Merge "bmi160: fix step counter flush when spi command cannot be issued immediately" into pi-dev
diff --git a/firmware/os/algos/calibration/gyroscope/gyro_cal.h b/firmware/os/algos/calibration/gyroscope/gyro_cal.h
index 837a4c0..1f17254 100644
--- a/firmware/os/algos/calibration/gyroscope/gyro_cal.h
+++ b/firmware/os/algos/calibration/gyroscope/gyro_cal.h
@@ -35,7 +35,6 @@
  *       - Temperature   [Celsius]
  *
  * #define GYRO_CAL_DBG_ENABLED to enable debug printout statements.
- * data to assist in tuning the GyroCal parameters.
  */
 
 #ifndef LOCATION_LBS_CONTEXTHUB_NANOAPPS_CALIBRATION_GYROSCOPE_GYRO_CAL_H_
diff --git a/firmware/os/algos/calibration/nano_calibration/nano_calibration.cc b/firmware/os/algos/calibration/nano_calibration/nano_calibration.cc
index d57d990..0df2ae6 100644
--- a/firmware/os/algos/calibration/nano_calibration/nano_calibration.cc
+++ b/firmware/os/algos/calibration/nano_calibration/nano_calibration.cc
@@ -54,7 +54,8 @@
   accel_cal_ = accel_cal;
   if (accel_cal_ != nullptr) {
     if (accel_cal_->get_sensor_type() == SensorType::kAccelerometerMps2) {
-      LoadAshCalibration(CHRE_SENSOR_TYPE_ACCELEROMETER, accel_cal_, kAccelTag);
+      LoadAshCalibration(CHRE_SENSOR_TYPE_ACCELEROMETER, accel_cal_,
+                         &accel_cal_update_flags_, kAccelTag);
       NANO_CAL_LOGI(kAccelTag,
                     "Accelerometer runtime calibration initialized.");
     } else {
@@ -66,7 +67,8 @@
   gyro_cal_ = gyro_cal;
   if (gyro_cal_ != nullptr) {
     if (gyro_cal_->get_sensor_type() == SensorType::kGyroscopeRps) {
-      LoadAshCalibration(CHRE_SENSOR_TYPE_GYROSCOPE, gyro_cal_, kGyroTag);
+      LoadAshCalibration(CHRE_SENSOR_TYPE_GYROSCOPE, gyro_cal_,
+                         &gyro_cal_update_flags_, kGyroTag);
       NANO_CAL_LOGI(kGyroTag, "Gyroscope runtime calibration initialized.");
     } else {
       gyro_cal_ = nullptr;
@@ -77,7 +79,8 @@
   mag_cal_ = mag_cal;
   if (mag_cal != nullptr) {
     if (mag_cal->get_sensor_type() == SensorType::kMagnetometerUt) {
-      LoadAshCalibration(CHRE_SENSOR_TYPE_GEOMAGNETIC_FIELD, mag_cal_, kMagTag);
+      LoadAshCalibration(CHRE_SENSOR_TYPE_GEOMAGNETIC_FIELD, mag_cal_,
+                         &mag_cal_update_flags_, kMagTag);
       NANO_CAL_LOGI(kMagTag, "Magnetometer runtime calibration initialized.");
     } else {
       mag_cal_ = nullptr;
@@ -151,47 +154,47 @@
   // Sends a new sensor sample to each active calibration algorithm and sends
   // out notifications for new calibration updates.
   if (accel_cal_ != nullptr) {
-    const CalibrationTypeFlags accel_cal_flags =
+    const CalibrationTypeFlags new_cal_flags =
         accel_cal_->SetMeasurement(sample);
-    if (accel_cal_flags != CalibrationTypeFlags::NONE) {
+    if (new_cal_flags != CalibrationTypeFlags::NONE) {
+      accel_cal_update_flags_ |= new_cal_flags;
       NotifyAshCalibration(CHRE_SENSOR_TYPE_ACCELEROMETER,
-                           accel_cal_->GetSensorCalibration(), accel_cal_flags,
-                           kAccelTag);
-      PrintCalibration(accel_cal_->GetSensorCalibration(), accel_cal_flags,
-                       kAccelTag);
+                           accel_cal_->GetSensorCalibration(),
+                           accel_cal_update_flags_, kAccelTag);
+      PrintCalibration(accel_cal_->GetSensorCalibration(),
+                       accel_cal_update_flags_, kAccelTag);
     }
   }
 
