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Selected adjustments / fixes to make old apps compatible with new-style ADC driver

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This commit is contained in:
Lorenz Meier
2013-01-12 00:38:49 +01:00
parent 2f94a7a2b7
commit dad7f9f436
6 changed files with 188 additions and 246 deletions
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apps/sensors/sensors.cpp
+101 -54
View File
@@ -43,7 +43,6 @@
#include <fcntl.h>
#include <poll.h>
#include <nuttx/analog/adc.h>
#include <unistd.h>
#include <stdlib.h>
#include <string.h>
@@ -52,13 +51,15 @@
#include <errno.h>
#include <math.h>
#include <drivers/drv_hrt.h>
#include <nuttx/analog/adc.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_accel.h>
#include <drivers/drv_gyro.h>
#include <drivers/drv_mag.h>
#include <drivers/drv_baro.h>
#include <drivers/drv_rc_input.h>
#include <drivers/drv_adc.h>
#include <systemlib/systemlib.h>
#include <systemlib/param/param.h>
@@ -87,7 +88,7 @@
#define BARO_HEALTH_COUNTER_LIMIT_OK 5
#define ADC_HEALTH_COUNTER_LIMIT_OK 5
#define ADC_BATTERY_VOLATGE_CHANNEL 10
#define ADC_BATTERY_VOLTAGE_CHANNEL 10
#define BAT_VOL_INITIAL 12.f
#define BAT_VOL_LOWPASS_1 0.99f
@@ -108,8 +109,8 @@ extern "C" __EXPORT int sensors_main(int argc, char *argv[]);
class Sensors
{
public:
/**
* Constructor
/**
* Constructor
*/
Sensors();
@@ -125,7 +126,7 @@ public:
*/
int start();
private:
private:
static const unsigned _rc_max_chan_count = RC_CHANNELS_MAX; /**< maximum number of r/c channels we handle */
#if CONFIG_HRT_PPM
@@ -233,7 +234,7 @@ private:
param_t rc_map_pitch;
param_t rc_map_yaw;
param_t rc_map_throttle;
param_t rc_map_manual_override_sw;
param_t rc_map_auto_mode_sw;
@@ -373,7 +374,7 @@ Sensors::Sensors() :
_hil_enabled(false),
_publishing(true),
/* subscriptions */
/* subscriptions */
_gyro_sub(-1),
_accel_sub(-1),
_mag_sub(-1),
@@ -383,13 +384,13 @@ Sensors::Sensors() :
_params_sub(-1),
_manual_control_sub(-1),
/* publications */
/* publications */
_sensor_pub(-1),
_manual_control_pub(-1),
_rc_pub(-1),
_battery_pub(-1),
/* performance counters */
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "sensor task update"))
{
@@ -487,6 +488,7 @@ Sensors::~Sensors()
/* wait for a second for the task to quit at our request */
unsigned i = 0;
do {
/* wait 20ms */
usleep(20000);
@@ -513,15 +515,19 @@ Sensors::parameters_update()
if (param_get(_parameter_handles.min[i], &(_parameters.min[i])) != OK) {
warnx("Failed getting min for chan %d", i);
}
if (param_get(_parameter_handles.trim[i], &(_parameters.trim[i])) != OK) {
warnx("Failed getting trim for chan %d", i);
}
if (param_get(_parameter_handles.max[i], &(_parameters.max[i])) != OK) {
warnx("Failed getting max for chan %d", i);
}
if (param_get(_parameter_handles.rev[i], &(_parameters.rev[i])) != OK) {
warnx("Failed getting rev for chan %d", i);
}
if (param_get(_parameter_handles.dz[i], &(_parameters.dz[i])) != OK) {
warnx("Failed getting dead zone for chan %d", i);
}
@@ -530,8 +536,8 @@ Sensors::parameters_update()
/* handle blowup in the scaling factor calculation */
