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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
bosch/bmi088: minor cleanup and consistency improvements
- track consecutive failures and trigger reset aggressively - only count missed drdy interrupts, not time - reset wait times consistent with other drivers - accel improve FIFO count check if DRDY isn't available
This commit is contained in:
Daniel Agar
parent
a04d79b810
commit
28d52aef1f
@ -66,10 +66,9 @@ protected:
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hrt_abstime _reset_timestamp{0};
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hrt_abstime _last_config_check_timestamp{0};
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hrt_abstime _temperature_update_timestamp{0};
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unsigned _consecutive_failures{0};
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unsigned _total_failures{0};
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int _failure_count{0};
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px4::atomic<uint8_t> _drdy_fifo_read_samples{0};
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px4::atomic<uint32_t> _drdy_fifo_read_samples{0};
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bool _data_ready_interrupt_enabled{false};
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enum class STATE : uint8_t {
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@ -46,7 +46,7 @@ BMI088_Accelerometer::BMI088_Accelerometer(I2CSPIBusOption bus_option, int bus,
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_px4_accel(get_device_id(), rotation)
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{
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if (drdy_gpio != 0) {
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_drdy_interval_perf = perf_alloc(PC_INTERVAL, MODULE_NAME"_accel: DRDY interval");
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_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME"_accel: DRDY missed");
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}
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ConfigureSampleRate(_px4_accel.get_max_rate_hz());
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@ -59,7 +59,7 @@ BMI088_Accelerometer::~BMI088_Accelerometer()
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perf_free(_fifo_empty_perf);
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perf_free(_fifo_overflow_perf);
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perf_free(_fifo_reset_perf);
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perf_free(_drdy_interval_perf);
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perf_free(_drdy_missed_perf);
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}
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void BMI088_Accelerometer::exit_and_cleanup()
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@ -72,14 +72,14 @@ void BMI088_Accelerometer::print_status()
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{
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I2CSPIDriverBase::print_status();
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PX4_INFO("FIFO empty interval: %d us (%.3f Hz)", _fifo_empty_interval_us, 1e6 / _fifo_empty_interval_us);
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PX4_INFO("FIFO empty interval: %d us (%.1f Hz)", _fifo_empty_interval_us, 1e6 / _fifo_empty_interval_us);
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perf_print_counter(_bad_register_perf);
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perf_print_counter(_bad_transfer_perf);
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perf_print_counter(_fifo_empty_perf);
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perf_print_counter(_fifo_overflow_perf);
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perf_print_counter(_fifo_reset_perf);
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perf_print_counter(_drdy_interval_perf);
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perf_print_counter(_drdy_missed_perf);
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}
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int BMI088_Accelerometer::probe()
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@ -116,8 +116,7 @@ void BMI088_Accelerometer::RunImpl()
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// ACC_SOFTRESET: Writing a value of 0xB6 to this register resets the sensor
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RegisterWrite(Register::ACC_SOFTRESET, 0xB6);
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_reset_timestamp = now;
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_consecutive_failures = 0;
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_total_failures = 0;
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_failure_count = 0;
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_state = STATE::WAIT_FOR_RESET;
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ScheduleDelayed(1_ms); // Following a delay of 1 ms, all configuration settings are overwritten with their reset value.