   if (gyro_cal_ != nullptr) {
-    const CalibrationTypeFlags gyro_cal_flags =
+    const CalibrationTypeFlags new_cal_flags =
         gyro_cal_->SetMeasurement(sample);
-    if (gyro_cal_flags != CalibrationTypeFlags::NONE) {
+    if (new_cal_flags != CalibrationTypeFlags::NONE) {
+      gyro_cal_update_flags_ |= new_cal_flags;
       if (NotifyAshCalibration(CHRE_SENSOR_TYPE_GYROSCOPE,
                                gyro_cal_->GetSensorCalibration(),
-                               gyro_cal_flags, kGyroTag)) {
+                               gyro_cal_update_flags_, kGyroTag)) {
         // Limits the log messaging update rate for the gyro calibrations since
         // these can occur frequently with rapid temperature changes.
         if (NANO_TIMER_CHECK_T1_GEQUAL_T2_PLUS_DELTA(
                 sample.timestamp_nanos, gyro_notification_time_nanos_,
                 kNanoSensorCalMessageIntervalNanos)) {
           gyro_notification_time_nanos_ = sample.timestamp_nanos;
-          PrintCalibration(
-              gyro_cal_->GetSensorCalibration(),
-              // Ensures that both bias and over-temp parameters are printed.
-              CalibrationTypeFlags::BIAS | CalibrationTypeFlags::OVER_TEMP,
-              kGyroTag);
+          PrintCalibration(gyro_cal_->GetSensorCalibration(),
+                           gyro_cal_update_flags_, kGyroTag);
         }
       }
     }
   }
 
   if (mag_cal_ != nullptr) {
-    const CalibrationTypeFlags mag_cal_flags = mag_cal_->SetMeasurement(sample);
-    if (mag_cal_flags != CalibrationTypeFlags::NONE) {
+    const CalibrationTypeFlags new_cal_flags = mag_cal_->SetMeasurement(sample);
+    if (new_cal_flags != CalibrationTypeFlags::NONE) {
+      mag_cal_update_flags_ |= new_cal_flags;
       NotifyAshCalibration(CHRE_SENSOR_TYPE_GEOMAGNETIC_FIELD,
-                           mag_cal_->GetSensorCalibration(), mag_cal_flags,
-                           kMagTag);
-      PrintCalibration(mag_cal_->GetSensorCalibration(), mag_cal_flags,
+                           mag_cal_->GetSensorCalibration(),
+                           mag_cal_update_flags_, kMagTag);
+      PrintCalibration(mag_cal_->GetSensorCalibration(), mag_cal_update_flags_,
                        kMagTag);
     }
   }
@@ -232,8 +235,8 @@
     return false;
   }
 
-  // Uses the ASH API to store ONLY the algorithm calibration parameters that
-  // have been modified by the calibration algorithm.
+  // Uses the ASH API to store all calibration parameters relevant to a given
+  // algorithm as indicated by the input calibration type flags.
   ashCalParams ash_cal_parameters;
   memset(&ash_cal_parameters, 0, sizeof(ashCalParams));
   if (flags & CalibrationTypeFlags::BIAS) {
@@ -263,14 +266,14 @@
 