if (!isfinite(_parameters.scaling_factor[i]) ||
_parameters.scaling_factor[i] * _parameters.rev[i] < 0.000001f ||
_parameters.scaling_factor[i] * _parameters.rev[i] > 0.2f) {
_parameters.scaling_factor[i] * _parameters.rev[i] < 0.000001f ||
_parameters.scaling_factor[i] * _parameters.rev[i] > 0.2f) {
/* scaling factors do not make sense, lock them down */
_parameters.scaling_factor[i] = 0;
@@ -553,18 +559,23 @@ Sensors::parameters_update()
if (param_get(_parameter_handles.rc_map_roll, &(_parameters.rc_map_roll)) != OK) {
warnx("Failed getting roll chan index");
}
if (param_get(_parameter_handles.rc_map_pitch, &(_parameters.rc_map_pitch)) != OK) {
warnx("Failed getting pitch chan index");
}
if (param_get(_parameter_handles.rc_map_yaw, &(_parameters.rc_map_yaw)) != OK) {
warnx("Failed getting yaw chan index");
}
if (param_get(_parameter_handles.rc_map_throttle, &(_parameters.rc_map_throttle)) != OK) {
warnx("Failed getting throttle chan index");
}
if (param_get(_parameter_handles.rc_map_manual_override_sw, &(_parameters.rc_map_manual_override_sw)) != OK) {
warnx("Failed getting override sw chan index");
}
if (param_get(_parameter_handles.rc_map_auto_mode_sw, &(_parameters.rc_map_auto_mode_sw)) != OK) {
warnx("Failed getting auto mode sw chan index");
}
@@ -576,12 +587,15 @@ Sensors::parameters_update()
if (param_get(_parameter_handles.rc_map_manual_mode_sw, &(_parameters.rc_map_manual_mode_sw)) != OK) {
warnx("Failed getting manual mode sw chan index");
}
if (param_get(_parameter_handles.rc_map_rtl_sw, &(_parameters.rc_map_rtl_sw)) != OK) {
warnx("Failed getting rtl sw chan index");
}
if (param_get(_parameter_handles.rc_map_sas_mode_sw, &(_parameters.rc_map_sas_mode_sw)) != OK) {
warnx("Failed getting sas mode sw chan index");
}
if (param_get(_parameter_handles.rc_map_offboard_ctrl_mode_sw, &(_parameters.rc_map_offboard_ctrl_mode_sw)) != OK) {
warnx("Failed getting offboard control mode sw chan index");
}
@@ -589,15 +603,19 @@ Sensors::parameters_update()
if (param_get(_parameter_handles.rc_map_aux1, &(_parameters.rc_map_aux1)) != OK) {
warnx("Failed getting mode aux 1 index");
}
if (param_get(_parameter_handles.rc_map_aux2, &(_parameters.rc_map_aux2)) != OK) {
warnx("Failed getting mode aux 2 index");
}
if (param_get(_parameter_handles.rc_map_aux3, &(_parameters.rc_map_aux3)) != OK) {
warnx("Failed getting mode aux 3 index");
}
if (param_get(_parameter_handles.rc_map_aux4, &(_parameters.rc_map_aux4)) != OK) {
warnx("Failed getting mode aux 4 index");
}
if (param_get(_parameter_handles.rc_map_aux5, &(_parameters.rc_map_aux5)) != OK) {
warnx("Failed getting mode aux 5 index");
}
@@ -605,12 +623,15 @@ Sensors::parameters_update()
if (param_get(_parameter_handles.rc_scale_roll, &(_parameters.rc_scale_roll)) != OK) {
warnx("Failed getting rc scaling for roll");
}
if (param_get(_parameter_handles.rc_scale_pitch, &(_parameters.rc_scale_pitch)) != OK) {
warnx("Failed getting rc scaling for pitch");
}
if (param_get(_parameter_handles.rc_scale_yaw, &(_parameters.rc_scale_yaw)) != OK) {
warnx("Failed getting rc scaling for yaw");
}
if (param_get(_parameter_handles.rc_scale_flaps, &(_parameters.rc_scale_flaps)) != OK) {
