1 /*
2 * Copyright (C) 2016 The Android Open Source Project
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 */
16
17 #include "calibration/magnetometer/mag_cal/mag_cal.h"
18
19 #include <errno.h>
20 #include <inttypes.h>
21 #include <string.h>
22
23 #include "calibration/util/cal_log.h"
24
25 // Local helper macro for printing log messages.
26 #ifdef MAG_CAL_DEBUG_ENABLE
27 #ifdef CAL_NO_FLOAT_FORMAT_STRINGS
28 #define CAL_FORMAT_MAG_MEMORY \
29 "%s%d.%03d, %s%d.%03d, %s%d.%03d, %s%d.%03d, %s%d.%03d, %s%d.%03d, " \
30 "%s%d.%03d, %s%d.%03d, %s%d.%03d, %s%d.%03d, %s%d.%03d, %s%d.%03d, " \
31 "%s%d.%03d, %s%d.%03d, %s%d.%03d, %s%d.%03d, %s%d.%03d, %s%d.%03d, " \
32 "%s%d.%03d, %s%d.%03d"
33 #else
34 #define CAL_FORMAT_MAG_MEMORY \
35 "%.3f, %.3f, %.3f, %.3f, %.3f, %.3f, %.3f, %.3f, %.3f, %.3f, %.3f, %.3f, " \
36 "%.3f, %.3f, %.3f, %.3f, %.3f, %.3f, %.3f, %.3f"
37 #endif // CAL_NO_FLOAT_FORMAT_STRINGS
38 #endif // MAG_CAL_DEBUG_ENABLE
39
40 // clang-format off
41 #define MAX_EIGEN_RATIO 15.0f
42 #define MAX_EIGEN_MAG 70.0f // uT
43 #define MIN_EIGEN_MAG 20.0f // uT
44 #define MAX_FIT_MAG 70.0f
45 #define MIN_FIT_MAG 20.0f
46 #define MAX_BATCH_WINDOW 15000000UL // 15 sec
47 #define MIN_BATCH_SIZE 25 // samples
48 #define MAX_DISTANCE_VIOLATIONS 2
49 // clang-format
50
51 // eigen value magnitude and ratio test.
moc_eigen_test(struct KasaFit * kasa)52 static int moc_eigen_test(struct KasaFit *kasa) {
53 // covariance matrix.
54 struct Mat33 S;
55 S.elem[0][0] = kasa->acc_xx - kasa->acc_x * kasa->acc_x;
56 S.elem[0][1] = S.elem[1][0] = kasa->acc_xy - kasa->acc_x * kasa->acc_y;
57 S.elem[0][2] = S.elem[2][0] = kasa->acc_xz - kasa->acc_x * kasa->acc_z;
58 S.elem[1][1] = kasa->acc_yy - kasa->acc_y * kasa->acc_y;
59 S.elem[1][2] = S.elem[2][1] = kasa->acc_yz - kasa->acc_y * kasa->acc_z;
60 S.elem[2][2] = kasa->acc_zz - kasa->acc_z * kasa->acc_z;
61
62 struct Vec3 eigenvals;
63 struct Mat33 eigenvecs;
64 mat33GetEigenbasis(&S, &eigenvals, &eigenvecs);
65
66 float evmax = (eigenvals.x > eigenvals.y) ? eigenvals.x : eigenvals.y;
67 evmax = (eigenvals.z > evmax) ? eigenvals.z : evmax;
68
69 float evmin = (eigenvals.x < eigenvals.y) ? eigenvals.x : eigenvals.y;
70 evmin = (eigenvals.z < evmin) ? eigenvals.z : evmin;
71
72 float eigenvals_sum = eigenvals.x + eigenvals.y + eigenvals.z;
73
74 // Testing for negative number.
