track and use reference frame calibrations

firmware/src/sensor/sensors.c

@@ -206,6 +206,8 @@ void sensor_external_spi_set_type_avlos(sensors_setup_external_spi_type_options
         && (controller_get_state() == CONTROLLER_STATE_IDLE)
         && (internal_type != sensors[SENSOR_CONNECTION_EXTERNAL_SPI].sensor.config.type))
     {
+        frames_reset_calibrated();
+
         Sensor *s = &(sensors[SENSOR_CONNECTION_EXTERNAL_SPI].sensor);
         if (s->initialized)
         {
@@ -222,6 +224,8 @@ void sensor_set_connection(Sensor** target_sensor_p, Sensor** other_sensor_p, se
         && new_connection != sensor_get_connection(*target_sensor_p) 
         && new_connection >= 0 && new_connection < SENSOR_CONNECTION_MAX)
     {
+        frames_reset_calibrated();
+
         if (sensor_get_connection(*target_sensor_p) != sensor_get_connection(*other_sensor_p))
         {
             observer_reset_state(observer_get_for_sensor(*target_sensor_p));
@@ -295,7 +299,7 @@ bool sensors_calibrate_pole_pair_count_and_transforms(void)
 
     if (commutation_sensor_p == position_sensor_p)
     {
-        frame_set_position_sensor_to_motor(frames.commutation_sensor_to_motor);
+        frame_set_position_sensor_to_motor(*(frame_commutation_sensor_to_motor_p()));
     }
     else if (sensor_get_type(position_sensor_p) != SENSOR_TYPE_HALL)
     {

firmware/src/system/system.c

@@ -141,7 +141,8 @@ TM_RAMFUNC float system_get_Vbus(void)
 
 TM_RAMFUNC bool system_get_calibrated(void)
 {
-    return (motor_get_calibrated() &&
+    return (frames_get_calibrated() &&
+            motor_get_calibrated() &&
             commutation_sensor_p->is_calibrated_func(commutation_sensor_p) &&
             position_sensor_p->is_calibrated_func(position_sensor_p));
 }

firmware/src/xfs.c

@@ -10,5 +10,6 @@ FramesConfig frames = {
     .commutation_sensor_to_motor = DEFAULT_TRANSFORM,
     .motor_to_commutation_sensor = DEFAULT_TRANSFORM,
     .motor_to_user = DEFAULT_TRANSFORM,
-    .user_to_motor = DEFAULT_TRANSFORM
+    .user_to_motor = DEFAULT_TRANSFORM,
+    .calibrated = default_calibrated
 };

firmware/src/xfs.h

@@ -16,8 +16,24 @@
 
 #pragma once
 
+#include <stdbool.h>
 #include <src/xf1.h>
 
+typedef enum {
+    none_calibrated = 0,
+    position_sensor_to_user_calibrated = 1,
+    user_to_position_sensor_calibrated = 1 << 1,
+    position_sensor_to_motor_calibrated = 1 << 2,
+    motor_to_position_sensor_calibrated = 1 << 3,
+    commutation_sensor_to_motor_calibrated = 1 << 4,
+    motor_to_commutation_sensor_calibrated = 1 << 5,
+    motor_to_user_calibrated = 1 << 6,
+    user_to_motor_calibrated = 1 << 7,
+    default_calibrated = (position_sensor_to_user_calibrated | user_to_position_sensor_calibrated),
+    all_calibrated = 0xFF
+} FramesOrder;
+
+
 typedef struct {
 	FrameTransform position_sensor_to_user;
 	FrameTransform user_to_position_sensor;
@@ -27,10 +43,21 @@ typedef struct {
 	FrameTransform motor_to_commutation_sensor;
 	FrameTransform motor_to_user;
 	FrameTransform user_to_motor;
+    FramesOrder calibrated;
 } FramesConfig;
 
 extern FramesConfig frames;
 
+static inline bool frames_get_calibrated(void)
+{
+    return (frames.calibrated == all_calibrated);
+}
+
+static inline void frames_reset_calibrated(void)
+{
+    frames.calibrated = default_calibrated;
+}
+
 static inline void frames_get_config(FramesConfig *_config)
 {
 	*_config = frames;
@@ -97,6 +124,8 @@ static inline void frame_user_to_position_sensor_set_offset(float value)
     frames.position_sensor_to_user = derive_inverse_transform(frame_user_to_position_sensor_p());
     frames.user_to_motor = combine_transforms(frame_user_to_position_sensor_p(), frame_position_sensor_to_motor_p());
     frames.motor_to_user = derive_inverse_transform(frame_user_to_motor_p());
+    frames.calibrated |= (position_sensor_to_user_calibrated | 
+        user_to_position_sensor_calibrated | motor_to_user_calibrated | user_to_motor_calibrated);
 }
 
 static inline void frame_user_to_position_sensor_set_multiplier(float value)
@@ -107,13 +136,16 @@ static inline void frame_user_to_position_sensor_set_multiplier(float value)
         frames.position_sensor_to_user = derive_inverse_transform(frame_user_to_position_sensor_p());
         frames.user_to_motor = combine_transforms(frame_user_to_position_sensor_p(), frame_position_sensor_to_motor_p());
         frames.motor_to_user = derive_inverse_transform(frame_user_to_motor_p());
+        frames.calibrated |= (position_sensor_to_user_calibrated | 
+            user_to_position_sensor_calibrated | motor_to_user_calibrated | user_to_motor_calibrated);
     }
 }
 
 static inline void frame_set_commutation_sensor_to_motor(const FrameTransform value)
 {
     frames.commutation_sensor_to_motor = value;
     frames.motor_to_commutation_sensor = derive_inverse_transform(frame_commutation_sensor_to_motor_p());
+    frames.calibrated |= (commutation_sensor_to_motor_calibrated | motor_to_commutation_sensor_calibrated);
 }
 
 static inline void frame_set_position_sensor_to_motor(const FrameTransform value)
@@ -122,4 +154,6 @@ static inline void frame_set_position_sensor_to_motor(const FrameTransform value
     frames.motor_to_position_sensor = derive_inverse_transform(&value);
     frames.user_to_motor = combine_transforms(frame_user_to_position_sensor_p(), frame_position_sensor_to_motor_p());
     frames.motor_to_user = derive_inverse_transform(frame_user_to_motor_p());
+    frames.calibrated |= (position_sensor_to_motor_calibrated |
+        motor_to_position_sensor_calibrated | motor_to_user_calibrated | user_to_motor_calibrated);
 }