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src/platforms/posix: move to platforms/posix/src/px4/common and src/drivers/driver_framework_wrapper
This commit is contained in:
Beat Küng
@@ -0,0 +1,45 @@
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############################################################################
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#
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# Copyright (c) 2016 PX4 Development Team. All rights reserved.
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||||
#
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||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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include_directories(../../../lib/DriverFramework/drivers)
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px4_add_module(
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MODULE platforms__posix__drivers__df_mpu9250_wrapper
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MAIN df_mpu9250_wrapper
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SRCS
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df_mpu9250_wrapper.cpp
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DEPENDS
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git_driverframework
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df_driver_framework
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df_mpu9250
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)
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@@ -0,0 +1,924 @@
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/****************************************************************************
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*
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||||
* Copyright (c) 2016 PX4 Development Team. All rights reserved.
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||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
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****************************************************************************/
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/**
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* @file df_mpu9250_wrapper.cpp
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* Lightweight driver to access the MPU9250 of the DriverFramework.
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*
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* @author Julian Oes <julian@oes.ch>
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*/
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#include <px4_config.h>
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <stdint.h>
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#include <stddef.h>
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#include <stdlib.h>
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#include <string.h>
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#include <math.h>
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#include <unistd.h>
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#include <px4_getopt.h>
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#include <errno.h>
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#include <systemlib/err.h>
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#include <perf/perf_counter.h>
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#include <systemlib/mavlink_log.h>
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#include <drivers/drv_hrt.h>
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#include <drivers/drv_accel.h>
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#include <drivers/drv_gyro.h>
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#include <drivers/drv_mag.h>
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#include <drivers/device/integrator.h>
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#include <mathlib/math/filter/LowPassFilter2p.hpp>
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#include <lib/conversion/rotation.h>
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#include <uORB/topics/parameter_update.h>
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#include <mpu9250/MPU9250.hpp>
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#include <DevMgr.hpp>
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#define MPU9250_ACCEL_DEFAULT_RATE 1000
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#define MPU9250_GYRO_DEFAULT_RATE 1000
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#define MPU9250_ACCEL_DEFAULT_DRIVER_FILTER_FREQ 30
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#define MPU9250_GYRO_DEFAULT_DRIVER_FILTER_FREQ 30
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#define MPU9250_PUB_RATE 280
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extern "C" { __EXPORT int df_mpu9250_wrapper_main(int argc, char *argv[]); }
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using namespace DriverFramework;
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class DfMpu9250Wrapper : public MPU9250
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{
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public:
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DfMpu9250Wrapper(bool mag_enabled, enum Rotation rotation);
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~DfMpu9250Wrapper();
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/**
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* Start automatic measurement.
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*
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* @return 0 on success
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*/
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int start();
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/**
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* Stop automatic measurement.
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*
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* @return 0 on success
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*/
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int stop();
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/**
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* Print some debug info.
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*/
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void info();
