Snap for 7745671 from 61b465491f482c985de70d2042dd9a73e8d1921b to sc-d2-releaseandroid-12.1.0_r26android-12.1.0_r25android-12.1.0_r24android-12.1.0_r23android-12.1.0_r18android-12.1.0_r17android-12.1.0_r16android-12.1.0_r15android-12.1.0_r14android-12.1.0_r13android-12.1.0_r12android12L-d2-s8-releaseandroid12L-d2-s7-releaseandroid12L-d2-s6-releaseandroid12L-d2-s5-releaseandroid12L-d2-s4-releaseandroid12L-d2-s3-releaseandroid12L-d2-s2-releaseandroid12L-d2-s1-releaseandroid12L-d2-release

Change-Id: I7c37dc756cf79a049c8b205a3a8ff05ad9496f5c

5 files changed, 42 insertions, 7 deletions

diff --git a/firmware/os/algos/calibration/nano_calibration/nano_calibration.cc b/firmware/os/algos/calibration/nano_calibration/nano_calibration.cc
index 024a031d..9d8e04d6 100644
--- a/firmware/os/algos/calibration/nano_calibration/nano_calibration.cc
+++ b/firmware/os/algos/calibration/nano_calibration/nano_calibration.cc
@@ -54,6 +54,24 @@ using ::online_calibration::SensorType;
 #define LOG_TAG "[ImuCal]"
 #endif
 
+// Some devices do not have multisensor ASH API support. These macros remap to
+// single-sensor functions.
+#ifndef ASH_MULTI_CAL_SUPPORTED
+#define ashSetMultiCalibration(chre_sensor_type, sensor_index,  \
+                               calibration_index, ash_cal_info) \
+  ashSetCalibration(chre_sensor_type, ash_cal_info)
+
+#define ashSaveMultiCalibrationParams(chre_sensor_type, sensor_index,        \
+                                      calibration_index, ash_cal_parameters) \
+  ashSaveCalibrationParams(chre_sensor_type, ash_cal_parameters)
+
+#define ashLoadMultiCalibrationParams(chre_sensor_type, sensor_index, \
+                                      calibration_index,              \
+                                      recalled_ash_cal_parameters)    \
+  ashLoadCalibrationParams(chre_sensor_type, ASH_CAL_STORAGE_ASH,     \
+                           recalled_ash_cal_parameters)
+#endif  // ASH_MULTI_CAL_SUPPORTED
+
 #ifdef NANO_SENSOR_CAL_DBG_ENABLED
 #define NANO_CAL_LOGD(tag, format, ...) \
   TECHENG_LOGD("%s " format, tag, ##__VA_ARGS__)
@@ -146,7 +164,7 @@ bool NanoSensorCal::NotifyAshCalibration(
   if (result_callback_ != nullptr && send_results_callback) {
     result_callback_->SetCalibrationEvent(cal_data.cal_update_time_nanos,
                                           cal_data.type, sensor_index,
-                                          calibration_index, flags);
+                                          calibration_index, flags, cal_data);
   }
 
   // Updates the sensor offset calibration using the ASH API.
diff --git a/firmware/os/algos/calibration/online_calibration/common_data/calibration_quality.h b/firmware/os/algos/calibration/online_calibration/common_data/calibration_quality.h
index d6475c78..d9e5bd7e 100644
--- a/firmware/os/algos/calibration/online_calibration/common_data/calibration_quality.h
+++ b/firmware/os/algos/calibration/online_calibration/common_data/calibration_quality.h
@@ -64,8 +64,8 @@ enum class CalibrationQualityLevel : uint8_t {
 
 // Sets the calibration quality value when this metric is either not
 // implemented, or has not yet been determined (e.g., a calibration hasn't
-// occurred).
-constexpr float kUndeterminedCalibrationQuality = -1.0f;
+// occurred). Represented with an arbitrarily large value.
+constexpr float kUndeterminedCalibrationQuality = 1.0e9f;
 
 /*
  * Calibration quality structure that contains a quantitative (float) and
diff --git a/firmware/os/algos/calibration/online_calibration/common_data/online_calibration.h b/firmware/os/algos/calibration/online_calibration/common_data/online_calibration.h
index 8c95f9ba..710c442c 100644
--- a/firmware/os/algos/calibration/online_calibration/common_data/online_calibration.h
+++ b/firmware/os/algos/calibration/online_calibration/common_data/online_calibration.h
@@ -26,6 +26,14 @@
 
 namespace online_calibration {
 
+// Device physical state change types.
+enum class PhysicalStateType : uint8_t {
+  kUnknownPhysicalState = 0,
+  kFoldableOpen,
+  kFoldableClosed,
+  kNumPhysicalStateTypes,
+};
+
 /*
  * This abstract base class provides a set of general interface functions for
  * calibration algorithms. The data structures used are intended to be lean and
@@ -130,6 +138,13 @@ class OnlineCalibration {
   // Returns the sensor-type this calibration algorithm provides updates for.
   virtual SensorType get_sensor_type() const = 0;
 
+  // Tells the calibrator that the device's physical state has changed. This is
+  // useful, for example, if there is a need for the calibration algorithm to be
+  // aware of and take some sort of internal action in response to a physical
+  // state change (e.g., for foldable devices, MagCal may adjust internal states
+  // to implement specific transition behavior between open/closed states).
+  virtual void UpdatePhysicalState(PhysicalStateType physical_state) {}
+
  protected:
   // Helper function that activates the registered callback.
   void OnNotifyCalibrationUpdate(CalibrationTypeFlags cal_update_flags) const {
diff --git a/firmware/os/algos/calibration/online_calibration/common_data/result_callback_interface.h b/firmware/os/algos/calibration/online_calibration/common_data/result_callback_interface.h
index cfe504de..585f67fd 100644
--- a/firmware/os/algos/calibration/online_calibration/common_data/result_callback_interface.h
+++ b/firmware/os/algos/calibration/online_calibration/common_data/result_callback_interface.h
@@ -29,10 +29,10 @@ class ResultCallbackInterface {
   //                    states of a foldable device]).
   // flags: What kind of update the calibration was, e.g. offset, quality
   //        degradation (like a magnetization event), over temperature, etc.
-  virtual void SetCalibrationEvent(uint64_t event_timestamp_nanos,
-                                   SensorType sensor_type, uint8_t sensor_index,
-                                   uint8_t calibration_index,
-                                   CalibrationTypeFlags flags) = 0;
+  virtual void SetCalibrationEvent(
+      uint64_t event_timestamp_nanos, SensorType sensor_type,
+      uint8_t sensor_index, uint8_t calibration_index,
+      CalibrationTypeFlags flags, const CalibrationDataThreeAxis &cal_data) = 0;
 };
 
 }  // namespace online_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 23b63c9b..b6d6eb37 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
@@ -48,6 +48,8 @@ enum class SensorType : int8_t {
   kBarometerHpa = 5,        // 1-axis sensor (units = hecto-Pascal).
   kWifiM = 6,               // 3-axis sensor (units = meter).
   kProximity = 7,           // 1-axis sensor (units = ?).
+  kHallEffect = 8,          // 1-axis sensor (units = ?).
+  kHingeAngle = 9,          // 1-axis sensor (units = degrees).
 };
 
 // Helper function for determining if a sensor type is 3-axis, otherwise it's