Nonblocking calibration implemented

src/configuration/SensorConfig.h

@@ -157,7 +157,8 @@ enum class SensorConfigType {
 	MPU9250,
 	ICM20948,
 	SFUSION,
-	BNO0XX
+	BNO0XX,
+	NONBLOCKING,
 };
 
 const char* calibrationConfigTypeToString(SensorConfigType type);
@@ -172,6 +173,7 @@ struct SensorConfig {
 		MPU9250SensorConfig mpu9250;
 		ICM20948SensorConfig icm20948;
 		BNO0XXSensorConfig bno0XX;
+		NonBlockingSensorConfig nonblocking;
 	} data;
 };
 

src/debug.h

@@ -100,7 +100,6 @@
 #define FIRMWARE_VERSION "UNKNOWN"
 #endif
 
-#define USE_NONBLOCKING_CALIBRATION false
 #ifndef USE_NONBLOCKING_CALIBRATION
 #define USE_NONBLOCKING_CALIBRATION true
 #endif

src/sensors/SensorManager.cpp

@@ -32,6 +32,7 @@
 #include "mpu6050sensor.h"
 #include "mpu9250sensor.h"
 #include "sensors/softfusion/SoftfusionCalibration.h"
+#include "sensors/softfusion/nonblockingcalibration/NonBlockingCalibration.h"
 #include "softfusion/drivers/bmi270.h"
 #include "softfusion/drivers/icm42688.h"
 #include "softfusion/drivers/icm45605.h"
@@ -49,6 +50,7 @@
 #endif
 
 #if USE_NONBLOCKING_CALIBRATION
+#define SFCALIBRATOR SlimeVR::Sensors::NonBlockingCalibration::NonBlockingCalibrator
 #else
 #define SFCALIBRATOR SlimeVR::Sensor::SoftfusionCalibrator
 #endif

src/sensors/softfusion/CalibrationBase.h

@@ -0,0 +1,117 @@
+/*
+	SlimeVR Code is placed under the MIT license
+	Copyright (c) 2025 Gorbit99 & SlimeVR Contributors
+
+	Permission is hereby granted, free of charge, to any person obtaining a copy
+	of this software and associated documentation files (the "Software"), to deal
+	in the Software without restriction, including without limitation the rights
+	to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+	copies of the Software, and to permit persons to whom the Software is
+	furnished to do so, subject to the following conditions:
+
+	The above copyright notice and this permission notice shall be included in
+	all copies or substantial portions of the Software.
+
+	THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+	IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+	FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+	AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+	LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+	OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+	THE SOFTWARE.
+*/
+
+#pragma once
+
+#include <cstddef>
+#include <cstdint>
+#include <functional>
+
+#include "configuration/SensorConfig.h"
+#include "motionprocessing/types.h"
+#include "sensors/SensorFusionRestDetect.h"
+
+namespace SlimeVR::Sensor {
+
+template <
+	typename IMU,
+	float TempTs,
+	double AScale,
+	double GScale,
+	typename RawSensorT,
+	typename RawVectorT>
+class CalibrationBase {
+public:
+	CalibrationBase(
+		SlimeVR::Sensors::SensorFusionRestDetect& fusion,
+		IMU& sensor,
+		uint8_t sensorId,
+		SlimeVR::Logging::Logger& logger
+	)
+		: fusion{fusion}
+		, sensor{sensor}
+		, sensorId{sensorId}
+		, logger{logger} {}
+
+	static constexpr bool HasMotionlessCalib
+		= requires(IMU& i) { typename IMU::MotionlessCalibrationData; };
+	static constexpr size_t MotionlessCalibDataSize() {
+		if constexpr (HasMotionlessCalib) {
+			return sizeof(typename IMU::MotionlessCalibrationData);
+		} else {
+			return 0;
+		}
+	}
+
+	using EatSamplesFn = std::function<void(const uint32_t)>;
+	using ReturnLastFn
+		= std::function<std::tuple<RawVectorT, RawVectorT, int16_t>(const uint32_t)>;
+
+	virtual void startCalibration(
+		int calibrationType,
+		const EatSamplesFn& eatSamplesForSeconds,
+		const ReturnLastFn& eatSamplesReturnLast
+	){};
+
+	virtual bool calibrationMatches(
+		const SlimeVR::Configuration::SensorConfig& sensorCalibration
+	) = 0;
+
+	virtual void assignCalibration(const Configuration::SensorConfig& sensorCalibration)
+		= 0;
+
+	virtual void begin() {}
+
+	virtual void tick() {}
+
+	virtual void scaleAccelSample(sensor_real_t accelSample[3]) = 0;
+	virtual float getAccelTimestep() = 0;
+
+	virtual void scaleGyroSample(sensor_real_t gyroSample[3]) = 0;
+	virtual float getGyroTimestep() = 0;
+
+	virtual float getTempTimestep() = 0;
+
+	virtual const uint8_t* getMotionlessCalibrationData() = 0;
+
+	virtual void provideAccelSample(const RawSensorT accelSample[3]) {}
+	virtual void provideGyroSample(const RawSensorT gyroSample[3]) {}
+	virtual void provideTempSample(float tempSample) {}
+
+protected:
+	void recalcFusion() {
+		fusion = Sensors::SensorFusionRestDetect(
+			IMU::SensorVQFParams,
+			getGyroTimestep(),
+			getAccelTimestep(),
+			getTempTimestep()
+		);
+	}
+
+	Sensors::SensorFusionRestDetect& fusion;
+	IMU& sensor;
+	SlimeVR::Logging::Logger& logger;
+	uint8_t sensorId;
+};
+
+}  // namespace SlimeVR::Sensor