75 float evmag = (eigenvals_sum > 0) ? sqrtf(eigenvals_sum) : 0;
76
77 int eigen_pass = (evmin * MAX_EIGEN_RATIO > evmax) &&
78 (evmag > MIN_EIGEN_MAG) && (evmag < MAX_EIGEN_MAG);
79
80 return eigen_pass;
81 }
82
magCalReset(struct MagCal * moc)83 void magCalReset(struct MagCal *moc) {
84 kasaReset(&moc->kasa);
85 diversityCheckerReset(&moc->diversity_checker);
86 moc->start_time = 0;
87 moc->kasa_batching = false;
88 }
89
moc_batch_complete(struct MagCal * moc,uint64_t sample_time_us)90 static bool moc_batch_complete(struct MagCal *moc, uint64_t sample_time_us) {
91 bool complete = false;
92
93 if ((sample_time_us - moc->start_time > moc->min_batch_window_in_micros) &&
94 (moc->kasa.nsamples > MIN_BATCH_SIZE)) {
95 complete = true;
96
97 } else if (sample_time_us - moc->start_time > MAX_BATCH_WINDOW) {
98 // not enough samples collected in MAX_BATCH_WINDOW or too many
99 // maximum distance violations detected.
100 magCalReset(moc);
101 }
102
103 return complete;
104 }
105
initMagCal(struct MagCal * moc,const struct MagCalParameters * mag_cal_parameters,const struct DiversityCheckerParameters * diverse_parameters)106 void initMagCal(struct MagCal *moc,
107 const struct MagCalParameters *mag_cal_parameters,
108 const struct DiversityCheckerParameters *diverse_parameters) {
109 magCalReset(moc);
110 moc->update_time = 0;
111 moc->min_batch_window_in_micros =
112 mag_cal_parameters->min_batch_window_in_micros;
113 moc->radius = 0.0f;
114
115 moc->x_bias = mag_cal_parameters->x_bias;
116 moc->y_bias = mag_cal_parameters->y_bias;
117 moc->z_bias = mag_cal_parameters->z_bias;
118
119 moc->c00 = mag_cal_parameters->c00;
120 moc->c01 = mag_cal_parameters->c01;
121 moc->c02 = mag_cal_parameters->c02;
122 moc->c10 = mag_cal_parameters->c10;
123 moc->c11 = mag_cal_parameters->c11;
124 moc->c12 = mag_cal_parameters->c12;
125 moc->c20 = mag_cal_parameters->c20;
126 moc->c21 = mag_cal_parameters->c21;
127 moc->c22 = mag_cal_parameters->c22;
128
129 #ifdef MAG_CAL_DEBUG_ENABLE
130 moc->mag_dbg.mag_trigger_count = 0;
131 moc->mag_dbg.kasa_count = 0;
132 #endif // MAG_CAL_DEBUG_ENABLE
133
134 // Diversity Checker
135 diversityCheckerInit(&moc->diversity_checker, diverse_parameters);
136 }
137
magCalDestroy(struct MagCal * moc)138 void magCalDestroy(struct MagCal *moc) { (void)moc; }
139
magCalUpdate(struct MagCal * moc,uint64_t sample_time_us,float x,float y,float z)140 enum MagUpdate magCalUpdate(struct MagCal *moc, uint64_t sample_time_us,
141 float x, float y, float z) {
142 enum MagUpdate new_bias = NO_UPDATE;
143
144 // Diversity Checker Update.
145 diversityCheckerUpdate(&moc->diversity_checker, x, y, z);
146
147 // 1. run accumulators
148 kasaAccumulate(&moc->kasa, x, y, z);
149
150 if (moc->kasa.nsamples == 1) {
151 moc->start_time = sample_time_us;
152 moc->kasa_batching = true;
153 }
154
155 // 2. batch has enough samples?
156 if (moc_batch_complete(moc, sample_time_us)) {
157 kasaNormalize(&moc->kasa);
158
159 // 3. eigen test
160 if (moc_eigen_test(&moc->kasa)) {
161 struct Vec3 bias;
162 float radius;
163 // 4. Kasa sphere fitting
164 if (kasaFit(&moc->kasa, &bias, &radius, MAX_FIT_MAG, MIN_FIT_MAG)) {
165 #ifdef MAG_CAL_DEBUG_ENABLE
166 moc->mag_dbg.kasa_count++;
167 CAL_DEBUG_LOG("[MAG_CAL:KASA UPDATE] :", CAL_FORMAT_3DIGITS_TRIPLET
168 ", " CAL_FORMAT_3DIGITS ", %" PRIu32 ", %" PRIu32,
169 CAL_ENCODE_FLOAT(bias.x, 3), CAL_ENCODE_FLOAT(bias.y, 3),
170 CAL_ENCODE_FLOAT(bias.z, 3), CAL_ENCODE_FLOAT(radius, 3),
171 moc->mag_dbg.kasa_count, moc->mag_dbg.mag_trigger_count);
172 #endif // MAG_CAL_DEBUG_ENABLE
173
174 // Update the local field.
