1 files changed, 176 insertions, 0 deletions
diff --git a/firmware/os/algos/calibration/online_calibration/gyroscope/gyro_offset_over_temp_cal/gyro_offset_over_temp_cal.cc b/firmware/os/algos/calibration/online_calibration/gyroscope/gyro_offset_over_temp_cal/gyro_offset_over_temp_cal.cc
new file mode 100644
index 00000000..26eef573
--- /dev/null
+++ b/firmware/os/algos/calibration/online_calibration/gyroscope/gyro_offset_over_temp_cal/gyro_offset_over_temp_cal.cc
@@ -0,0 +1,176 @@
+/*
+ * 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/gyroscope/gyro_offset_over_temp_cal/gyro_offset_over_temp_cal.h"
+
+#include "calibration/util/cal_log.h"
+
+namespace online_calibration {
+
+// Estimated upper bounds on gyro offset error (i.e., 3-sigma values).
+constexpr float GyroOffsetOtcCal::kMediumQualityRps;
+constexpr float GyroOffsetOtcCal::kHighQualityRps;
+
+void GyroOffsetOtcCal::Initialize(const GyroCalParameters& gyro_cal_parameters,
+                                  const OverTempCalParameters& otc_parameters) {
+  gyroCalInit(&gyro_cal_, &gyro_cal_parameters);
+  overTempCalInit(&over_temp_cal_, &otc_parameters);
+  InitializeCalData();
+}
+
+CalibrationTypeFlags GyroOffsetOtcCal::SetMeasurement(
+    const SensorData& sample) {
+  // Routes the input sensor sample to the calibration algorithm.
+  switch (sample.type) {
+    case SensorType::kAccelerometerMps2:
+      gyroCalUpdateAccel(&gyro_cal_, sample.timestamp_nanos,
+                         sample.data[SensorIndex::kXAxis],
+                         sample.data[SensorIndex::kYAxis],
+                         sample.data[SensorIndex::kZAxis]);  // [m/sec^2]
+      break;
+
+    case SensorType::kGyroscopeRps:
+      gyroCalUpdateGyro(&gyro_cal_, sample.timestamp_nanos,
+                        sample.data[SensorIndex::kXAxis],
+                        sample.data[SensorIndex::kYAxis],
+                        sample.data[SensorIndex::kZAxis],  // [rad/sec]
+                        temperature_celsius_);
+      break;
+
+    case SensorType::kMagnetometerUt:
+      gyroCalUpdateMag(&gyro_cal_, sample.timestamp_nanos,
+                       sample.data[SensorIndex::kXAxis],
+                       sample.data[SensorIndex::kYAxis],
+                       sample.data[SensorIndex::kZAxis]);  // [micro-Tesla]
+      break;
+
+    case SensorType::kTemperatureCelsius:
+      temperature_celsius_ = sample.data[SensorIndex::kSingleAxis];
+      overTempCalSetTemperature(&over_temp_cal_, sample.timestamp_nanos,
+                                temperature_celsius_);
+      break;
+
+    default:
+      // This sample is not required.
+      return cal_update_polling_flags_;
+  }
+
+  // Checks for a new calibration, and updates the OTC.
+  if (gyroCalNewBiasAvailable(&gyro_cal_)) {
+    float offset[3];
+    float temperature_celsius = kInvalidTemperatureCelsius;
+    uint64_t calibration_time_nanos = 0;
+    gyroCalGetBias(&gyro_cal_, &offset[0], &offset[1], &offset[2],
+                   &temperature_celsius, &calibration_time_nanos);
+    overTempCalUpdateSensorEstimate(&over_temp_cal_, calibration_time_nanos,
+                                    offset, temperature_celsius);
+  }
+
+  // Checks the OTC for a new calibration model update.
+  const bool new_otc_model_update =
+      overTempCalNewModelUpdateAvailable(&over_temp_cal_);
+
+  // Checks for a change in the temperature compensated offset estimate.
+  const bool new_otc_offset = overTempCalNewOffsetAvailable(&over_temp_cal_);
+
+  // Sets the new calibration data.