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private:
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int _publish(struct imu_sensor_data &data);
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void _update_accel_calibration();
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void _update_gyro_calibration();
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void _update_mag_calibration();
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orb_advert_t _accel_topic;
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orb_advert_t _gyro_topic;
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orb_advert_t _mag_topic;
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orb_advert_t _mavlink_log_pub;
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int _param_update_sub;
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struct accel_calibration_s {
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float x_offset;
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float x_scale;
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float y_offset;
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float y_scale;
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float z_offset;
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float z_scale;
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} _accel_calibration;
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struct gyro_calibration_s {
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float x_offset;
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float x_scale;
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float y_offset;
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float y_scale;
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float z_offset;
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float z_scale;
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} _gyro_calibration;
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struct mag_calibration_s {
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float x_offset;
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float x_scale;
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float y_offset;
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float y_scale;
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float z_offset;
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float z_scale;
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} _mag_calibration;
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int _accel_orb_class_instance;
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int _gyro_orb_class_instance;
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int _mag_orb_class_instance;
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Integrator _accel_int;
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Integrator _gyro_int;
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math::LowPassFilter2p _accel_filter_x;
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math::LowPassFilter2p _accel_filter_y;
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math::LowPassFilter2p _accel_filter_z;
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math::LowPassFilter2p _gyro_filter_x;
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math::LowPassFilter2p _gyro_filter_y;
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math::LowPassFilter2p _gyro_filter_z;
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perf_counter_t _read_counter;
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perf_counter_t _error_counter;
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perf_counter_t _fifo_overflow_counter;
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perf_counter_t _fifo_corruption_counter;
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perf_counter_t _gyro_range_hit_counter;
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perf_counter_t _accel_range_hit_counter;
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perf_counter_t _mag_fifo_overflow_counter;
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perf_counter_t _publish_perf;
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hrt_abstime _last_accel_range_hit_time;
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uint64_t _last_accel_range_hit_count;
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bool _mag_enabled;
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enum Rotation _rotation;
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};
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DfMpu9250Wrapper::DfMpu9250Wrapper(bool mag_enabled, enum Rotation rotation) :
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MPU9250(IMU_DEVICE_PATH, mag_enabled),
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_accel_topic(nullptr),
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_gyro_topic(nullptr),
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_mag_topic(nullptr),
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_mavlink_log_pub(nullptr),
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_param_update_sub(-1),
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_accel_calibration{},
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_gyro_calibration{},
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_mag_calibration{},
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_accel_orb_class_instance(-1),
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_gyro_orb_class_instance(-1),
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_mag_orb_class_instance(-1),
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_accel_int(1000000 / MPU9250_PUB_RATE, false),
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_gyro_int(1000000 / MPU9250_PUB_RATE, true),
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_accel_filter_x(MPU9250_ACCEL_DEFAULT_RATE, MPU9250_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
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_accel_filter_y(MPU9250_ACCEL_DEFAULT_RATE, MPU9250_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
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_accel_filter_z(MPU9250_ACCEL_DEFAULT_RATE, MPU9250_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
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_gyro_filter_x(MPU9250_GYRO_DEFAULT_RATE, MPU9250_GYRO_DEFAULT_DRIVER_FILTER_FREQ),