warnx("Failed getting rc scaling for flaps");
}
@@ -673,9 +694,11 @@ Sensors::accel_init()
int fd;
fd = open(ACCEL_DEVICE_PATH, 0);
if (fd < 0) {
warn("%s", ACCEL_DEVICE_PATH);
errx(1, "FATAL: no accelerometer found");
} else {
/* set the accel internal sampling rate up to at leat 500Hz */
ioctl(fd, ACCELIOCSSAMPLERATE, 500);
@@ -694,9 +717,11 @@ Sensors::gyro_init()
int fd;
fd = open(GYRO_DEVICE_PATH, 0);
if (fd < 0) {
warn("%s", GYRO_DEVICE_PATH);
errx(1, "FATAL: no gyro found");
} else {
/* set the gyro internal sampling rate up to at leat 500Hz */
ioctl(fd, GYROIOCSSAMPLERATE, 500);
@@ -715,6 +740,7 @@ Sensors::mag_init()
int fd;
fd = open(MAG_DEVICE_PATH, 0);
if (fd < 0) {
warn("%s", MAG_DEVICE_PATH);
errx(1, "FATAL: no magnetometer found");
@@ -735,6 +761,7 @@ Sensors::baro_init()
int fd;
fd = open(BARO_DEVICE_PATH, 0);
if (fd < 0) {
warn("%s", BARO_DEVICE_PATH);
warnx("No barometer found, ignoring");
@@ -750,9 +777,10 @@ void
Sensors::adc_init()
{
_fd_adc = open("/dev/adc0", O_RDONLY | O_NONBLOCK);
_fd_adc = open(ADC_DEVICE_PATH, O_RDONLY | O_NONBLOCK);
if (_fd_adc < 0) {
warnx("/dev/adc0");
warnx(ADC_DEVICE_PATH);
warnx("FATAL: no ADC found");
}
}
@@ -821,7 +849,7 @@ Sensors::mag_poll(struct sensor_combined_s &raw)
raw.magnetometer_raw[0] = mag_report.x_raw;
raw.magnetometer_raw[1] = mag_report.y_raw;
raw.magnetometer_raw[2] = mag_report.z_raw;
raw.magnetometer_counter++;
}
}
@@ -853,6 +881,7 @@ Sensors::vehicle_status_poll()
/* Check HIL state if vehicle status has changed */
orb_check(_vstatus_sub, &vstatus_updated);
if (vstatus_updated) {
orb_copy(ORB_ID(vehicle_status), _vstatus_sub, &vstatus);
@@ -880,8 +909,7 @@ Sensors::parameter_update_poll(bool forced)
/* Check if any parameter has changed */
orb_check(_params_sub, &param_updated);
if (param_updated || forced)
{
if (param_updated || forced) {
/* read from param to clear updated flag */
struct parameter_update_s update;
orb_copy(ORB_ID(parameter_update), _params_sub, &update);
@@ -891,7 +919,7 @@ Sensors::parameter_update_poll(bool forced)
/* update sensor offsets */
int fd = open(GYRO_DEVICE_PATH, 0);
struct gyro_scale gscale = {
struct gyro_scale gscale = {
_parameters.gyro_offset[0],
1.0f,
_parameters.gyro_offset[1],
@@ -899,8 +927,10 @@ Sensors::parameter_update_poll(bool forced)
_parameters.gyro_offset[2],
1.0f,
};
if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale))
warn("WARNING: failed to set scale / offsets for gyro");
close(fd);
fd = open(ACCEL_DEVICE_PATH, 0);
@@ -912,8 +942,10 @@ Sensors::parameter_update_poll(bool forced)
_parameters.accel_offset[2],
_parameters.accel_scale[2],
};
if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale))
warn("WARNING: failed to set scale / offsets for accel");
close(fd);
fd = open(MAG_DEVICE_PATH, 0);
@@ -925,62 +957,64 @@ Sensors::parameter_update_poll(bool forced)
_parameters.mag_offset[2],
_parameters.mag_scale[2],
};
if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale))
warn("WARNING: failed to set scale / offsets for mag");
close(fd);
#if 0