+  CalibrationTypeFlags cal_update_callback_flags = CalibrationTypeFlags::NONE;
+  if (new_otc_offset) {
+    overTempCalGetOffset(&over_temp_cal_, &cal_data_.offset_temp_celsius,
+                         cal_data_.offset);
+    cal_data_.cal_update_time_nanos = sample.timestamp_nanos;
+    cal_update_callback_flags |= CalibrationTypeFlags::BIAS;
+  }
+
+  if (new_otc_model_update) {
+    // Sets the pointer to the OTC model dataset and the number of model points.
+    cal_data_.otc_model_data = over_temp_cal_.model_data;
+    cal_data_.num_model_pts = over_temp_cal_.num_model_pts;
+
+    cal_update_callback_flags |= CalibrationTypeFlags::OVER_TEMP;
+    overTempCalGetModel(&over_temp_cal_, cal_data_.offset,
+                        &cal_data_.offset_temp_celsius,
+                        &cal_data_.cal_update_time_nanos,
+                        cal_data_.temp_sensitivity, cal_data_.temp_intercept);
+  }
+
+  // Sets the new calibration quality, polling flag, and notifies a calibration
+  // callback listener of the new update.
+  if (new_otc_model_update || new_otc_offset) {
+    cal_data_.calibration_quality.level = CalibrationQualityLevel::HIGH_QUALITY;
+    cal_data_.calibration_quality.value = kHighQualityRps;
+    cal_update_polling_flags_ |= cal_update_callback_flags;
+    OnNotifyCalibrationUpdate(cal_update_callback_flags);
+  }
+
+  // Print debug data reports.
+#ifdef GYRO_CAL_DBG_ENABLED
+  gyroCalDebugPrint(&gyro_cal_, sample.timestamp_nanos);
+#endif  // GYRO_CAL_DBG_ENABLED
+#ifdef OVERTEMPCAL_DBG_ENABLED
+  overTempCalDebugPrint(&over_temp_cal_, sample.timestamp_nanos);
+#endif  // OVERTEMPCAL_DBG_ENABLED
+
+  return cal_update_polling_flags_;
+}
+
+bool GyroOffsetOtcCal::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("[GyroOffsetOtcCal]",
+                  "SetInitialCalibration failed due to wrong sensor type.");
+    return false;
+  }
+
+  // Sync's all initial calibration data.
+  cal_data_ = input_cal_data;
+
+  // Sets the initial calibration data (offset and OTC model parameters).
+  gyroCalSetBias(&gyro_cal_, cal_data_.offset[0], cal_data_.offset[1],
+                 cal_data_.offset[2], cal_data_.offset_temp_celsius,
+                 cal_data_.cal_update_time_nanos);
+
+  overTempCalSetModel(&over_temp_cal_, cal_data_.offset,
+                      cal_data_.offset_temp_celsius,
+                      cal_data_.cal_update_time_nanos,
+                      cal_data_.temp_sensitivity, cal_data_.temp_intercept,
+                      /*jump_start_model=*/false);
+
+  // Sets the calibration quality.
+  cal_data_.calibration_quality.level = CalibrationQualityLevel::MEDIUM_QUALITY;
+  cal_data_.calibration_quality.value = kMediumQualityRps;
+
+  const bool load_new_model_dataset =
+      (input_cal_data.otc_model_data != nullptr &&
+       input_cal_data.num_model_pts > 0);
+
+  if (load_new_model_dataset) {
+    // Loads the new model dataset and uses it to update the linear model
+    // parameters.
+    overTempCalSetModelData(&over_temp_cal_, input_cal_data.num_model_pts,
+                            cal_data_.cal_update_time_nanos,
+                            input_cal_data.otc_model_data);
+  }
+
+  // Sets the pointer to the OTC model dataset and the number of model points.
+  cal_data_.otc_model_data = over_temp_cal_.model_data;
+  cal_data_.num_model_pts = over_temp_cal_.num_model_pts;
+
+  return true;
+}
+
+}  // namespace online_calibration