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_gyro_filter_y(MPU9250_GYRO_DEFAULT_RATE, MPU9250_GYRO_DEFAULT_DRIVER_FILTER_FREQ),
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_gyro_filter_z(MPU9250_GYRO_DEFAULT_RATE, MPU9250_GYRO_DEFAULT_DRIVER_FILTER_FREQ),
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_read_counter(perf_alloc(PC_COUNT, "mpu9250_reads")),
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_error_counter(perf_alloc(PC_COUNT, "mpu9250_errors")),
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_fifo_overflow_counter(perf_alloc(PC_COUNT, "mpu9250_fifo_overflows")),
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_fifo_corruption_counter(perf_alloc(PC_COUNT, "mpu9250_fifo_corruptions")),
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_gyro_range_hit_counter(perf_alloc(PC_COUNT, "mpu9250_gyro_range_hits")),
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_accel_range_hit_counter(perf_alloc(PC_COUNT, "mpu9250_accel_range_hits")),
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_mag_fifo_overflow_counter(perf_alloc(PC_COUNT, "mpu9250_mag_fifo_overflows")),
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_publish_perf(perf_alloc(PC_ELAPSED, "mpu9250_publish")),
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_last_accel_range_hit_time(0),
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_last_accel_range_hit_count(0),
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_mag_enabled(mag_enabled),
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_rotation(rotation)
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{
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// Set sane default calibration values
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_accel_calibration.x_scale = 1.0f;
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_accel_calibration.y_scale = 1.0f;
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_accel_calibration.z_scale = 1.0f;
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_accel_calibration.x_offset = 0.0f;
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_accel_calibration.y_offset = 0.0f;
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_accel_calibration.z_offset = 0.0f;
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_gyro_calibration.x_scale = 1.0f;
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_gyro_calibration.y_scale = 1.0f;
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_gyro_calibration.z_scale = 1.0f;
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_gyro_calibration.x_offset = 0.0f;
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_gyro_calibration.y_offset = 0.0f;
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_gyro_calibration.z_offset = 0.0f;
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if (_mag_enabled) {
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_mag_calibration.x_scale = 1.0f;
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_mag_calibration.y_scale = 1.0f;
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_mag_calibration.z_scale = 1.0f;
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_mag_calibration.x_offset = 0.0f;
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_mag_calibration.y_offset = 0.0f;
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_mag_calibration.z_offset = 0.0f;
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}
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// set software low pass filter for controllers
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param_t param_handle = param_find("IMU_ACCEL_CUTOFF");
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float param_val = MPU9250_ACCEL_DEFAULT_DRIVER_FILTER_FREQ;
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if (param_handle != PARAM_INVALID && (param_get(param_handle, ¶m_val) == PX4_OK)) {
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_accel_filter_x.set_cutoff_frequency(MPU9250_ACCEL_DEFAULT_RATE, param_val);
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_accel_filter_y.set_cutoff_frequency(MPU9250_ACCEL_DEFAULT_RATE, param_val);
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_accel_filter_z.set_cutoff_frequency(MPU9250_ACCEL_DEFAULT_RATE, param_val);
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} else {
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PX4_ERR("IMU_ACCEL_CUTOFF param invalid");
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}
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param_handle = param_find("IMU_GYRO_CUTOFF");
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param_val = MPU9250_GYRO_DEFAULT_DRIVER_FILTER_FREQ;
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if (param_handle != PARAM_INVALID && (param_get(param_handle, ¶m_val) == PX4_OK)) {
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_gyro_filter_x.set_cutoff_frequency(MPU9250_GYRO_DEFAULT_RATE, param_val);
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_gyro_filter_y.set_cutoff_frequency(MPU9250_GYRO_DEFAULT_RATE, param_val);
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_gyro_filter_z.set_cutoff_frequency(MPU9250_GYRO_DEFAULT_RATE, param_val);
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} else {
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PX4_ERR("IMU_GYRO_CUTOFF param invalid");
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}
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}
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DfMpu9250Wrapper::~DfMpu9250Wrapper()
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{
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perf_free(_read_counter);
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perf_free(_error_counter);
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perf_free(_fifo_overflow_counter);
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perf_free(_fifo_corruption_counter);
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perf_free(_gyro_range_hit_counter);
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perf_free(_accel_range_hit_counter);
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if (_mag_enabled) {
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perf_free(_mag_fifo_overflow_counter);
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}
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perf_free(_publish_perf);
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}