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break;
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@ -133,7 +132,7 @@ void BMI088_Accelerometer::RunImpl()
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} else {
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// RESET not complete
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if (hrt_elapsed_time(&_reset_timestamp) > 100_ms) {
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if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) {
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PX4_DEBUG("Reset failed, retrying");
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_state = STATE::RESET;
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ScheduleDelayed(100_ms);
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@ -155,7 +154,7 @@ void BMI088_Accelerometer::RunImpl()
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_data_ready_interrupt_enabled = true;
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// backup schedule as a watchdog timeout
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ScheduleDelayed(10_ms);
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ScheduleDelayed(100_ms);
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} else {
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_data_ready_interrupt_enabled = false;
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@ -174,60 +173,74 @@ void BMI088_Accelerometer::RunImpl()
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PX4_DEBUG("Configure failed, retrying");
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}
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ScheduleDelayed(10_ms);
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ScheduleDelayed(100_ms);
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}
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break;
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case STATE::FIFO_READ: {
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uint8_t samples = 0;
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uint32_t samples = 0;
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if (_data_ready_interrupt_enabled) {
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// scheduled from interrupt if _drdy_fifo_read_samples was set
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if (_drdy_fifo_read_samples.fetch_and(0) == _fifo_accel_samples) {
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samples = _fifo_accel_samples;
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perf_count_interval(_drdy_interval_perf, now);
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// scheduled from interrupt if _drdy_fifo_read_samples was set as expected
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if (_drdy_fifo_read_samples.fetch_and(0) != _fifo_samples) {
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perf_count(_drdy_missed_perf);
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} else {
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samples = _fifo_samples;
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}
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// push backup schedule back
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ScheduleDelayed(_fifo_empty_interval_us * 2);
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}
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bool success = false;
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if (!_data_ready_interrupt_enabled || (samples == 0)) {
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// manually check FIFO count if no samples from DRDY
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if (samples == 0) {
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// check current FIFO count
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const uint16_t fifo_byte_counter = FIFOReadCount();
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samples = fifo_byte_counter / sizeof(FIFO::DATA);
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if (fifo_byte_counter >= FIFO::SIZE) {
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FIFOReset();
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perf_count(_fifo_overflow_perf);
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} else if ((fifo_byte_counter == 0) || (fifo_byte_counter == 0x8000)) {
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// An empty FIFO corresponds to 0x8000
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perf_count(_fifo_empty_perf);
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} else {
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samples = fifo_byte_counter / sizeof(FIFO::DATA);
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if (samples > FIFO_MAX_SAMPLES) {
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// not technically an overflow, but more samples than we expected or can publish
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FIFOReset();
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perf_count(_fifo_overflow_perf);
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samples = 0;
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}
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}
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}
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if (samples > FIFO_MAX_SAMPLES) {
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// not necessarily an actual FIFO overflow, but more samples than we expected or can publish
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FIFOReset();
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perf_count(_fifo_overflow_perf);
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bool success = false;
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} else if (samples == 0) {
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perf_count(_fifo_empty_perf);
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} else if (samples >= 1) {
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if (samples >= 1) {
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if (FIFORead(now, samples)) {
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success = true;
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_consecutive_failures = 0;
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if (_failure_count > 0) {
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_failure_count--;
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}
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}
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}
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if (!success) {
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_consecutive_failures++;
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_total_failures++;
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_failure_count++;
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// full reset if things are failing consistently
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if (_consecutive_failures > 100 || _total_failures > 1000) {
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if (_failure_count > 10) {
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Reset();
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return;
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}
