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sensors: minor optimization, cleanup and refactoring

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This commit is contained in:
Anton Babushkin
2013-10-08 13:39:08 +02:00
parent 55f7c561ef
commit b2555d70e3
1 changed files with 118 additions and 121 deletions
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src/modules/sensors/sensors.cpp
+118 -121
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@@ -68,7 +68,6 @@
#include <systemlib/err.h>
#include <systemlib/perf_counter.h>
#include <systemlib/ppm_decode.h>
#include <systemlib/airspeed.h>
#include <uORB/uORB.h>
@@ -105,22 +104,22 @@
* IN13 - aux1
* IN14 - aux2
* IN15 - pressure sensor
*
*
* IO:
* IN4 - servo supply rail
* IN5 - analog RSSI
*/
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
#define ADC_BATTERY_VOLTAGE_CHANNEL 10
#define ADC_AIRSPEED_VOLTAGE_CHANNEL 11
#define ADC_BATTERY_VOLTAGE_CHANNEL 10
#define ADC_AIRSPEED_VOLTAGE_CHANNEL 11
#endif
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
#define ADC_BATTERY_VOLTAGE_CHANNEL 2
#define ADC_BATTERY_CURRENT_CHANNEL 3
#define ADC_5V_RAIL_SENSE 4
#define ADC_AIRSPEED_VOLTAGE_CHANNEL 15
#define ADC_BATTERY_VOLTAGE_CHANNEL 2
#define ADC_BATTERY_CURRENT_CHANNEL 3
#define ADC_5V_RAIL_SENSE 4
#define ADC_AIRSPEED_VOLTAGE_CHANNEL 15
#endif
#define BAT_VOL_INITIAL 0.f
@@ -134,8 +133,6 @@
*/
#define PCB_TEMP_ESTIMATE_DEG 5.0f
#define PPM_INPUT_TIMEOUT_INTERVAL 50000 /**< 50 ms timeout / 20 Hz */
#define limit_minus_one_to_one(arg) (arg < -1.0f) ? -1.0f : ((arg > 1.0f) ? 1.0f : arg)
/**
@@ -143,70 +140,68 @@
* This enum maps from board attitude to airframe attitude.
*/
enum Rotation {
ROTATION_NONE = 0,
ROTATION_YAW_45 = 1,
ROTATION_YAW_90 = 2,
ROTATION_YAW_135 = 3,
ROTATION_YAW_180 = 4,
ROTATION_YAW_225 = 5,
ROTATION_YAW_270 = 6,
ROTATION_YAW_315 = 7,
ROTATION_ROLL_180 = 8,
ROTATION_ROLL_180_YAW_45 = 9,
ROTATION_ROLL_180_YAW_90 = 10,
ROTATION_ROLL_180_YAW_135 = 11,
ROTATION_PITCH_180 = 12,
ROTATION_ROLL_180_YAW_225 = 13,
ROTATION_ROLL_180_YAW_270 = 14,
ROTATION_ROLL_180_YAW_315 = 15,
ROTATION_ROLL_90 = 16,
ROTATION_ROLL_90_YAW_45 = 17,
ROTATION_ROLL_90_YAW_90 = 18,
ROTATION_ROLL_90_YAW_135 = 19,
ROTATION_ROLL_270 = 20,
ROTATION_ROLL_270_YAW_45 = 21,
ROTATION_ROLL_270_YAW_90 = 22,
ROTATION_ROLL_270_YAW_135 = 23,
ROTATION_PITCH_90 = 24,
ROTATION_PITCH_270 = 25,
ROTATION_MAX
ROTATION_NONE = 0,
ROTATION_YAW_45 = 1,
ROTATION_YAW_90 = 2,
ROTATION_YAW_135 = 3,
ROTATION_YAW_180 = 4,
ROTATION_YAW_225 = 5,
ROTATION_YAW_270 = 6,
ROTATION_YAW_315 = 7,
ROTATION_ROLL_180 = 8,
ROTATION_ROLL_180_YAW_45 = 9,
ROTATION_ROLL_180_YAW_90 = 10,
ROTATION_ROLL_180_YAW_135 = 11,
ROTATION_PITCH_180 = 12,
ROTATION_ROLL_180_YAW_225 = 13,
ROTATION_ROLL_180_YAW_270 = 14,
ROTATION_ROLL_180_YAW_315 = 15,
ROTATION_ROLL_90 = 16,
ROTATION_ROLL_90_YAW_45 = 17,
ROTATION_ROLL_90_YAW_90 = 18,
ROTATION_ROLL_90_YAW_135 = 19,
ROTATION_ROLL_270 = 20,
ROTATION_ROLL_270_YAW_45 = 21,
ROTATION_ROLL_270_YAW_90 = 22,
ROTATION_ROLL_270_YAW_135 = 23,
ROTATION_PITCH_90 = 24,
ROTATION_PITCH_270 = 25,
ROTATION_MAX
};
typedef struct
{
uint16_t roll;
uint16_t pitch;
uint16_t yaw;
typedef struct {
uint16_t roll;
uint16_t pitch;
uint16_t yaw;
} rot_lookup_t;
const rot_lookup_t rot_lookup[] =