 bool NanoSensorCal::LoadAshCalibration(uint8_t chreSensorType,
                                        OnlineCalibrationThreeAxis *online_cal,
+                                       CalibrationTypeFlags* flags,
                                        const char *sensor_tag) {
   ashCalParams recalled_ash_cal_parameters;
   if (ashLoadCalibrationParams(chreSensorType, ASH_CAL_STORAGE_ASH,
                                &recalled_ash_cal_parameters)) {
     // Checks whether a valid set of runtime calibration parameters was received
     // and can be used for initialization.
-    CalibrationTypeFlags flags = CalibrationTypeFlags::NONE;
-    if (DetectRuntimeCalibration(chreSensorType, sensor_tag, &flags,
+    if (DetectRuntimeCalibration(chreSensorType, sensor_tag, flags,
                                  &recalled_ash_cal_parameters)) {
       CalibrationDataThreeAxis cal_data;
       cal_data.type = online_cal->get_sensor_type();
@@ -278,14 +281,14 @@
 
       // Analyzes the calibration flags and sets only the runtime calibration
       // values that were received.
-      if (flags & CalibrationTypeFlags::BIAS) {
+      if (*flags & CalibrationTypeFlags::BIAS) {
         cal_data.offset_temp_celsius =
             recalled_ash_cal_parameters.offsetTempCelsius;
         memcpy(cal_data.offset, recalled_ash_cal_parameters.offset,
                sizeof(cal_data.offset));
       }
 
-      if (flags & CalibrationTypeFlags::OVER_TEMP) {
+      if (*flags & CalibrationTypeFlags::OVER_TEMP) {
         memcpy(cal_data.temp_sensitivity,
                recalled_ash_cal_parameters.tempSensitivity,
                sizeof(cal_data.temp_sensitivity));
@@ -298,7 +301,7 @@
       // the recalled calibration data.
       if (online_cal->SetInitialCalibration(cal_data)) {
         return NotifyAshCalibration(chreSensorType,
-                                    online_cal->GetSensorCalibration(), flags,
+                                    online_cal->GetSensorCalibration(), *flags,
                                     sensor_tag);
       } else {
         NANO_CAL_LOGE(sensor_tag,
@@ -319,6 +322,7 @@
   // Analyzes calibration source flags to determine whether runtime
   // calibration values have been loaded and may be used for initialization. A
   // valid runtime calibration source will include at least an offset.
+  *flags = CalibrationTypeFlags::NONE;  // Resets the calibration flags.
 
   // Uses the ASH calibration source flags to set the appropriate
   // CalibrationTypeFlags. These will be used to determine which values to copy
diff --git a/firmware/os/algos/calibration/nano_calibration/nano_calibration.h b/firmware/os/algos/calibration/nano_calibration/nano_calibration.h
index 6b19f7e..d56d034 100644
--- a/firmware/os/algos/calibration/nano_calibration/nano_calibration.h
+++ b/firmware/os/algos/calibration/nano_calibration/nano_calibration.h
@@ -102,20 +102,25 @@
   // Loads runtime calibration data using the Android Sensor Hub API. Returns
   // 'true' when runtime calibration values were successfully recalled and used
   // for algorithm initialization. 'sensor_tag' is a string that identifies a
-  // sensor-specific identifier for log meassages.
+  // sensor-specific identifier for log messages. Updates 'flags' to indicate
+  // which runtime calibration parameters were recalled.
   bool LoadAshCalibration(uint8_t chreSensorType,
                           OnlineCalibrationThreeAxis *online_cal,
+                          online_calibration::CalibrationTypeFlags* flags,
                           const char *sensor_tag);
 
-  // Provides sensor calibration updates using the ASH API. Returns 'true' with
-  // a successful ASH update.
+  // Provides sensor calibration updates using the ASH API for the specified
+  // sensor type. 'cal_data' contains the new calibration data. 'flags' is used
+  // to indicate all of the valid calibration values that should be provided
+  // with the update. Returns 'true' with a successful ASH update.
   bool NotifyAshCalibration(
       uint8_t chreSensorType,
       const online_calibration::CalibrationDataThreeAxis &cal_data,
       online_calibration::CalibrationTypeFlags flags, const char *sensor_tag);
 