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int DfMpu9250Wrapper::start()
|
||||
{
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||||
// TODO: don't publish garbage here
|
||||
sensor_accel_s accel_report = {};
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||||
_accel_topic = orb_advertise_multi(ORB_ID(sensor_accel), &accel_report,
|
||||
&_accel_orb_class_instance, ORB_PRIO_DEFAULT);
|
||||
|
||||
if (_accel_topic == nullptr) {
|
||||
PX4_ERR("sensor_accel advert fail");
|
||||
return -1;
|
||||
}
|
||||
|
||||
// TODO: don't publish garbage here
|
||||
sensor_gyro_s gyro_report = {};
|
||||
_gyro_topic = orb_advertise_multi(ORB_ID(sensor_gyro), &gyro_report,
|
||||
&_gyro_orb_class_instance, ORB_PRIO_DEFAULT);
|
||||
|
||||
if (_gyro_topic == nullptr) {
|
||||
PX4_ERR("sensor_gyro advert fail");
|
||||
return -1;
|
||||
}
|
||||
|
||||
if (_mag_enabled) {
|
||||
}
|
||||
|
||||
/* Subscribe to param update topic. */
|
||||
if (_param_update_sub < 0) {
|
||||
_param_update_sub = orb_subscribe(ORB_ID(parameter_update));
|
||||
}
|
||||
|
||||
/* Init device and start sensor. */
|
||||
int ret = init();
|
||||
|
||||
if (ret != 0) {
|
||||
PX4_ERR("MPU9250 init fail: %d", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
ret = MPU9250::start();
|
||||
|
||||
if (ret != 0) {
|
||||
PX4_ERR("MPU9250 start fail: %d", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
PX4_DEBUG("MPU9250 device id is: %d", m_id.dev_id);
|
||||
|
||||
/* Force getting the calibration values. */
|
||||
_update_accel_calibration();
|
||||
_update_gyro_calibration();
|
||||
_update_mag_calibration();
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int DfMpu9250Wrapper::stop()
|
||||
{
|
||||
/* Stop sensor. */
|
||||
int ret = MPU9250::stop();
|
||||
|
||||
if (ret != 0) {
|
||||
PX4_ERR("MPU9250 stop fail: %d", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
void DfMpu9250Wrapper::info()
|
||||
{
|
||||
perf_print_counter(_read_counter);
|
||||
perf_print_counter(_error_counter);
|
||||
perf_print_counter(_fifo_overflow_counter);
|
||||
perf_print_counter(_fifo_corruption_counter);
|
||||
perf_print_counter(_gyro_range_hit_counter);
|
||||
perf_print_counter(_accel_range_hit_counter);
|
||||
|
||||
if (_mag_enabled) {
|
||||
perf_print_counter(_mag_fifo_overflow_counter);
|
||||
}
|
||||
|
||||
perf_print_counter(_publish_perf);
|
||||
}
|
||||
|
||||
void DfMpu9250Wrapper::_update_gyro_calibration()
|
||||
{
|
||||
// TODO: replace magic number
|
||||
for (unsigned i = 0; i < 3; ++i) {
|
||||
|
||||
// TODO: remove printfs and add error counter
|
||||
|
||||
char str[30];
|
||||
(void)sprintf(str, "CAL_GYRO%u_ID", i);
|
||||
int32_t device_id;
|
||||
int res = param_get(param_find(str), &device_id);
|
||||
|
||||
if (res != OK) {
|
||||
PX4_ERR("Could not access param %s", str);
|
||||
continue;
|
||||
}
|
||||
|
||||
if ((uint32_t)device_id != m_id.dev_id) {
|
||||
continue;
|
||||
}
|
||||
|
||||
(void)sprintf(str, "CAL_GYRO%u_XSCALE", i);
|
||||
res = param_get(param_find(str), &_gyro_calibration.x_scale);
|
||||
|
||||
if (res != OK) {
|
||||
PX4_ERR("Could not access param %s", str);
|
||||
}
|
||||
|
||||
(void)sprintf(str, "CAL_GYRO%u_YSCALE", i);
|
||||
res = param_get(param_find(str), &_gyro_calibration.y_scale);
|
||||
|
||||
if (res != OK) {
|
||||
PX4_ERR("Could not access param %s", str);
|
||||
}
|
||||
|
||||
(void)sprintf(str, "CAL_GYRO%u_ZSCALE", i);
|
||||
res = param_get(param_find(str), &_gyro_calibration.z_scale);
|
||||
|
||||
if (res != OK) {
|
||||
PX4_ERR("Could not access param %s", str);
|
||||
}
|
||||
|
||||
(void)sprintf(str, "CAL_GYRO%u_XOFF", i);
|
||||
res = param_get(param_find(str), &_gyro_calibration.x_offset);
|
||||
|
||||
if (res != OK) {
|
||||
PX4_ERR("Could not access param %s", str);
|
||||
}
|
||||
|
||||
(void)sprintf(str, "CAL_GYRO%u_YOFF", i);
|
||||
res = param_get(param_find(str), &_gyro_calibration.y_offset);
|
||||
|
||||
if (res != OK) {
|
||||
PX4_ERR("Could not access param %s", str);
|
||||
}
|
||||
|
||||
(void)sprintf(str, "CAL_GYRO%u_ZOFF", i);
|
||||
res = param_get(param_find(str), &_gyro_calibration.z_offset);
|
||||
|
||||
if (res != OK) {
|
||||
PX4_ERR("Could not access param %s", str);
|
||||
}
|
||||
|
||||
// We got calibration values, let's exit.
|
||||
return;
|
||||
}
|
||||
|
||||
_gyro_calibration.x_scale = 1.0f;
|
||||
_gyro_calibration.y_scale = 1.0f;
|
||||
_gyro_calibration.z_scale = 1.0f;
|
||||
_gyro_calibration.x_offset = 0.0f;
|
||||
_gyro_calibration.y_offset = 0.0f;
|
||||
_gyro_calibration.z_offset = 0.0f;
|
||||
}
|
||||
|
||||
void DfMpu9250Wrapper::_update_accel_calibration()
|
||||
{
|
||||
// TODO: replace magic number
|
||||
for (unsigned i = 0; i < 3; ++i) {
|
||||
|
||||
// TODO: remove printfs and add error counter
|
||||
|
||||
char str[30];
|
||||
(void)sprintf(str, "CAL_ACC%u_ID", i);
|
||||
int32_t device_id;
|
||||
int res = param_get(param_find(str), &device_id);
|
||||
|
||||
if (res != OK) {
|
||||
PX4_ERR("Could not access param %s", str);
|
||||
continue;
|
||||
}
|
||||
|
||||
if ((uint32_t)device_id != m_id.dev_id) {
|
||||
continue;
|
||||
}
|
||||
|
||||
(void)sprintf(str, "CAL_ACC%u_XSCALE", i);
|
||||
res = param_get(param_find(str), &_accel_calibration.x_scale);
|
||||
|
||||
if (res != OK) {
|
||||
PX4_ERR("Could not access param %s", str);
|
||||
}
|
||||
|
||||
(void)sprintf(str, "CAL_ACC%u_YSCALE", i);
|
||||
res = param_get(param_find(str), &_accel_calibration.y_scale);
|
||||
|
||||
if (res != OK) {
|
||||
PX4_ERR("Could not access param %s", str);
|
||||
}
|
||||
|
||||
(void)sprintf(str, "CAL_ACC%u_ZSCALE", i);
|
||||
res = param_get(param_find(str), &_accel_calibration.z_scale);
|
||||
|
||||
if (res != OK) {
|
||||
PX4_ERR("Could not access param %s", str);
|
||||
}
|
||||
|
||||
(void)sprintf(str, "CAL_ACC%u_XOFF", i);
|
||||
res = param_get(param_find(str), &_accel_calibration.x_offset);
|
||||
|
||||
if (res != OK) {
|
||||
PX4_ERR("Could not access param %s", str);
|
||||
}
|
||||
|
||||
(void)sprintf(str, "CAL_ACC%u_YOFF", i);
|
||||
res = param_get(param_find(str), &_accel_calibration.y_offset);
|
||||
|
||||
if (res != OK) {
|
||||
PX4_ERR("Could not access param %s", str);
|
||||
}
|
||||
|
||||
(void)sprintf(str, "CAL_ACC%u_ZOFF", i);
|
||||
res = param_get(param_find(str), &_accel_calibration.z_offset);
|
||||
|
||||
if (res != OK) {
|
||||
PX4_ERR("Could not access param %s", str);
|
||||
}
|
||||
|
||||
// We got calibration values, let's exit.