{
{ 0, 0, 0 },
{ 0, 0, 45 },
{ 0, 0, 90 },
{ 0, 0, 135 },
{ 0, 0, 180 },
{ 0, 0, 225 },
{ 0, 0, 270 },
{ 0, 0, 315 },
{180, 0, 0 },
{180, 0, 45 },
{180, 0, 90 },
{180, 0, 135 },
{ 0, 180, 0 },
{180, 0, 225 },
{180, 0, 270 },
{180, 0, 315 },
{ 90, 0, 0 },
{ 90, 0, 45 },
{ 90, 0, 90 },
{ 90, 0, 135 },
{270, 0, 0 },
{270, 0, 45 },
{270, 0, 90 },
{270, 0, 135 },
{ 0, 90, 0 },
{ 0, 270, 0 }
const rot_lookup_t rot_lookup[] = {
{ 0, 0, 0 },
{ 0, 0, 45 },
{ 0, 0, 90 },
{ 0, 0, 135 },
{ 0, 0, 180 },
{ 0, 0, 225 },
{ 0, 0, 270 },
{ 0, 0, 315 },
{180, 0, 0 },
{180, 0, 45 },
{180, 0, 90 },
{180, 0, 135 },
{ 0, 180, 0 },
{180, 0, 225 },
{180, 0, 270 },
{180, 0, 315 },
{ 90, 0, 0 },
{ 90, 0, 45 },
{ 90, 0, 90 },
{ 90, 0, 135 },
{270, 0, 0 },
{270, 0, 45 },
{270, 0, 90 },
{270, 0, 135 },
{ 0, 90, 0 },
{ 0, 270, 0 }
};
/**
@@ -239,12 +234,12 @@ public:
private:
static const unsigned _rc_max_chan_count = RC_CHANNELS_MAX; /**< maximum number of r/c channels we handle */
hrt_abstime _ppm_last_valid; /**< last time we got a valid ppm signal */
hrt_abstime _rc_last_valid; /**< last time we got a valid RC signal */
/**
* Gather and publish PPM input data.
* Gather and publish RC input data.
*/
void ppm_poll();
void rc_poll();
/* XXX should not be here - should be own driver */
int _fd_adc; /**< ADC driver handle */
@@ -501,7 +496,7 @@ Sensors *g_sensors = nullptr;
}
Sensors::Sensors() :
_ppm_last_valid(0),
_rc_last_valid(0),
_fd_adc(-1),
_last_adc(0),
@@ -532,8 +527,8 @@ Sensors::Sensors() :
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "sensor task update")),
_board_rotation(3,3),
_external_mag_rotation(3,3),
_board_rotation(3, 3),
_external_mag_rotation(3, 3),
_mag_is_external(false)
{
@@ -660,9 +655,9 @@ int
Sensors::parameters_update()
{
bool rc_valid = true;
float tmpScaleFactor = 0.0f;
float tmpRevFactor = 0.0f;
float tmpScaleFactor = 0.0f;
float tmpRevFactor = 0.0f;
/* rc values */
for (unsigned int i = 0; i < RC_CHANNELS_MAX; i++) {
@@ -674,19 +669,19 @@ Sensors::parameters_update()
tmpScaleFactor = (1.0f / ((_parameters.max[i] - _parameters.min[i]) / 2.0f) * _parameters.rev[i]);
tmpRevFactor = tmpScaleFactor * _parameters.rev[i];
/* handle blowup in the scaling factor calculation */
if (!isfinite(tmpScaleFactor) ||
(tmpRevFactor < 0.000001f) ||
(tmpRevFactor > 0.2f) ) {
(tmpRevFactor > 0.2f)) {
warnx("RC chan %u not sane, scaling: %8.6f, rev: %d", i, tmpScaleFactor, (int)(_parameters.rev[i]));
/* scaling factors do not make sense, lock them down */
_parameters.scaling_factor[i] = 0.0f;
rc_valid = false;
} else {
_parameters.scaling_factor[i] = tmpScaleFactor;
}
else {
_parameters.scaling_factor[i] = tmpScaleFactor;
}
}
/* handle wrong values */
@@ -812,7 +807,7 @@ void
Sensors::get_rot_matrix(enum Rotation rot, math::Matrix *rot_matrix)
{
/* first set to zero */
rot_matrix->Matrix::zero(3,3);
rot_matrix->Matrix::zero(3, 3);
float roll = M_DEG_TO_RAD_F * (float)rot_lookup[rot].roll;
float pitch = M_DEG_TO_RAD_F * (float)rot_lookup[rot].pitch;
@@ -823,7 +818,7 @@ Sensors::get_rot_matrix(enum Rotation rot, math::Matrix *rot_matrix)
math::Dcm R(euler);
for (int i = 0; i < 3; i++) for (int j = 0; j < 3; j++)
(*rot_matrix)(i,j) = R(i, j);
(*rot_matrix)(i, j) = R(i, j);
}
void
@@ -841,7 +836,7 @@ Sensors::accel_init()
