common.h

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#pragma once

#define TC_PRINT_DEBUG 0
#if TC_PRINT_DEBUG
#define TC_DEBUG(fmt, ...) printf(fmt, ##__VA_ARGS__);
#else
#define TC_DEBUG(fmt, ...)
#endif

#include <px4_platform_common/log.h>
#include <mathlib/mathlib.h>
#include <lib/parameters/param.h>

#include "polyfit.hpp"

#define SENSOR_COUNT_MAX        3


#define TC_ERROR_INITIAL_TEMP_TOO_HIGH 110 ///< starting temperature was above the configured allowed temperature
#define TC_ERROR_COMMUNICATION         112 ///< no sensors found

/**
 * Base class for temperature calibration types with abstract methods (for all different sensor types)
 */
class TemperatureCalibrationBase
{
public:
    TemperatureCalibrationBase(float min_temperature_rise, float min_start_temperature, float max_start_temperature)
        : _min_temperature_rise(min_temperature_rise), _min_start_temperature(min_start_temperature),
          _max_start_temperature(max_start_temperature) {}

    virtual ~TemperatureCalibrationBase() {}

    /**
     * check & update new sensor data.
     * @return progress in range [0, 100], 110 when finished, <0 on error,
     *         -TC_ERROR_INITIAL_TEMP_TOO_HIGH if starting temperature is too hot
     *         -TC_ERROR_COMMUNICATION if no sensors found
     */
    virtual int update() = 0;

    /**
     * do final fitting & write the parameters. Call this exactly once after update() returned 110
     * @return 0 on success, <0 otherwise
     */
    virtual int finish() = 0;

    /** reset all driver-level calibration parameters */
    virtual void reset_calibration() = 0;

protected:

    /**
     * set a system parameter (without system notification) and print an error if it fails
     * @param format_str for example "CAL_GYRO%u_XOFF"
     * @param index which index (will replace %u in format_str)
     * @param value
     * @return 0 on success
     */
    inline int set_parameter(const char *format_str, unsigned index, const void *value);

    float _min_temperature_rise; ///< minimum difference in temperature before the process finishes
    float _min_start_temperature; ///< minimum temperature before the process starts
    float _max_start_temperature; ///< maximum temperature above which the process does not start and an error is declared
};



int TemperatureCalibrationBase::set_parameter(const char *format_str, unsigned index, const void *value)
{
    char param_str[30];
    (void)sprintf(param_str, format_str, index);
    int result = param_set_no_notification(param_find(param_str), value);

    if (result != 0) {
        PX4_ERR("unable to reset %s (%i)", param_str, result);
    }

    return result;
}

/**
 ** class TemperatureCalibrationCommon
 * Common base class for all sensor types, contains shared code & data.
 */
template <int Dim, int PolyfitOrder>
class TemperatureCalibrationCommon : public TemperatureCalibrationBase
{
public:
    TemperatureCalibrationCommon(float min_temperature_rise, float min_start_temperature, float max_start_temperature)
        : TemperatureCalibrationBase(min_temperature_rise, min_start_temperature, max_start_temperature) {}

    virtual ~TemperatureCalibrationCommon() = default;

    /**
     * @see TemperatureCalibrationBase::update()
     */
    int update()
    {
        int num_not_complete = 0;

        if (_num_sensor_instances == 0) {
            return -TC_ERROR_COMMUNICATION;
        }

        for (unsigned uorb_index = 0; uorb_index < _num_sensor_instances; uorb_index++) {
            int status = update_sensor_instance(_data[uorb_index], _sensor_subs[uorb_index]);

            if (status < 0) {
                return status;
            }

            num_not_complete += status;
        }

        if (num_not_complete > 0) {
            // calculate progress
            float min_diff = _min_temperature_rise;

            for (unsigned uorb_index = 0; uorb_index < _num_sensor_instances; uorb_index++) {
                float cur_diff = _data[uorb_index].high_temp - _data[uorb_index].low_temp;

                if (cur_diff < min_diff) {
                    min_diff = cur_diff;
                }
            }

            return math::min(100, (int)(min_diff / _min_temperature_rise * 100.f));
        }

        return 110;
    }

protected:

    struct PerSensorData {
        float sensor_sample_filt[Dim + 1]; ///< last value is the temperature
        polyfitter < PolyfitOrder + 1 > P[Dim];
        unsigned hot_soak_sat = 0; /**< counter that increments every time the sensor temperature reduces
                                    from the last reading */
        uint32_t device_id = 0; ///< ID for the sensor being calibrated
        bool cold_soaked = false; ///< true when the sensor cold soak starting temperature condition had been
        /// verified and the starting temperature set
        bool hot_soaked = false; ///< true when the sensor has achieved the specified temperature increase
        bool tempcal_complete = false; ///< true when the calibration has been completed
        float low_temp = 0.f; ///< low temperature recorded at start of calibration (deg C)
        float high_temp = 0.f; ///< highest temperature recorded during calibration (deg C)
        float ref_temp = 0.f; /**< calibration reference temperature, nominally in the middle of the
                            calibration temperature range (deg C) */
    };

    PerSensorData _data[SENSOR_COUNT_MAX];

    /**
     * update a single sensor instance
     * @return 0 when done, 1 not finished yet, <0 for an error
     */
    virtual int update_sensor_instance(PerSensorData &data, int sensor_sub) = 0;

    unsigned _num_sensor_instances{0};
    int _sensor_subs[SENSOR_COUNT_MAX];
};