diff options
Diffstat (limited to 'firmware/os/algos/calibration/nano_calibration/nano_calibration.cc')
| -rw-r--r-- | firmware/os/algos/calibration/nano_calibration/nano_calibration.cc | 62 |
1 files changed, 45 insertions, 17 deletions
diff --git a/firmware/os/algos/calibration/nano_calibration/nano_calibration.cc b/firmware/os/algos/calibration/nano_calibration/nano_calibration.cc index a8daaeb8..122af489 100644 --- a/firmware/os/algos/calibration/nano_calibration/nano_calibration.cc +++ b/firmware/os/algos/calibration/nano_calibration/nano_calibration.cc @@ -19,7 +19,7 @@ #include <cstdint> #include <cstring> -#include "chre/util/nanoapp/log.h" +#include "common/techeng_log_util.h" namespace nano_calibration { namespace { @@ -35,16 +35,15 @@ constexpr char kMagTag[] = {"[NanoSensorCal:MAG_UT]"}; // messages will be produced at a rate determined by // 'slow_message_interval_min'. struct LogMessageRegimen { - uint8_t rapid_message_interval_sec; // Assists device verification. - uint8_t slow_message_interval_min; // Avoids long-term log spam. + uint8_t rapid_message_interval_sec; // Assists device verification. + uint8_t slow_message_interval_min; // Avoids long-term log spam. uint8_t duration_of_rapid_messages_min; }; constexpr LogMessageRegimen kGyroscopeMessagePlan = { /*rapid_message_interval_sec*/ 20, /*slow_message_interval_min*/ 5, - /*duration_of_rapid_messages_min*/ 3 -}; + /*duration_of_rapid_messages_min*/ 3}; using ::online_calibration::CalibrationDataThreeAxis; using ::online_calibration::CalibrationTypeFlags; @@ -58,18 +57,22 @@ using ::online_calibration::SensorType; #endif #ifdef NANO_SENSOR_CAL_DBG_ENABLED -#define NANO_CAL_LOGD(tag, format, ...) LOGD("%s " format, tag, ##__VA_ARGS__) -#define NANO_CAL_LOGW(tag, format, ...) LOGW("%s " format, tag, ##__VA_ARGS__) -#define NANO_CAL_LOGE(tag, format, ...) LOGE("%s " format, tag, ##__VA_ARGS__) +#define NANO_CAL_LOGD(tag, format, ...) \ + TECHENG_LOGD("%s " format, tag, ##__VA_ARGS__) +#define NANO_CAL_LOGW(tag, format, ...) \ + TECHENG_LOGW("%s " format, tag, ##__VA_ARGS__) +#define NANO_CAL_LOGE(tag, format, ...) \ + TECHENG_LOGE("%s " format, tag, ##__VA_ARGS__) #else -#define NANO_CAL_LOGD(tag, format, ...) CHRE_LOG_NULL(format, ##__VA_ARGS__) -#define NANO_CAL_LOGW(tag, format, ...) CHRE_LOG_NULL(format, ##__VA_ARGS__) -#define NANO_CAL_LOGE(tag, format, ...) CHRE_LOG_NULL(format, ##__VA_ARGS__) +#define NANO_CAL_LOGD(tag, format, ...) techeng_log_null(format, ##__VA_ARGS__) +#define NANO_CAL_LOGW(tag, format, ...) techeng_log_null(format, ##__VA_ARGS__) +#define NANO_CAL_LOGE(tag, format, ...) techeng_log_null(format, ##__VA_ARGS__) #endif // NANO_SENSOR_CAL_DBG_ENABLED // NOTE: LOGI is defined to ensure calibration updates are always logged for // field diagnosis and verification. -#define NANO_CAL_LOGI(tag, format, ...) LOGI("%s " format, tag, ##__VA_ARGS__) +#define NANO_CAL_LOGI(tag, format, ...) \ + TECHENG_LOGI("%s " format, tag, ##__VA_ARGS__) } // namespace @@ -199,6 +202,12 @@ void NanoSensorCal::ProcessSample(const SensorData &sample) { accel_cal_update_flags_, kAccelTag); PrintCalibration(accel_cal_->GetSensorCalibration(), accel_cal_update_flags_, kAccelTag); + + if (result_callback_ != nullptr) { + result_callback_->SetCalibrationEvent(sample.timestamp_nanos, + SensorType::kAccelerometerMps2, + accel_cal_update_flags_); + } } } @@ -210,7 +219,19 @@ void NanoSensorCal::ProcessSample(const SensorData &sample) { if (NotifyAshCalibration(CHRE_SENSOR_TYPE_GYROSCOPE, gyro_cal_->GetSensorCalibration(), gyro_cal_update_flags_, kGyroTag)) { - HandleGyroLogMessage(sample.timestamp_nanos); + const bool print_gyro_log = + HandleGyroLogMessage(sample.timestamp_nanos); + + if (result_callback_ != nullptr && + (print_gyro_log || + gyro_cal_update_flags_ != CalibrationTypeFlags::BIAS)) { + // Rate-limits OTC gyro telemetry updates since they can happen + // frequently with temperature change. However, all GyroCal stillness + // and OTC model parameter updates will be recorded. + result_callback_->SetCalibrationEvent(sample.timestamp_nanos, + SensorType::kGyroscopeRps, + gyro_cal_update_flags_); + } } } } @@ -224,6 +245,12 @@ void NanoSensorCal::ProcessSample(const SensorData &sample) { mag_cal_update_flags_, kMagTag); PrintCalibration(mag_cal_->GetSensorCalibration(), mag_cal_update_flags_, kMagTag); + + if (result_callback_ != nullptr) { + result_callback_->SetCalibrationEvent(sample.timestamp_nanos, + SensorType::kMagnetometerUt, + mag_cal_update_flags_); + } } } } @@ -294,7 +321,7 @@ bool NanoSensorCal::NotifyAshCalibration( bool NanoSensorCal::LoadAshCalibration(uint8_t chreSensorType, OnlineCalibrationThreeAxis *online_cal, - CalibrationTypeFlags* flags, + CalibrationTypeFlags *flags, const char *sensor_tag) { ashCalParams recalled_ash_cal_parameters; if (ashLoadCalibrationParams(chreSensorType, ASH_CAL_STORAGE_ASH, @@ -443,7 +470,7 @@ void NanoSensorCal::PrintCalibration(const CalibrationDataThreeAxis &cal_data, } } -void NanoSensorCal::HandleGyroLogMessage(uint64_t timestamp_nanos) { +bool NanoSensorCal::HandleGyroLogMessage(uint64_t timestamp_nanos) { // Limits the log messaging update rate for the gyro calibrations since // these can occur frequently with rapid temperature changes. const int64_t next_log_interval_nanos = @@ -454,14 +481,15 @@ void NanoSensorCal::HandleGyroLogMessage(uint64_t timestamp_nanos) { : SEC_TO_NANOS(kGyroscopeMessagePlan.rapid_message_interval_sec); const bool print_gyro_log = NANO_TIMER_CHECK_T1_GEQUAL_T2_PLUS_DELTA( - timestamp_nanos, gyro_notification_time_nanos_, - next_log_interval_nanos); + timestamp_nanos, gyro_notification_time_nanos_, next_log_interval_nanos); if (print_gyro_log) { gyro_notification_time_nanos_ = timestamp_nanos; PrintCalibration(gyro_cal_->GetSensorCalibration(), gyro_cal_update_flags_, kGyroTag); } + + return print_gyro_log; } } // namespace nano_calibration |