// XXX do the check more elegantly
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
/* set the accel internal sampling rate up to at leat 1000Hz */
ioctl(fd, ACCELIOCSSAMPLERATE, 1000);
@@ -849,7 +844,7 @@ Sensors::accel_init()
/* set the driver to poll at 1000Hz */
ioctl(fd, SENSORIOCSPOLLRATE, 1000);
#elif CONFIG_ARCH_BOARD_PX4FMU_V2
#elif CONFIG_ARCH_BOARD_PX4FMU_V2
/* set the accel internal sampling rate up to at leat 800Hz */
ioctl(fd, ACCELIOCSSAMPLERATE, 800);
@@ -857,10 +852,10 @@ Sensors::accel_init()
/* set the driver to poll at 800Hz */
ioctl(fd, SENSORIOCSPOLLRATE, 800);
#else
#error Need a board configuration, either CONFIG_ARCH_BOARD_PX4FMU_V1 or CONFIG_ARCH_BOARD_PX4FMU_V2
#else
#error Need a board configuration, either CONFIG_ARCH_BOARD_PX4FMU_V1 or CONFIG_ARCH_BOARD_PX4FMU_V2
#endif
#endif
warnx("using system accel");
close(fd);
@@ -882,7 +877,7 @@ Sensors::gyro_init()
// XXX do the check more elegantly
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
/* set the gyro internal sampling rate up to at least 1000Hz */
if (ioctl(fd, GYROIOCSSAMPLERATE, 1000) != OK)
@@ -892,7 +887,7 @@ Sensors::gyro_init()
if (ioctl(fd, SENSORIOCSPOLLRATE, 1000) != OK)
ioctl(fd, SENSORIOCSPOLLRATE, 800);
#else
#else
/* set the gyro internal sampling rate up to at least 760Hz */
ioctl(fd, GYROIOCSSAMPLERATE, 760);
@@ -900,7 +895,7 @@ Sensors::gyro_init()
/* set the driver to poll at 760Hz */
ioctl(fd, SENSORIOCSPOLLRATE, 760);
#endif
#endif
warnx("using system gyro");
close(fd);
@@ -924,23 +919,28 @@ Sensors::mag_init()
ret = ioctl(fd, MAGIOCSSAMPLERATE, 150);
if (ret == OK) {
/* set the pollrate accordingly */
ioctl(fd, SENSORIOCSPOLLRATE, 150);
} else {
ret = ioctl(fd, MAGIOCSSAMPLERATE, 100);
/* if the slower sampling rate still fails, something is wrong */
if (ret == OK) {
/* set the driver to poll also at the slower rate */
ioctl(fd, SENSORIOCSPOLLRATE, 100);
} else {
errx(1, "FATAL: mag sampling rate could not be set");
}
}
ret = ioctl(fd, MAGIOCGEXTERNAL, 0);
if (ret < 0)
errx(1, "FATAL: unknown if magnetometer is external or onboard");
else if (ret == 1)
@@ -993,7 +993,7 @@ Sensors::accel_poll(struct sensor_combined_s &raw)
orb_copy(ORB_ID(sensor_accel), _accel_sub, &accel_report);
math::Vector3 vect = {accel_report.x, accel_report.y, accel_report.z};
vect = _board_rotation*vect;
vect = _board_rotation * vect;
raw.accelerometer_m_s2[0] = vect(0);
raw.accelerometer_m_s2[1] = vect(1);
@@ -1019,7 +1019,7 @@ Sensors::gyro_poll(struct sensor_combined_s &raw)
orb_copy(ORB_ID(sensor_gyro), _gyro_sub, &gyro_report);
math::Vector3 vect = {gyro_report.x, gyro_report.y, gyro_report.z};
vect = _board_rotation*vect;
vect = _board_rotation * vect;
raw.gyro_rad_s[0] = vect(0);
raw.gyro_rad_s[1] = vect(1);
@@ -1047,9 +1047,9 @@ Sensors::mag_poll(struct sensor_combined_s &raw)
math::Vector3 vect = {mag_report.x, mag_report.y, mag_report.z};
if (_mag_is_external)
vect = _external_mag_rotation*vect;
vect = _external_mag_rotation * vect;
else
vect = _board_rotation*vect;
vect = _board_rotation * vect;
raw.magnetometer_ga[0] = vect(0);
raw.magnetometer_ga[1] = vect(1);
@@ -1094,8 +1094,8 @@ Sensors::diff_pres_poll(struct sensor_combined_s &raw)
raw.differential_pressure_counter++;