|
||||
return;
|
||||
}
|
||||
|
||||
// Set sane default calibration values
|
||||
_accel_calibration.x_scale = 1.0f;
|
||||
_accel_calibration.y_scale = 1.0f;
|
||||
_accel_calibration.z_scale = 1.0f;
|
||||
_accel_calibration.x_offset = 0.0f;
|
||||
_accel_calibration.y_offset = 0.0f;
|
||||
_accel_calibration.z_offset = 0.0f;
|
||||
}
|
||||
|
||||
void DfMpu9250Wrapper::_update_mag_calibration()
|
||||
{
|
||||
if (!_mag_enabled) {
|
||||
return;
|
||||
}
|
||||
|
||||
// TODO: replace magic number
|
||||
for (unsigned i = 0; i < 3; ++i) {
|
||||
|
||||
// TODO: remove printfs and add error counter
|
||||
|
||||
char str[30];
|
||||
(void)sprintf(str, "CAL_MAG%u_ID", i);
|
||||
int32_t device_id;
|
||||
int res = param_get(param_find(str), &device_id);
|
||||
|
||||
if (res != OK) {
|
||||
PX4_ERR("Could not access param %s", str);
|
||||
continue;
|
||||
}
|
||||
|
||||
if ((uint32_t)device_id != m_id.dev_id) {
|
||||
continue;
|
||||
}
|
||||
|
||||
(void)sprintf(str, "CAL_MAG%u_XSCALE", i);
|
||||
res = param_get(param_find(str), &_mag_calibration.x_scale);
|
||||
|
||||
if (res != OK) {
|
||||
PX4_ERR("Could not access param %s", str);
|
||||
}
|
||||
|
||||
(void)sprintf(str, "CAL_MAG%u_YSCALE", i);
|
||||
res = param_get(param_find(str), &_mag_calibration.y_scale);
|
||||
|
||||
if (res != OK) {
|
||||
PX4_ERR("Could not access param %s", str);
|
||||
}
|
||||
|
||||
(void)sprintf(str, "CAL_MAG%u_ZSCALE", i);
|
||||
res = param_get(param_find(str), &_mag_calibration.z_scale);
|
||||
|
||||
if (res != OK) {
|
||||
PX4_ERR("Could not access param %s", str);
|
||||
}
|
||||
|
||||
(void)sprintf(str, "CAL_MAG%u_XOFF", i);
|
||||
res = param_get(param_find(str), &_mag_calibration.x_offset);
|
||||
|
||||
if (res != OK) {
|
||||
PX4_ERR("Could not access param %s", str);
|
||||
}
|
||||
|
||||
(void)sprintf(str, "CAL_MAG%u_YOFF", i);
|
||||
res = param_get(param_find(str), &_mag_calibration.y_offset);
|
||||
|
||||
if (res != OK) {
|
||||
PX4_ERR("Could not access param %s", str);
|
||||
}
|
||||
|
||||
(void)sprintf(str, "CAL_MAG%u_ZOFF", i);
|
||||
res = param_get(param_find(str), &_mag_calibration.z_offset);
|
||||
|
||||
if (res != OK) {
|
||||
PX4_ERR("Could not access param %s", str);
|
||||
}
|
||||
|
||||
// We got calibration values, let's exit.