175 diversityCheckerLocalFieldUpdate(&moc->diversity_checker, radius);
176
177 // checking if data is diverse.
178 if (diversityCheckerNormQuality(&moc->diversity_checker, bias.x, bias.y,
179 bias.z) &&
180 moc->diversity_checker.num_max_dist_violations <=
181 MAX_DISTANCE_VIOLATIONS) {
182 // DEBUG PRINT OUT.
183 #ifdef MAG_CAL_DEBUG_ENABLE
184 moc->mag_dbg.mag_trigger_count++;
185 moc->diversity_checker.diversity_dbg.new_trigger = 1;
186 CAL_DEBUG_LOG(
187 "[MAG_CAL:BIAS UPDATE] :", CAL_FORMAT_3DIGITS_TRIPLET ", "
188 CAL_FORMAT_3DIGITS ", " CAL_FORMAT_6DIGITS ", "
189 CAL_FORMAT_3DIGITS_TRIPLET ", %zu, " CAL_FORMAT_3DIGITS ", "
190 CAL_FORMAT_3DIGITS ", %" PRIu32 ", %" PRIu32 ", %" PRIu64 ", "
191 CAL_FORMAT_3DIGITS_TRIPLET ", %" PRIu64 "",
192 CAL_ENCODE_FLOAT(bias.x, 3), CAL_ENCODE_FLOAT(bias.y, 3),
193 CAL_ENCODE_FLOAT(bias.z, 3), CAL_ENCODE_FLOAT(radius, 3),
194 CAL_ENCODE_FLOAT(moc->diversity_checker.diversity_dbg.var_log, 6),
195 CAL_ENCODE_FLOAT(moc->diversity_checker.diversity_dbg.mean_log,
196 3),
197 CAL_ENCODE_FLOAT(moc->diversity_checker.diversity_dbg.max_log, 3),
198 CAL_ENCODE_FLOAT(moc->diversity_checker.diversity_dbg.min_log, 3),
199 moc->diversity_checker.num_points,
200 CAL_ENCODE_FLOAT(moc->diversity_checker.threshold, 3),
201 CAL_ENCODE_FLOAT(moc->diversity_checker.max_distance, 3),
202 moc->mag_dbg.mag_trigger_count,
203 moc->mag_dbg.kasa_count,
204 sample_time_us,
205 CAL_ENCODE_FLOAT(moc->x_bias, 3),
206 CAL_ENCODE_FLOAT(moc->y_bias, 3),
207 CAL_ENCODE_FLOAT(moc->z_bias, 3),
208 moc->update_time);
209 #endif // MAG_CAL_DEBUG_ENABLE
210 moc->x_bias = bias.x;
211 moc->y_bias = bias.y;
212 moc->z_bias = bias.z;
213
214 moc->radius = radius;
215 moc->update_time = sample_time_us;
216
217 new_bias = UPDATE_BIAS;
218 }
219 }
220 }
221 // 5. reset for next batch
222 magCalReset(moc);
223 }
224
225 return new_bias;
226 }
227
magCalGetBias(const struct MagCal * moc,float * x,float * y,float * z)228 void magCalGetBias(const struct MagCal *moc, float *x, float *y, float *z) {
229 *x = moc->x_bias;
230 *y = moc->y_bias;
231 *z = moc->z_bias;
232 }
233
magCalAddBias(struct MagCal * moc,float x,float y,float z)234 void magCalAddBias(struct MagCal *moc, float x, float y, float z) {
235 moc->x_bias += x;
236 moc->y_bias += y;
237 moc->z_bias += z;
238 }
239
magCalRemoveBias(struct MagCal * moc,float xi,float yi,float zi,float * xo,float * yo,float * zo)240 void magCalRemoveBias(struct MagCal *moc, float xi, float yi, float zi,
241 float *xo, float *yo, float *zo) {
242 *xo = xi - moc->x_bias;
243 *yo = yi - moc->y_bias;
244 *zo = zi - moc->z_bias;
245 }
246
magCalSetSoftiron(struct MagCal * moc,float c00,float c01,float c02,float c10,float c11,float c12,float c20,float c21,float c22)247 void magCalSetSoftiron(struct MagCal *moc, float c00, float c01, float c02,
248 float c10, float c11, float c12, float c20, float c21,
249 float c22) {
250 moc->c00 = c00;
251 moc->c01 = c01;
252 moc->c02 = c02;
253 moc->c10 = c10;
254 moc->c11 = c11;
255 moc->c12 = c12;
256 moc->c20 = c20;
257 moc->c21 = c21;
258 moc->c22 = c22;
259 }
260
magCalRemoveSoftiron(struct MagCal * moc,float xi,float yi,float zi,float * xo,float * yo,float * zo)261 void magCalRemoveSoftiron(struct MagCal *moc, float xi, float yi, float zi,
262 float *xo, float *yo, float *zo) {
263 *xo = moc->c00 * xi + moc->c01 * yi + moc->c02 * zi;
264 *yo = moc->c10 * xi + moc->c11 * yi + moc->c12 * zi;
265 *zo = moc->c20 * xi + moc->c21 * yi + moc->c22 * zi;
266 }
267
268 #if defined MAG_CAL_DEBUG_ENABLE
269 // This function prints every second sample parts of the dbg diverse_data_log,
270 // which ensures that all the messages get printed into the log file.