_airspeed.indicated_airspeed_m_s = calc_indicated_airspeed(_diff_pres.differential_pressure_pa);
_airspeed.true_airspeed_m_s = calc_true_airspeed(_diff_pres.differential_pressure_pa + raw.baro_pres_mbar*1e2f,
raw.baro_pres_mbar*1e2f, raw.baro_temp_celcius - PCB_TEMP_ESTIMATE_DEG);
_airspeed.true_airspeed_m_s = calc_true_airspeed(_diff_pres.differential_pressure_pa + raw.baro_pres_mbar * 1e2f,
raw.baro_pres_mbar * 1e2f, raw.baro_temp_celcius - PCB_TEMP_ESTIMATE_DEG);
/* announce the airspeed if needed, just publish else */
if (_airspeed_pub > 0) {
@@ -1233,12 +1233,12 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
int ret = read(_fd_adc, &buf_adc, sizeof(buf_adc));
for (unsigned i = 0; i < sizeof(buf_adc) / sizeof(buf_adc[0]); i++) {
if (ret >= (int)sizeof(buf_adc[0])) {
/* Save raw voltage values */
if (i < (sizeof(raw.adc_voltage_v)) / sizeof(raw.adc_voltage_v[0])) {
raw.adc_voltage_v[i] = buf_adc[i].am_data / (4096.0f / 3.3f);
raw.adc_voltage_v[i] = buf_adc[i].am_data / (4096.0f / 3.3f);
}
/* look for specific channels and process the raw voltage to measurement data */
@@ -1266,12 +1266,12 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
} else {
_battery_pub = orb_advertise(ORB_ID(battery_status), &_battery_status);
}
}
}
} else if (ADC_AIRSPEED_VOLTAGE_CHANNEL == buf_adc[i].am_channel) {
/* calculate airspeed, raw is the difference from */
float voltage = (float)(buf_adc[i].am_data ) * 3.3f / 4096.0f * 2.0f; //V_ref/4096 * (voltage divider factor)
float voltage = (float)(buf_adc[i].am_data) * 3.3f / 4096.0f * 2.0f; //V_ref/4096 * (voltage divider factor)
/**
* The voltage divider pulls the signal down, only act on
@@ -1303,17 +1303,13 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
}
void
Sensors::ppm_poll()
Sensors::rc_poll()
{
bool rc_updated;
orb_check(_rc_sub, &rc_updated);
/* read low-level values from FMU or IO RC inputs (PPM, Spektrum, S.Bus) */
struct pollfd fds[1];
fds[0].fd = _rc_sub;
fds[0].events = POLLIN;
/* check non-blocking for new data */
int poll_ret = poll(fds, 1, 0);
if (poll_ret > 0) {
if (rc_updated) {
/* read low-level values from FMU or IO RC inputs (PPM, Spektrum, S.Bus) */
struct rc_input_values rc_input;
orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input);
@@ -1349,7 +1345,7 @@ Sensors::ppm_poll()
channel_limit = _rc_max_chan_count;
/* we are accepting this message */
_ppm_last_valid = rc_input.timestamp;
_rc_last_valid = rc_input.timestamp;
/* Read out values from raw message */
for (unsigned int i = 0; i < channel_limit; i++) {
@@ -1359,6 +1355,7 @@ Sensors::ppm_poll()
*/
if (rc_input.values[i] < _parameters.min[i])
rc_input.values[i] = _parameters.min[i];
if (rc_input.values[i] > _parameters.max[i])
rc_input.values[i] = _parameters.max[i];
@@ -1619,7 +1616,7 @@ Sensors::task_main()
orb_publish(ORB_ID(sensor_combined), _sensor_pub, &raw);
/* Look for new r/c input data */
ppm_poll();
rc_poll();
perf_end(_loop_perf);
}
@@ -1637,11 +1634,11 @@ Sensors::start()
/* start the task */
_sensors_task = task_spawn_cmd("sensors_task",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
2048,
(main_t)&Sensors::task_main_trampoline,
nullptr);
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
2048,
(main_t)&Sensors::task_main_trampoline,
nullptr);
if (_sensors_task < 0) {
warn("task start failed");