|
||||
return;
|
||||
}
|
||||
|
||||
// Set sane default calibration values
|
||||
_mag_calibration.x_scale = 1.0f;
|
||||
_mag_calibration.y_scale = 1.0f;
|
||||
_mag_calibration.z_scale = 1.0f;
|
||||
_mag_calibration.x_offset = 0.0f;
|
||||
_mag_calibration.y_offset = 0.0f;
|
||||
_mag_calibration.z_offset = 0.0f;
|
||||
}
|
||||
|
||||
int DfMpu9250Wrapper::_publish(struct imu_sensor_data &data)
|
||||
{
|
||||
/* Check if calibration values are still up-to-date. */
|
||||
bool updated;
|
||||
orb_check(_param_update_sub, &updated);
|
||||
|
||||
if (updated) {
|
||||
parameter_update_s parameter_update;
|
||||
orb_copy(ORB_ID(parameter_update), _param_update_sub, ¶meter_update);
|
||||
|
||||
_update_accel_calibration();
|
||||
_update_gyro_calibration();
|
||||
_update_mag_calibration();
|
||||
}
|
||||
|
||||
sensor_accel_s accel_report = {};
|
||||
sensor_gyro_s gyro_report = {};
|
||||
mag_report mag_report = {};
|
||||
|
||||
accel_report.timestamp = gyro_report.timestamp = hrt_absolute_time();
|
||||
|
||||
accel_report.error_count = gyro_report.error_count = mag_report.error_count = data.error_counter;
|
||||
|
||||
// ACCEL
|
||||
|
||||
float xraw_f = data.accel_m_s2_x;
|
||||
float yraw_f = data.accel_m_s2_y;
|
||||
float zraw_f = data.accel_m_s2_z;
|
||||
|
||||
// apply user specified rotation
|
||||
rotate_3f(_rotation, xraw_f, yraw_f, zraw_f);
|
||||
|
||||
// MPU9250 driver from DriverFramework does not provide any raw values
|
||||
// TEMP We misuse the raw values on the Snapdragon to publish unfiltered data for VISLAM
|
||||
accel_report.x_raw = (int16_t)(xraw_f * 1000); // (int16) [m / s^2 * 1000];
|
||||
accel_report.y_raw = (int16_t)(yraw_f * 1000); // (int16) [m / s^2 * 1000];
|
||||
accel_report.z_raw = (int16_t)(zraw_f * 1000); // (int16) [m / s^2 * 1000];
|
||||
|
||||
// adjust values according to the calibration
|
||||
float x_in_new = (xraw_f - _accel_calibration.x_offset) * _accel_calibration.x_scale;
|
||||
float y_in_new = (yraw_f - _accel_calibration.y_offset) * _accel_calibration.y_scale;
|
||||
float z_in_new = (zraw_f - _accel_calibration.z_offset) * _accel_calibration.z_scale;
|
||||
|
||||
accel_report.x = _accel_filter_x.apply(x_in_new);
|
||||
accel_report.y = _accel_filter_y.apply(y_in_new);
|
||||
accel_report.z = _accel_filter_z.apply(z_in_new);
|
||||
|
||||
matrix::Vector3f aval(x_in_new, y_in_new, z_in_new);
|
||||
matrix::Vector3f aval_integrated;
|
||||
|
||||
_accel_int.put(accel_report.timestamp, aval, aval_integrated, accel_report.integral_dt);
|
||||
accel_report.x_integral = aval_integrated(0);
|
||||
accel_report.y_integral = aval_integrated(1);
|
||||
accel_report.z_integral = aval_integrated(2);
|
||||
|
||||
// GYRO
|
||||
|
||||
xraw_f = data.gyro_rad_s_x;
|
||||
yraw_f = data.gyro_rad_s_y;
|
||||
zraw_f = data.gyro_rad_s_z;
|
||||
|
||||
// apply user specified rotation
|
||||
rotate_3f(_rotation, xraw_f, yraw_f, zraw_f);
|
||||
|
||||
// MPU9250 driver from DriverFramework does not provide any raw values
|
||||
// TEMP We misuse the raw values on the Snapdragon to publish unfiltered data for VISLAM
|
||||
gyro_report.x_raw = (int16_t)(xraw_f * 1000); // (int16) [rad / s * 1000];
|
||||
gyro_report.y_raw = (int16_t)(yraw_f * 1000); // (int16) [rad / s * 1000];
|
||||
gyro_report.z_raw = (int16_t)(zraw_f * 1000); // (int16) [rad / s * 1000];
|
||||
|
||||
// adjust values according to the calibration
|
||||
float x_gyro_in_new = (xraw_f - _gyro_calibration.x_offset) * _gyro_calibration.x_scale;
|
||||
float y_gyro_in_new = (yraw_f - _gyro_calibration.y_offset) * _gyro_calibration.y_scale;
|
||||
float z_gyro_in_new = (zraw_f - _gyro_calibration.z_offset) * _gyro_calibration.z_scale;
|
||||
|
||||
gyro_report.x = _gyro_filter_x.apply(x_gyro_in_new);
|
||||
gyro_report.y = _gyro_filter_y.apply(y_gyro_in_new);
|
||||
gyro_report.z = _gyro_filter_z.apply(z_gyro_in_new);
|
||||
|
||||
matrix::Vector3f gval(x_gyro_in_new, y_gyro_in_new, z_gyro_in_new);
|
||||
matrix::Vector3f gval_integrated;
|
||||
|
||||
bool sensor_notify = _gyro_int.put(gyro_report.timestamp, gval, gval_integrated, gyro_report.integral_dt);
|
||||
gyro_report.x_integral = gval_integrated(0);
|
||||
gyro_report.y_integral = gval_integrated(1);
|
||||
gyro_report.z_integral = gval_integrated(2);
|
||||
|
||||
|
||||
// if gyro integrator did not return a sample we can return here
|
||||
// Note: the accel integrator receives the same timestamp as the gyro integrator
|
||||
// so we do not need to handle it seperately
|
||||
if (!sensor_notify) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
// Update all the counters.
