PX4-Autopilot/src/modules/events/temperature_calibration/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_log.h>
#include <mathlib/mathlib.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

/**
 * 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
	 */
	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() {}

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

		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 == -1) {
				return -1;

			} else if (status == -TC_ERROR_INITIAL_TEMP_TOO_HIGH) {
				return -TC_ERROR_INITIAL_TEMP_TOO_HIGH;
			}

			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;

	int _num_sensor_instances;
	int _sensor_subs[SENSOR_COUNT_MAX];
};