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}
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if (!success || hrt_elapsed_time(&_last_config_check_timestamp) > 10_ms) {
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if (!success || hrt_elapsed_time(&_last_config_check_timestamp) > 100_ms) {
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// check configuration registers periodically or immediately following any failure
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if (RegisterCheck(_register_cfg[_checked_register])) {
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_last_config_check_timestamp = now;
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@ -289,12 +302,12 @@ void BMI088_Accelerometer::ConfigureSampleRate(int sample_rate)
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const float min_interval = FIFO_SAMPLE_DT;
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_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);
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_fifo_accel_samples = math::min((float)_fifo_empty_interval_us / (1e6f / ACCEL_RATE), (float)FIFO_MAX_SAMPLES);
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_fifo_samples = math::min((float)_fifo_empty_interval_us / (1e6f / RATE), (float)FIFO_MAX_SAMPLES);
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// recompute FIFO empty interval (us) with actual accel sample limit
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_fifo_empty_interval_us = _fifo_accel_samples * (1e6f / ACCEL_RATE);
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// recompute FIFO empty interval (us) with actual sample limit
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_fifo_empty_interval_us = _fifo_samples * (1e6f / RATE);
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ConfigureFIFOWatermark(_fifo_accel_samples);
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ConfigureFIFOWatermark(_fifo_samples);
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}
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void BMI088_Accelerometer::ConfigureFIFOWatermark(uint8_t samples)
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@ -346,9 +359,9 @@ int BMI088_Accelerometer::DataReadyInterruptCallback(int irq, void *context, voi
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void BMI088_Accelerometer::DataReady()
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{
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uint8_t expected = 0;
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uint32_t expected = 0;
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if (_drdy_fifo_read_samples.compare_exchange(&expected, _fifo_accel_samples)) {
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if (_drdy_fifo_read_samples.compare_exchange(&expected, _fifo_samples)) {
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ScheduleNow();
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}
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}
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@ -407,7 +420,7 @@ uint8_t BMI088_Accelerometer::RegisterRead(Register reg)
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void BMI088_Accelerometer::RegisterWrite(Register reg, uint8_t value)
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{
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uint8_t cmd[2] {(uint8_t)reg, value};
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uint8_t cmd[2] { (uint8_t)reg, value };
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transfer(cmd, cmd, sizeof(cmd));
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}
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@ -437,14 +450,7 @@ uint16_t BMI088_Accelerometer::FIFOReadCount()
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const uint8_t FIFO_LENGTH_0 = fifo_len_buf[2]; // fifo_byte_counter[7:0]
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const uint8_t FIFO_LENGTH_1 = fifo_len_buf[3] & 0x3F; // fifo_byte_counter[13:8]
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const uint16_t fifo_byte_counter = combine(FIFO_LENGTH_1, FIFO_LENGTH_0);
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// An empty FIFO corresponds to 0x8000
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if (fifo_byte_counter == 0x8000) {
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return 0;
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}
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return fifo_byte_counter / sizeof(FIFO::DATA);
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return combine(FIFO_LENGTH_1, FIFO_LENGTH_0);
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}
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bool BMI088_Accelerometer::FIFORead(const hrt_abstime ×tamp_sample, uint8_t samples)
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@ -457,12 +463,6 @@ bool BMI088_Accelerometer::FIFORead(const hrt_abstime ×tamp_sample, uint8_t
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return false;
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}
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sensor_accel_fifo_s accel{};
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accel.timestamp_sample = timestamp_sample;
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accel.samples = 0;
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accel.dt = FIFO_SAMPLE_DT;
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const size_t fifo_byte_counter = combine(buffer.FIFO_LENGTH_1 & 0x3F, buffer.FIFO_LENGTH_0);
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// An empty FIFO corresponds to 0x8000
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@ -475,6 +475,11 @@ bool BMI088_Accelerometer::FIFORead(const hrt_abstime ×tamp_sample, uint8_t
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return false;
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}
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sensor_accel_fifo_s accel{};
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accel.timestamp_sample = timestamp_sample;
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accel.samples = 0;
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accel.dt = FIFO_SAMPLE_DT;
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// first find all sensor data frames in the buffer
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uint8_t *data_buffer = (uint8_t *)&buffer.f[0];
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unsigned fifo_buffer_index = 0; // start of buffer
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@ -566,6 +571,7 @@ void BMI088_Accelerometer::UpdateTemperature()
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// temperature_buf[1] dummy byte
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if (transfer(&temperature_buf[0], &temperature_buf[0], sizeof(temperature_buf)) != PX4_OK) {
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perf_count(_bad_transfer_perf);
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return;
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}
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@ -587,6 +593,9 @@ void BMI088_Accelerometer::UpdateTemperature()
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if (PX4_ISFINITE(temperature)) {