|
||||
perf_set_count(_read_counter, data.read_counter);
|
||||
perf_set_count(_error_counter, data.error_counter);
|
||||
perf_set_count(_fifo_overflow_counter, data.fifo_overflow_counter);
|
||||
perf_set_count(_fifo_corruption_counter, data.fifo_overflow_counter);
|
||||
perf_set_count(_gyro_range_hit_counter, data.gyro_range_hit_counter);
|
||||
perf_set_count(_accel_range_hit_counter, data.accel_range_hit_counter);
|
||||
|
||||
if (_mag_enabled) {
|
||||
perf_set_count(_mag_fifo_overflow_counter, data.mag_fifo_overflow_counter);
|
||||
}
|
||||
|
||||
perf_begin(_publish_perf);
|
||||
|
||||
// TODO: get these right
|
||||
gyro_report.scaling = -1.0f;
|
||||
gyro_report.device_id = m_id.dev_id;
|
||||
|
||||
accel_report.scaling = -1.0f;
|
||||
accel_report.device_id = m_id.dev_id;
|
||||
|
||||
if (_mag_enabled) {
|
||||
mag_report.timestamp = accel_report.timestamp;
|
||||
mag_report.is_external = false;
|
||||
|
||||
mag_report.scaling = -1.0f;
|
||||
mag_report.device_id = m_id.dev_id;
|
||||
|
||||
xraw_f = data.mag_ga_x;
|
||||
yraw_f = data.mag_ga_y;
|
||||
zraw_f = data.mag_ga_z;
|
||||
|
||||
rotate_3f(_rotation, xraw_f, yraw_f, zraw_f);
|
||||
|
||||
// MPU9250 driver from DriverFramework does not provide any raw values
|
||||
// TEMP We misuse the raw values on the Snapdragon to publish unfiltered data for VISLAM
|
||||
mag_report.x_raw = xraw_f * 1000; // (int16) [Gs * 1000]
|
||||
mag_report.y_raw = yraw_f * 1000; // (int16) [Gs * 1000]
|
||||
mag_report.z_raw = zraw_f * 1000; // (int16) [Gs * 1000]
|
||||
|
||||
mag_report.x = (xraw_f - _mag_calibration.x_offset) * _mag_calibration.x_scale;
|
||||
mag_report.y = (yraw_f - _mag_calibration.y_offset) * _mag_calibration.y_scale;
|
||||
mag_report.z = (zraw_f - _mag_calibration.z_offset) * _mag_calibration.z_scale;
|
||||
}
|
||||
|
||||
// TODO: when is this ever blocked?
|
||||
if (!(m_pub_blocked) && sensor_notify) {
|
||||
|
||||
if (_gyro_topic != nullptr) {
|
||||
orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &gyro_report);
|
||||
}
|
||||
|
||||
if (_accel_topic != nullptr) {
|
||||
orb_publish(ORB_ID(sensor_accel), _accel_topic, &accel_report);
|
||||
}
|
||||
|
||||
if (_mag_enabled) {
|
||||
|
||||
if (_mag_topic == nullptr) {
|
||||
_mag_topic = orb_advertise_multi(ORB_ID(sensor_mag), &mag_report,
|
||||
&_mag_orb_class_instance, ORB_PRIO_LOW);
|
||||
|
||||
} else {
|
||||
orb_publish(ORB_ID(sensor_mag), _mag_topic, &mag_report);
|
||||
}
|
||||
}
|
||||
|
||||
// Report if there are high vibrations, every 10 times it happens.
|
||||
const bool threshold_reached = (data.accel_range_hit_counter - _last_accel_range_hit_count > 10);
|
||||
|
||||
// Report every 5s.