magLogPrint(struct DiversityChecker * diverse_data,float temp)271 void magLogPrint(struct DiversityChecker *diverse_data, float temp) {
272 // Sample counter.
273 static size_t sample_counter = 0;
274 const float *data_log_ptr = &diverse_data->diversity_dbg.diverse_data_log[0];
275 if (diverse_data->diversity_dbg.new_trigger == 1) {
276 sample_counter++;
277 if (sample_counter == 2) {
278 CAL_DEBUG_LOG(
279 "[MAG_CAL:MEMORY X] :", "%" PRIu32 ", " CAL_FORMAT_MAG_MEMORY ", "
280 CAL_FORMAT_3DIGITS,
281 diverse_data->diversity_dbg.diversity_count,
282 CAL_ENCODE_FLOAT(data_log_ptr[0 * 3], 3),
283 CAL_ENCODE_FLOAT(data_log_ptr[1 * 3], 3),
284 CAL_ENCODE_FLOAT(data_log_ptr[2 * 3], 3),
285 CAL_ENCODE_FLOAT(data_log_ptr[3 * 3], 3),
286 CAL_ENCODE_FLOAT(data_log_ptr[4 * 3], 3),
287 CAL_ENCODE_FLOAT(data_log_ptr[5 * 3], 3),
288 CAL_ENCODE_FLOAT(data_log_ptr[6 * 3], 3),
289 CAL_ENCODE_FLOAT(data_log_ptr[7 * 3], 3),
290 CAL_ENCODE_FLOAT(data_log_ptr[8 * 3], 3),
291 CAL_ENCODE_FLOAT(data_log_ptr[9 * 3], 3),
292 CAL_ENCODE_FLOAT(data_log_ptr[10 * 3], 3),
293 CAL_ENCODE_FLOAT(data_log_ptr[11 * 3], 3),
294 CAL_ENCODE_FLOAT(data_log_ptr[12 * 3], 3),
295 CAL_ENCODE_FLOAT(data_log_ptr[13 * 3], 3),
296 CAL_ENCODE_FLOAT(data_log_ptr[14 * 3], 3),
297 CAL_ENCODE_FLOAT(data_log_ptr[15 * 3], 3),
298 CAL_ENCODE_FLOAT(data_log_ptr[16 * 3], 3),
299 CAL_ENCODE_FLOAT(data_log_ptr[17 * 3], 3),
300 CAL_ENCODE_FLOAT(data_log_ptr[18 * 3], 3),
301 CAL_ENCODE_FLOAT(data_log_ptr[19 * 3], 3), CAL_ENCODE_FLOAT(temp, 3));
302 }
303
304 if (sample_counter == 4) {
305 CAL_DEBUG_LOG(
306 "[MAG_CAL:MEMORY Y] :", "%" PRIu32 ", " CAL_FORMAT_MAG_MEMORY,
307 diverse_data->diversity_dbg.diversity_count,
308 CAL_ENCODE_FLOAT(data_log_ptr[0 * 3 + 1], 3),
309 CAL_ENCODE_FLOAT(data_log_ptr[1 * 3 + 1], 3),
310 CAL_ENCODE_FLOAT(data_log_ptr[2 * 3 + 1], 3),
311 CAL_ENCODE_FLOAT(data_log_ptr[3 * 3 + 1], 3),
312 CAL_ENCODE_FLOAT(data_log_ptr[4 * 3 + 1], 3),
313 CAL_ENCODE_FLOAT(data_log_ptr[5 * 3 + 1], 3),