   // Checks whether 'ash_cal_parameters' is a valid set of runtime calibration
-  // data and can be used for algorithm initialization.
+  // data and can be used for algorithm initialization. Updates 'flags' to
+  // indicate which runtime calibration parameters were detected.
   bool DetectRuntimeCalibration(uint8_t chreSensorType, const char *sensor_tag,
                                 online_calibration::CalibrationTypeFlags *flags,
                                 ashCalParams *ash_cal_parameters);
@@ -140,6 +145,19 @@
 
   // Pointer to the magnetometer runtime calibration object.
   OnlineCalibrationThreeAxis *mag_cal_ = nullptr;
+
+  // Flags that determine which calibration elements are updated with the ASH
+  // API. These are reset during initialization, and latched when a particular
+  // calibration update is detected upon a valid recall of parameters and/or
+  // during runtime. The latching behavior is used to start sending calibration
+  // values of a given type (e.g., bias, over-temp model, etc.) once they are
+  // detected and thereafter.
+  online_calibration::CalibrationTypeFlags accel_cal_update_flags_ =
+      online_calibration::CalibrationTypeFlags::NONE;
+  online_calibration::CalibrationTypeFlags gyro_cal_update_flags_ =
+      online_calibration::CalibrationTypeFlags::NONE;
+  online_calibration::CalibrationTypeFlags mag_cal_update_flags_ =
+      online_calibration::CalibrationTypeFlags::NONE;
 };
 
 }  // namespace nano_calibration
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
index 915554f..1331153 100644
--- a/firmware/os/algos/calibration/online_calibration/common_data/sensor_data.h
+++ b/firmware/os/algos/calibration/online_calibration/common_data/sensor_data.h
@@ -26,10 +26,13 @@
 #include <string.h>
 #include <sys/types.h>
 
+#include "common/math/macros.h"
+
 namespace online_calibration {
 
-// Defines an invalid or uninitialized temperature value.
-constexpr float kInvalidTemperatureCelsius = -274.0f;
+// 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; }
diff --git a/firmware/os/algos/calibration/over_temp/over_temp_cal.c b/firmware/os/algos/calibration/over_temp/over_temp_cal.c
index 6b64cb8..04a9c92 100644
--- a/firmware/os/algos/calibration/over_temp/over_temp_cal.c
+++ b/firmware/os/algos/calibration/over_temp/over_temp_cal.c
@@ -283,7 +283,7 @@
 
   // Initializes the over-temperature compensated offset temperature.
   over_temp_cal->compensated_offset.offset_temp_celsius =
-      OTC_TEMP_INVALID_CELSIUS;
+      INVALID_TEMPERATURE_CELSIUS;
 
 #ifdef OVERTEMPCAL_DBG_ENABLED
   // Sets the default sensor descriptors for debugging.
@@ -860,7 +860,7 @@
   memcpy(compensated_offset, estimate->offset, sizeof(compensated_offset));
 
   // Checks that the offset temperature is valid.
-  if (estimate->offset_temp_celsius > OTC_TEMP_INVALID_CELSIUS) {
+  if (estimate->offset_temp_celsius > INVALID_TEMPERATURE_CELSIUS) {
     const float delta_temp_celsius =
         temperature_celsius - estimate->offset_temp_celsius;
 
@@ -908,7 +908,7 @@
         // Adds a delta term to the compensated offset using the temperature
         // difference defined by 'delta_temp_celsius'.
         if (over_temp_cal->compensated_offset.offset_temp_celsius <=
-            OTC_TEMP_INVALID_CELSIUS) {
+            INVALID_TEMPERATURE_CELSIUS) {
           // If temperature is invalid, then skip further processing.
           break;
         }
@@ -940,7 +940,7 @@
 