|
||||
const bool due_to_report = (hrt_elapsed_time(&_last_accel_range_hit_time) > 5000000);
|
||||
|
||||
if (threshold_reached && due_to_report) {
|
||||
mavlink_log_critical(&_mavlink_log_pub,
|
||||
"High accelerations, range exceeded %llu times",
|
||||
data.accel_range_hit_counter);
|
||||
|
||||
_last_accel_range_hit_time = hrt_absolute_time();
|
||||
_last_accel_range_hit_count = data.accel_range_hit_counter;
|
||||
}
|
||||
}
|
||||
|
||||
perf_end(_publish_perf);
|
||||
|
||||
// TODO: check the return codes of this function
|
||||
return 0;
|
||||
};
|
||||
|
||||
|
||||
namespace df_mpu9250_wrapper
|
||||
{
|
||||
|
||||
DfMpu9250Wrapper *g_dev = nullptr;
|
||||
|
||||
int start(bool mag_enabled, enum Rotation rotation);
|
||||
int stop();
|
||||
int info();
|
||||
void usage();
|
||||
|
||||
int start(bool mag_enabled, enum Rotation rotation)
|
||||
{
|
||||
g_dev = new DfMpu9250Wrapper(mag_enabled, rotation);
|
||||
|
||||
if (g_dev == nullptr) {
|
||||
PX4_ERR("failed instantiating DfMpu9250Wrapper object");
|
||||
return -1;
|
||||
}
|
||||
|
||||
int ret = g_dev->start();
|
||||
|
||||
if (ret != 0) {
|
||||
PX4_ERR("DfMpu9250Wrapper start failed");
|
||||
return ret;
|
||||
}
|
||||
|
||||
// Open the IMU sensor
|
||||
DevHandle h;
|
||||
DevMgr::getHandle(IMU_DEVICE_PATH, h);
|
||||
|
||||
if (!h.isValid()) {
|
||||
DF_LOG_INFO("Error: unable to obtain a valid handle for the receiver at: %s (%d)",
|
||||
IMU_DEVICE_PATH, h.getError());
|
||||
return -1;
|
||||
}
|
||||
|
||||
DevMgr::releaseHandle(h);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int stop()
|
||||
{
|
||||
if (g_dev == nullptr) {
|
||||
PX4_ERR("driver not running");
|
||||
return 1;
|
||||
}
|
||||
|
||||
int ret = g_dev->stop();
|
||||
|
||||
if (ret != 0) {
|
||||
PX4_ERR("driver could not be stopped");
|
||||
return ret;
|
||||
}
|
||||
|
||||
delete g_dev;
|
||||
g_dev = nullptr;
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* Print a little info about the driver.
|
||||
*/
|
||||
int
|
||||
info()
|
||||
{
|
||||
if (g_dev == nullptr) {
|
||||
PX4_ERR("driver not running");
|
||||
return 1;
|
||||
}
|
||||
|
||||
PX4_INFO("state @ %p", g_dev);
|
||||
g_dev->info();
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
void
|
||||
usage()
|
||||
{
|
||||
PX4_INFO("Usage: df_mpu9250_wrapper 'start', 'start_without_mag', 'info', 'stop'");
|
||||
PX4_INFO("options:");
|
||||
PX4_INFO(" -R rotation");
|
||||
}
|
||||
|
||||
} // namespace df_mpu9250_wrapper
|
||||
|
||||
|
||||
int
|
||||
df_mpu9250_wrapper_main(int argc, char *argv[])
|
||||
{
|
||||
int ch;
|
||||
enum Rotation rotation = ROTATION_NONE;
|
||||
int ret = 0;
|
||||
int myoptind = 1;
|
||||
const char *myoptarg = NULL;
|
||||
|
||||
/* jump over start/off/etc and look at options first */
|
||||
while ((ch = px4_getopt(argc, argv, "R:", &myoptind, &myoptarg)) != EOF) {
|
||||
switch (ch) {
|
||||
case 'R':
|
||||
rotation = (enum Rotation)atoi(myoptarg);
|
||||
break;
|
||||
|
||||
default:
|
||||
df_mpu9250_wrapper::usage();
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
|
||||
if (argc <= 1) {
|
||||
df_mpu9250_wrapper::usage();
|
||||
return 1;
|
||||
}
|
||||
|
||||
const char *verb = argv[myoptind];
|
||||
|
||||
if (!strcmp(verb, "start_without_mag")) {
|
||||
ret = df_mpu9250_wrapper::start(false, rotation);
|
||||
}
|
||||
|
||||
else if (!strcmp(verb, "start")) {
|
||||
ret = df_mpu9250_wrapper::start(true, rotation);
|
||||
}
|
||||
|
||||
else if (!strcmp(verb, "stop")) {
|
||||
ret = df_mpu9250_wrapper::stop();
|
||||
}
|
||||
|
||||
else if (!strcmp(verb, "info")) {
|
||||
ret = df_mpu9250_wrapper::info();
|
||||
}
|
||||
|
||||
else {
|
||||
df_mpu9250_wrapper::usage();
|
||||
return 1;
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
Reference in New Issue
Block a user