
+      break;
+
+    default:
+      // This sample is not required.
+      return cal_update_polling_flags_;
+  }
+
+  // Checks for a new offset estimate, and updates the calibration data.
+  if (accelCalNewBiasAvailable(&accel_cal_)) {
+    accelCalUpdateBias(&accel_cal_, &cal_data_.offset[0], &cal_data_.offset[1],
+                       &cal_data_.offset[2]);
+
+    cal_data_.calibration_quality.level = CalibrationQualityLevel::HIGH_QUALITY;
+    cal_data_.calibration_quality.value = kUndeterminedCalibrationQuality;
+    cal_data_.offset_temp_celsius = temperature_celsius_;
+    cal_data_.cal_update_time_nanos = sample.timestamp_nanos;
+    cal_update_polling_flags_ = CalibrationTypeFlags::BIAS;
+    OnNotifyCalibrationUpdate(CalibrationTypeFlags::BIAS);
+  }
+
+  return cal_update_polling_flags_;
+}
+
+bool AccelOffsetCal::SetInitialCalibration(
+    const CalibrationDataThreeAxis& input_cal_data) {
+  // Checks that the input calibration type matches the algorithm type.
+  if (input_cal_data.type != get_sensor_type()) {
+    CAL_DEBUG_LOG("[AccelOffsetCal]",
+                  "SetInitialCalibration failed due to wrong sensor type.");
+    return false;
+  }
+
+  // Sets the accelerometer algorithm's calibration data.
+  accelCalBiasSet(&accel_cal_, input_cal_data.offset[0],
+                  input_cal_data.offset[1], input_cal_data.offset[2]);
+
+  // Sync's all initial calibration data.
+  cal_data_ = input_cal_data;
+
+  // Sets the calibration quality.
+  cal_data_.calibration_quality.level = CalibrationQualityLevel::LOW_QUALITY;
+  cal_data_.calibration_quality.value = kUndeterminedCalibrationQuality;
+
+  return true;
+}
+
+}  // namespace online_calibration