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_px4_accel.set_temperature(temperature);
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} else {
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perf_count(_bad_transfer_perf);
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}
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}
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@ -56,8 +56,8 @@ private:
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void exit_and_cleanup() override;
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// Sensor Configuration
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static constexpr uint32_t ACCEL_RATE{1600}; // 1600 Hz accel
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static constexpr float FIFO_SAMPLE_DT{1e6f / ACCEL_RATE};
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static constexpr uint32_t RATE{1600}; // 1600 Hz
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static constexpr float FIFO_SAMPLE_DT{1e6f / RATE};
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static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]))};
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@ -109,9 +109,9 @@ private:
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perf_counter_t _fifo_empty_perf{perf_alloc(PC_COUNT, MODULE_NAME"_accel: FIFO empty")};
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perf_counter_t _fifo_overflow_perf{perf_alloc(PC_COUNT, MODULE_NAME"_accel: FIFO overflow")};
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perf_counter_t _fifo_reset_perf{perf_alloc(PC_COUNT, MODULE_NAME"_accel: FIFO reset")};
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perf_counter_t _drdy_interval_perf{nullptr};
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perf_counter_t _drdy_missed_perf{nullptr};
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uint8_t _fifo_accel_samples{static_cast<uint8_t>(_fifo_empty_interval_us / (1000000 / ACCEL_RATE))};
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uint8_t _fifo_samples{static_cast<uint8_t>(_fifo_empty_interval_us / (1000000 / RATE))};
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uint8_t _checked_register{0};
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static constexpr uint8_t size_register_cfg{10};
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@ -46,7 +46,7 @@ BMI088_Gyroscope::BMI088_Gyroscope(I2CSPIBusOption bus_option, int bus, uint32_t
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_px4_gyro(get_device_id(), rotation)
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{
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if (drdy_gpio != 0) {
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_drdy_interval_perf = perf_alloc(PC_INTERVAL, MODULE_NAME"_gyro: DRDY interval");
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_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME"_gyro: DRDY missed");
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}
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ConfigureSampleRate(_px4_gyro.get_max_rate_hz());
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@ -59,7 +59,7 @@ BMI088_Gyroscope::~BMI088_Gyroscope()
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perf_free(_fifo_empty_perf);
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perf_free(_fifo_overflow_perf);
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perf_free(_fifo_reset_perf);
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perf_free(_drdy_interval_perf);
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perf_free(_drdy_missed_perf);
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}
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void BMI088_Gyroscope::exit_and_cleanup()
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@ -72,14 +72,14 @@ void BMI088_Gyroscope::print_status()
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{
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I2CSPIDriverBase::print_status();
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PX4_INFO("FIFO empty interval: %d us (%.3f Hz)", _fifo_empty_interval_us, 1e6 / _fifo_empty_interval_us);
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PX4_INFO("FIFO empty interval: %d us (%.1f Hz)", _fifo_empty_interval_us, 1e6 / _fifo_empty_interval_us);
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perf_print_counter(_bad_register_perf);
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perf_print_counter(_bad_transfer_perf);
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perf_print_counter(_fifo_empty_perf);
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perf_print_counter(_fifo_overflow_perf);
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perf_print_counter(_fifo_reset_perf);
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perf_print_counter(_drdy_interval_perf);
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perf_print_counter(_drdy_missed_perf);
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}
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int BMI088_Gyroscope::probe()
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@ -104,8 +104,7 @@ void BMI088_Gyroscope::RunImpl()
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// Following a delay of 30 ms, all configuration settings are overwritten with their reset value.
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RegisterWrite(Register::GYRO_SOFTRESET, 0xB6);
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_reset_timestamp = now;
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_consecutive_failures = 0;
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_total_failures = 0;
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_failure_count = 0;
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_state = STATE::WAIT_FOR_RESET;
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ScheduleDelayed(30_ms);
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break;
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@ -118,7 +117,7 @@ void BMI088_Gyroscope::RunImpl()
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} else {
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// RESET not complete
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if (hrt_elapsed_time(&_reset_timestamp) > 100_ms) {
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if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) {
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PX4_DEBUG("Reset failed, retrying");
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_state = STATE::RESET;
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ScheduleDelayed(100_ms);
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@ -140,7 +139,7 @@ void BMI088_Gyroscope::RunImpl()
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_data_ready_interrupt_enabled = true;
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// backup schedule as a watchdog timeout
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ScheduleDelayed(10_ms);
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ScheduleDelayed(100_ms);
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} else {
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_data_ready_interrupt_enabled = false;
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@ -159,7 +158,7 @@ void BMI088_Gyroscope::RunImpl()