314 CAL_ENCODE_FLOAT(data_log_ptr[6 * 3 + 1], 3),
315 CAL_ENCODE_FLOAT(data_log_ptr[7 * 3 + 1], 3),
316 CAL_ENCODE_FLOAT(data_log_ptr[8 * 3 + 1], 3),
317 CAL_ENCODE_FLOAT(data_log_ptr[9 * 3 + 1], 3),
318 CAL_ENCODE_FLOAT(data_log_ptr[10 * 3 + 1], 3),
319 CAL_ENCODE_FLOAT(data_log_ptr[11 * 3 + 1], 3),
320 CAL_ENCODE_FLOAT(data_log_ptr[12 * 3 + 1], 3),
321 CAL_ENCODE_FLOAT(data_log_ptr[13 * 3 + 1], 3),
322 CAL_ENCODE_FLOAT(data_log_ptr[14 * 3 + 1], 3),
323 CAL_ENCODE_FLOAT(data_log_ptr[15 * 3 + 1], 3),
324 CAL_ENCODE_FLOAT(data_log_ptr[16 * 3 + 1], 3),
325 CAL_ENCODE_FLOAT(data_log_ptr[17 * 3 + 1], 3),
326 CAL_ENCODE_FLOAT(data_log_ptr[18 * 3 + 1], 3),
327 CAL_ENCODE_FLOAT(data_log_ptr[19 * 3 + 1], 3));
328 }
329 if (sample_counter == 6) {
330 CAL_DEBUG_LOG(
331 "[MAG_CAL:MEMORY Z] :", "%" PRIu32 ", " CAL_FORMAT_MAG_MEMORY,
332 diverse_data->diversity_dbg.diversity_count,
333 CAL_ENCODE_FLOAT(data_log_ptr[0 * 3 + 2], 3),
334 CAL_ENCODE_FLOAT(data_log_ptr[1 * 3 + 2], 3),
335 CAL_ENCODE_FLOAT(data_log_ptr[2 * 3 + 2], 3),
336 CAL_ENCODE_FLOAT(data_log_ptr[3 * 3 + 2], 3),
337 CAL_ENCODE_FLOAT(data_log_ptr[4 * 3 + 2], 3),
338 CAL_ENCODE_FLOAT(data_log_ptr[5 * 3 + 2], 3),
339 CAL_ENCODE_FLOAT(data_log_ptr[6 * 3 + 2], 3),
340 CAL_ENCODE_FLOAT(data_log_ptr[7 * 3 + 2], 3),
341 CAL_ENCODE_FLOAT(data_log_ptr[8 * 3 + 2], 3),
342 CAL_ENCODE_FLOAT(data_log_ptr[9 * 3 + 2], 3),
343 CAL_ENCODE_FLOAT(data_log_ptr[10 * 3 + 2], 3),
344 CAL_ENCODE_FLOAT(data_log_ptr[11 * 3 + 2], 3),
345 CAL_ENCODE_FLOAT(data_log_ptr[12 * 3 + 2], 3),
346 CAL_ENCODE_FLOAT(data_log_ptr[13 * 3 + 2], 3),
347 CAL_ENCODE_FLOAT(data_log_ptr[14 * 3 + 2], 3),
348 CAL_ENCODE_FLOAT(data_log_ptr[15 * 3 + 2], 3),
349 CAL_ENCODE_FLOAT(data_log_ptr[16 * 3 + 2], 3),
350 CAL_ENCODE_FLOAT(data_log_ptr[17 * 3 + 2], 3),
351 CAL_ENCODE_FLOAT(data_log_ptr[18 * 3 + 2], 3),
352 CAL_ENCODE_FLOAT(data_log_ptr[19 * 3 + 2], 3));
353 sample_counter = 0;
354 diverse_data->diversity_dbg.new_trigger = 0;
355 }
356 }
357 }
358 #endif // MAG_CAL_DEBUG_ENABLE
359