   // If 'temperature_celsius' is invalid, then no changes to the compensated
   // offset are computed.
-  if (temperature_celsius <= OTC_TEMP_INVALID_CELSIUS) {
+  if (temperature_celsius <= INVALID_TEMPERATURE_CELSIUS) {
     return;
   }
 
@@ -1196,7 +1196,7 @@
   ASSERT_NOT_NULL(over_temp_cal);
 
   // If 'temperature_celsius' is invalid, then do not search.
-  if (temperature_celsius <= OTC_TEMP_INVALID_CELSIUS) {
+  if (temperature_celsius <= INVALID_TEMPERATURE_CELSIUS) {
     return;
   }
 
diff --git a/firmware/os/algos/calibration/over_temp/over_temp_cal.h b/firmware/os/algos/calibration/over_temp/over_temp_cal.h
index 4cfbfc1..8f6f0a4 100644
--- a/firmware/os/algos/calibration/over_temp/over_temp_cal.h
+++ b/firmware/os/algos/calibration/over_temp/over_temp_cal.h
@@ -107,9 +107,6 @@
 extern "C" {
 #endif
 
-// Defines the maximum size of the 'model_data' array.
-#define OTC_MODEL_SIZE (40)
-
 // A common sensor operating temperature at which to begin the model jump-start
 // data.
 #define JUMPSTART_START_TEMP_CELSIUS (30.0f)
@@ -125,9 +122,6 @@
 #define OTC_TEMP_MIN_CELSIUS (-40.0f)
 #define OTC_TEMP_MAX_CELSIUS (85.0f)
 
-// Invalid sensor temperature.
-#define OTC_TEMP_INVALID_CELSIUS (-274.0f)
-
 // Number of time-interval levels used to define the least-squares weighting
 // function.
 #define OTC_NUM_WEIGHT_LEVELS (2)
diff --git a/firmware/os/algos/calibration/over_temp/over_temp_model.h b/firmware/os/algos/calibration/over_temp/over_temp_model.h
index 1f84944..f359c3b 100644
--- a/firmware/os/algos/calibration/over_temp/over_temp_model.h
+++ b/firmware/os/algos/calibration/over_temp/over_temp_model.h
@@ -23,6 +23,9 @@
 extern "C" {
 #endif
 
+// Defines the maximum size of the OverTempCal 'model_data' array.
+#define OTC_MODEL_SIZE (40)
+
 /*
  * Over-temperature data structures that contain a modeled sensor offset
  * estimate, an associated temperature, and the age of the data point since it
diff --git a/firmware/os/algos/common/math/macros.h b/firmware/os/algos/common/math/macros.h
index 1d785d1..cb75595 100644
--- a/firmware/os/algos/common/math/macros.h
+++ b/firmware/os/algos/common/math/macros.h
@@ -14,15 +14,16 @@
  * limitations under the License.
  */
 
-// This file contains helper macros and definitions.
+// This file contains frequently used constants and helper macros.
 
 #include <stdint.h>
 
 #ifndef LOCATION_LBS_CONTEXTHUB_NANOAPPS_COMMON_MATH_MACROS_H_
 #define LOCATION_LBS_CONTEXTHUB_NANOAPPS_COMMON_MATH_MACROS_H_
 
-// Mathematical constants.
-#define NANO_PI (3.14159265359f)
+// Constants.
+#define NANO_PI                     (3.14159265359f)
+#define INVALID_TEMPERATURE_CELSIUS (-274.0f)
 
 // Common math operations.
 #define NANO_ABS(x) ((x) > 0 ? (x) : -(x))
@@ -75,7 +76,7 @@
 
 // This conversion function may be necessary for embedded hardware that can't
 // cast a uint64_t to a float directly. This conversion function was taken from:
-// /third_party/contexthub/firmware/core/floatRt.c
+// [android]//device/google/contexthub/firmware/os/core/floatRt.c
 static inline float floatFromUint64(uint64_t v) {
   uint32_t hi = v >> 32;
   uint32_t lo = (uint32_t) v;