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PX4_DEBUG("Configure failed, retrying");
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}
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ScheduleDelayed(10_ms);
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ScheduleDelayed(100_ms);
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}
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break;
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@ -167,8 +166,8 @@ void BMI088_Gyroscope::RunImpl()
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case STATE::FIFO_READ: {
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if (_data_ready_interrupt_enabled) {
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// scheduled from interrupt if _drdy_fifo_read_samples was set
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if (_drdy_fifo_read_samples.fetch_and(0) == _fifo_gyro_samples) {
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perf_count_interval(_drdy_interval_perf, now);
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if (_drdy_fifo_read_samples.fetch_and(0) != _fifo_samples) {
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perf_count(_drdy_missed_perf);
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}
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// push backup schedule back
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@ -187,7 +186,7 @@ void BMI088_Gyroscope::RunImpl()
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const uint8_t fifo_frame_counter = FIFO_STATUS & FIFO_STATUS_BIT::Fifo_frame_counter;
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if (fifo_frame_counter > FIFO_MAX_SAMPLES) {
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// not necessarily an actual FIFO overflow, but more samples than we expected or can publish
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// not technically an overflow, but more samples than we expected or can publish
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FIFOReset();
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perf_count(_fifo_overflow_perf);
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@ -197,23 +196,25 @@ void BMI088_Gyroscope::RunImpl()
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} else if (fifo_frame_counter >= 1) {
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if (FIFORead(now, fifo_frame_counter)) {
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success = true;
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_consecutive_failures = 0;
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if (_failure_count > 0) {
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_failure_count--;
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}
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}
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}
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}
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if (!success) {
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_consecutive_failures++;
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_total_failures++;
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_failure_count++;
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// full reset if things are failing consistently
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if (_consecutive_failures > 100 || _total_failures > 1000) {
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if (_failure_count > 10) {
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Reset();
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return;
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}
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}
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if (!success || hrt_elapsed_time(&_last_config_check_timestamp) > 10_ms) {
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||||
if (!success || hrt_elapsed_time(&_last_config_check_timestamp) > 100_ms) {
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// check configuration registers periodically or immediately following any failure
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||||
if (RegisterCheck(_register_cfg[_checked_register])) {
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||||
_last_config_check_timestamp = now;
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@ -273,12 +274,12 @@ void BMI088_Gyroscope::ConfigureSampleRate(int sample_rate)
|
||||
const float min_interval = FIFO_SAMPLE_DT;
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||||
_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);
|
||||
|
||||
_fifo_gyro_samples = math::min((float)_fifo_empty_interval_us / (1e6f / GYRO_RATE), (float)FIFO_MAX_SAMPLES);
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||||
_fifo_samples = math::min((float)_fifo_empty_interval_us / (1e6f / RATE), (float)FIFO_MAX_SAMPLES);
|
||||
|
||||
// recompute FIFO empty interval (us) with actual gyro sample limit
|
||||
_fifo_empty_interval_us = _fifo_gyro_samples * (1e6f / GYRO_RATE);
|
||||
// recompute FIFO empty interval (us) with actual sample limit
|
||||
_fifo_empty_interval_us = _fifo_samples * (1e6f / RATE);
|
||||
|
||||
ConfigureFIFOWatermark(_fifo_gyro_samples);
|
||||
ConfigureFIFOWatermark(_fifo_samples);
|
||||
}
|
||||
|
||||
void BMI088_Gyroscope::ConfigureFIFOWatermark(uint8_t samples)
|
||||
@ -321,9 +322,9 @@ int BMI088_Gyroscope::DataReadyInterruptCallback(int irq, void *context, void *a
|
||||
|
||||
void BMI088_Gyroscope::DataReady()
|
||||
{
|
||||
uint8_t expected = 0;
|
||||
uint32_t expected = 0;
|
||||
|
||||
if (_drdy_fifo_read_samples.compare_exchange(&expected, _fifo_gyro_samples)) {
|
||||
if (_drdy_fifo_read_samples.compare_exchange(&expected, _fifo_samples)) {
|
||||
ScheduleNow();
|
||||
}
|
||||
}
|
||||
@ -376,7 +377,7 @@ uint8_t BMI088_Gyroscope::RegisterRead(Register reg)
|
||||
|
||||
void BMI088_Gyroscope::RegisterWrite(Register reg, uint8_t value)
|
||||
{
|
||||
uint8_t cmd[2] {(uint8_t)reg, value};
|
||||
uint8_t cmd[2] { (uint8_t)reg, value };
|
||||
transfer(cmd, cmd, sizeof(cmd));
|
||||
}
|
||||
|
||||
|
||||
@ -56,8 +56,8 @@ private:
|
||||
void exit_and_cleanup() override;
|
||||
|
||||
// Sensor Configuration
|
||||
static constexpr uint32_t GYRO_RATE{2000}; // 2000 Hz gyro
|
||||
static constexpr float FIFO_SAMPLE_DT{1e6f / GYRO_RATE};
|
||||
static constexpr uint32_t RATE{2000}; // 2000 Hz
|
||||
static constexpr float FIFO_SAMPLE_DT{1e6f / RATE};
|
||||
|
||||
static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]))};
|
||||
|
||||
@ -103,9 +103,9 @@ private:
|
||||
perf_counter_t _fifo_empty_perf{perf_alloc(PC_COUNT, MODULE_NAME"_gyro: FIFO empty")};
|
||||
perf_counter_t _fifo_overflow_perf{perf_alloc(PC_COUNT, MODULE_NAME"_gyro: FIFO overflow")};
|
||||
perf_counter_t _fifo_reset_perf{perf_alloc(PC_COUNT, MODULE_NAME"_gyro: FIFO reset")};
|
||||
perf_counter_t _drdy_interval_perf{nullptr};
|
||||
perf_counter_t _drdy_missed_perf{nullptr};
|
||||
|
||||
uint8_t _fifo_gyro_samples{static_cast<uint8_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
|
||||
uint8_t _fifo_samples{static_cast<uint8_t>(_fifo_empty_interval_us / (1000000 / RATE))};
|
||||
|
||||
uint8_t _checked_register{0};
|
||||
static constexpr uint8_t size_register_cfg{8};
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user