1 files changed, 102 insertions, 0 deletions
diff --git a/firmware/os/algos/calibration/online_calibration/common_data/sensor_data.h b/firmware/os/algos/calibration/online_calibration/common_data/sensor_data.h
new file mode 100644
index 00000000..1331153e
--- /dev/null
+++ b/firmware/os/algos/calibration/online_calibration/common_data/sensor_data.h
@@ -0,0 +1,102 @@
+/*
+ * 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.
+ */
+
+/*
+ * This module provides the component definitions used to represent sensor
+ * data employed by the online sensor calibration algorithms.
+ */
+
+#ifndef LOCATION_LBS_CONTEXTHUB_NANOAPPS_CALIBRATION_ONLINE_CALIBRATION_COMMON_DATA_SENSOR_DATA_H_
+#define LOCATION_LBS_CONTEXTHUB_NANOAPPS_CALIBRATION_ONLINE_CALIBRATION_COMMON_DATA_SENSOR_DATA_H_
+
+#include <stdint.h>
+#include <string.h>
+#include <sys/types.h>
+
+#include "common/math/macros.h"
+
+namespace online_calibration {
+
+// Defines an invalid or uninitialized temperature value (referenced from
+// common/math/macros.h).
+constexpr float kInvalidTemperatureCelsius = INVALID_TEMPERATURE_CELSIUS;
+
+// Unit conversion from nanoseconds to microseconds.
+constexpr uint64_t NanoToMicroseconds(uint64_t x) { return x / 1000; }
+
+// Identifies the various sensing devices used by the calibration algorithms.
+enum class SensorType : int8_t {
+  kUndefined = 0,
+  kAccelerometerMps2 = 1,   // 3-axis sensor (units = meter/sec^2).
+  kGyroscopeRps = 2,        // 3-axis sensor (units = radian/sec).
+  kMagnetometerUt = 3,      // 3-axis sensor (units = micro-Tesla).
+  kTemperatureCelsius = 4,  // 1-axis sensor (units = degrees Celsius).
+  kBarometerHpa = 5,        // 1-axis sensor (units = hecto-Pascal).
+  kWifiM = 6                // 3-axis sensor (units = meter).
+};
+
+/*
+ * SensorData is a generalized data structure used to represent sensor samples
+ * produced by either a single- or three-axis device. Usage is implied through
+ * the sensor type (i.e., Gyroscope is a three-axis sensor and would therefore
+ * use all elements of 'data'; a pressure sensor is single-dimensional and would
+ * use 'data[SensorIndex::kSingleAxis]'). This arbitration is determined
+ * at the algorithm wrapper level where knowledge of a sensor's dimensionality
+ * is clearly understood.
+ *
+ * NOTE: The unified dimensional representation makes it convenient to pass
+ * either type of data into the interface functions defined in the
+ * OnlineCalibration.
+ */
+
+// Axis index definitions for SensorData::data.
+enum SensorIndex : int8_t {
+  kSingleAxis = 0,
+  kXAxis = kSingleAxis,
+  kYAxis = 1,
+  kZAxis = 2,
+};
+
+struct SensorData {
+  // Indicates the type of sensor this data originated from.
+  SensorType type;
+
+  // Sensor sample timestamp.
+  uint64_t timestamp_nanos;
+
+  // Generalized sensor sample (represents either single- or three-axis data).
+  float data[3];
+
+  SensorData() : type(SensorType::kUndefined), timestamp_nanos(0) {
+    memset(data, 0, sizeof(data));
+  }
+
+  SensorData(SensorType type, uint64_t ts, float x, float y, float z)
+      : type(type), timestamp_nanos(ts) {
+    data[SensorIndex::kXAxis] = x;
+    data[SensorIndex::kYAxis] = y;
+    data[SensorIndex::kZAxis] = z;
+  }
+
+  SensorData(SensorType type, uint64_t ts, float single_axis_sample)
+      : type(type), timestamp_nanos(ts) {
+    data[SensorIndex::kSingleAxis] = single_axis_sample;
+  }
+};
+
+}  // namespace online_calibration
+
+#endif  // LOCATION_LBS_CONTEXTHUB_NANOAPPS_CALIBRATION_ONLINE_CALIBRATION_COMMON_DATA_SENSOR_DATA_H_