[Bosch BMI160 Driver] Runtime sensor calibration updates.
Adds accel calibration debug printouts for logging.
Updates gyro get/set bias function arguments.
Uses parameter structures to initialize the runtime algorithms.
Diversity checker is used by default. Build flag checks are removed.
Bug: 75333210
Test: Built firmware and tested on a device.
Change-Id: I70a84fa82e053cf7c4ee8418650e7dd5f8e13f37
diff --git a/firmware/os/drivers/bosch_bmi160/bosch_bmi160.c b/firmware/os/drivers/bosch_bmi160/bosch_bmi160.c
index 70cacad..5dae297 100644
--- a/firmware/os/drivers/bosch_bmi160/bosch_bmi160.c
+++ b/firmware/os/drivers/bosch_bmi160/bosch_bmi160.c
@@ -41,7 +41,7 @@
#include <variant/variant.h>
#ifdef MAG_SLAVE_PRESENT
-#include <calibration/magnetometer/mag_cal.h>
+#include <calibration/magnetometer/mag_cal/mag_cal.h>
#endif
#ifdef ACCEL_CAL_ENABLED
@@ -64,14 +64,14 @@
#include <calibration/gyroscope/gyro_cal.h>
#endif // GYRO_CAL_ENABLED
-#if defined(GYRO_CAL_DBG_ENABLED) || defined(OVERTEMPCAL_DBG_ENABLED)
-#include <calibration/util/cal_log.h>
-#endif // GYRO_CAL_DBG_ENABLED || OVERTEMPCAL_DBG_ENABLED
-
#ifdef OVERTEMPCAL_ENABLED
#include <calibration/over_temp/over_temp_cal.h>
#endif // OVERTEMPCAL_ENABLED
+#if defined(GYRO_CAL_DBG_ENABLED) || defined(OVERTEMPCAL_DBG_ENABLED) || defined(ACCEL_CAL_DBG_ENABLED)
+#include <calibration/util/cal_log.h>
+#endif // GYRO_CAL_DBG_ENABLED || OVERTEMPCAL_DBG_ENABLED || ACCEL_CAL_DBG_ENABLED
+
#include <limits.h>
#include <stdlib.h>
#include <string.h>
@@ -108,7 +108,7 @@
#define DBG_WM_CALC 0
#define TIMESTAMP_DBG 0
-#define BMI160_APP_VERSION 18
+#define BMI160_APP_VERSION 19
// fixme: to list required definitions for a slave mag
#ifdef USE_BMM150
@@ -2196,7 +2196,8 @@
mSensor->data_evt->samples[0].firstSample.numSamples;
sample = &mSensor->data_evt->samples[mSensor->data_evt->samples[0].firstSample.numSamples++];
magCalGetBias(&mTask.moc, &sample->x, &sample->y, &sample->z);
- // bias is non-discardable, if we fail to enqueue, don't clear new_mag_bias
+
+ // Bias is non-discardable, if we fail to enqueue, don't clear magBiasPosted.
if (flushData(mSensor, sensorGetMyEventType(mSensorInfo[MAG].biasType))) {
mTask.magBiasPosted = true;
}
@@ -2205,7 +2206,8 @@
return;
}
}
-#endif
+#endif // MAG_SLAVE_PRESENT
+
#ifdef GYRO_CAL_ENABLED
if (mSensor->idx == GYR) {
// GyroCal -- Checks for a new offset estimate update.
@@ -2263,17 +2265,6 @@
sample->y = gyro_offset[1];
sample->z = gyro_offset[2];
-#if defined(GYRO_CAL_DBG_ENABLED) || defined(OVERTEMPCAL_DBG_ENABLED)
- CAL_DEBUG_LOG("[GYRO_OFFSET:STORED]",
- "Offset|Temp|Time: %s%d.%06d, %s%d.%06d, %s%d.%06d | "
- "%s%d.%06d | %llu",
- CAL_ENCODE_FLOAT(sample->x, 6),
- CAL_ENCODE_FLOAT(sample->y, 6),
- CAL_ENCODE_FLOAT(sample->z, 6),
- CAL_ENCODE_FLOAT(gyro_offset_temperature_celsius, 6),
- (unsigned long long int)rtc_time);
-#endif // GYRO_CAL_DBG_ENABLED || OVERTEMPCAL_DBG_ENABLED
-
flushData(mSensor, sensorGetMyEventType(mSensorInfo[GYR].biasType));
if (!allocateDataEvt(mSensor, rtc_time)) {
return;
@@ -2304,7 +2295,7 @@
//DEBUG_PRINT("bmi160: x: %d, y: %d, z: %d\n", (int)(1000*x), (int)(1000*y), (int)(1000*z));
- //TODO: This was added to prevent to much data of the same type accumulate in internal buffer.
+ //TODO: This was added to prevent too much data of the same type accumulate in internal buffer.
// It might no longer be necessary and can be removed.
if (mSensor->data_evt->samples[0].firstSample.numSamples == MAX_NUM_COMMS_EVENT_SAMPLES) {
flushAllData();
@@ -3240,9 +3231,8 @@
(int)(d->inclination * 180 / M_PI + 0.5f));
// Passing local field information to mag calibration routine
-#ifdef DIVERSITY_CHECK_ENABLED
diversityCheckerLocalFieldUpdate(&mTask.moc.diversity_checker, d->strength);
-#endif
+
// TODO: pass local field information to rotation vector sensor.
} else {
ERROR_PRINT("magCfgData: unknown type 0x%04x, size %d", p->type, p->size);
@@ -3870,7 +3860,7 @@
0.00025f // th
};
accelCalInit(&mTask.acc, &accel_cal_parameters);
-#endif
+#endif // ACCEL_CAL_ENABLED
#ifdef GYRO_CAL_ENABLED
// Initializes the gyroscope offset calibration algorithm.
@@ -3934,7 +3924,7 @@
0.0f, // c21
1.0f // c22
};
-#ifdef DIVERSITY_CHECK_ENABLED
+
// Initializes the magnetometer offset calibration algorithm with diversity
// checker.
const struct DiversityCheckerParameters mag_diversity_parameters = {
@@ -3947,11 +3937,7 @@
1 // max_num_max_distance
};
initMagCal(&mTask.moc, &mag_cal_parameters, &mag_diversity_parameters);
-#else
- // Initializes the magnetometer offset calibration algorithm.
- initMagCal(&mTask.moc, &mag_cal_parameters);
-#endif
-#endif
+#endif // MAG_SLAVE_PRESENT
slabSize = sizeof(struct TripleAxisDataEvent) +
MAX_NUM_COMMS_EVENT_SAMPLES * sizeof(struct TripleAxisDataPoint);