printf("CH0: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[0], (int)_parameters.min[0], (int)(_rc.chan[0].scaling_factor*10000), (int)(_rc.chan[0].mid), (int)_rc.function[0]);
printf("CH1: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[1], (int)_parameters.min[1], (int)(_rc.chan[1].scaling_factor*10000), (int)(_rc.chan[1].mid), (int)_rc.function[1]);
printf("MAN: %d %d\n", (int)(_rc.chan[0].scaled*100), (int)(_rc.chan[1].scaled*100));
printf("CH0: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[0], (int)_parameters.min[0], (int)(_rc.chan[0].scaling_factor * 10000), (int)(_rc.chan[0].mid), (int)_rc.function[0]);
printf("CH1: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[1], (int)_parameters.min[1], (int)(_rc.chan[1].scaling_factor * 10000), (int)(_rc.chan[1].mid), (int)_rc.function[1]);
printf("MAN: %d %d\n", (int)(_rc.chan[0].scaled * 100), (int)(_rc.chan[1].scaled * 100));
fflush(stdout);
usleep(5000);
#endif
}
}
}
void
Sensors::adc_poll(struct sensor_combined_s &raw)
{
#pragma pack(push,1)
struct adc_msg4_s {
uint8_t am_channel1; /**< The 8-bit ADC Channel 1 */
int32_t am_data1; /**< ADC convert result 1 (4 bytes) */
uint8_t am_channel2; /**< The 8-bit ADC Channel 2 */
int32_t am_data2; /**< ADC convert result 2 (4 bytes) */
uint8_t am_channel3; /**< The 8-bit ADC Channel 3 */
int32_t am_data3; /**< ADC convert result 3 (4 bytes) */
uint8_t am_channel4; /**< The 8-bit ADC Channel 4 */
int32_t am_data4; /**< ADC convert result 4 (4 bytes) */
} buf_adc;
#pragma pack(pop)
/* rate limit to 100 Hz */
if (hrt_absolute_time() - _last_adc >= 10000) {
read(_fd_adc, &buf_adc, sizeof(buf_adc));
/* make space for a maximum of eight channels */
struct adc_msg_s buf_adc[8];
/* read all channels available */
int ret = read(_fd_adc, &buf_adc, sizeof(buf_adc));
if (ADC_BATTERY_VOLATGE_CHANNEL == buf_adc.am_channel1) {
/* Voltage in volts */
float voltage = (buf_adc.am_data1 * _parameters.battery_voltage_scaling);
/* look for battery channel */
if (voltage > VOLTAGE_BATTERY_IGNORE_THRESHOLD_VOLTS) {
for (unsigned i = 0; i < sizeof(buf_adc) / sizeof(buf_adc[0]); i++) {
_battery_status.timestamp = hrt_absolute_time();
_battery_status.voltage_v = (BAT_VOL_LOWPASS_1 * (_battery_status.voltage_v + BAT_VOL_LOWPASS_2 * voltage));;
/* current and discharge are unknown */
_battery_status.current_a = -1.0f;
_battery_status.discharged_mah = -1.0f;
if (ret >= sizeof(buf_adc[0]) && ADC_BATTERY_VOLTAGE_CHANNEL == buf_adc[i].am_channel) {
/* Voltage in volts */
float voltage = (buf_adc[i].am_data * _parameters.battery_voltage_scaling);
/* announce the battery voltage if needed, just publish else */
if (_battery_pub > 0) {
orb_publish(ORB_ID(battery_status), _battery_pub, &_battery_status);
} else {
_battery_pub = orb_advertise(ORB_ID(battery_status), &_battery_status);
if (voltage > VOLTAGE_BATTERY_IGNORE_THRESHOLD_VOLTS) {
_battery_status.timestamp = hrt_absolute_time();
_battery_status.voltage_v = (BAT_VOL_LOWPASS_1 * (_battery_status.voltage_v + BAT_VOL_LOWPASS_2 * voltage));;
/* current and discharge are unknown */
_battery_status.current_a = -1.0f;
_battery_status.discharged_mah = -1.0f;
/* announce the battery voltage if needed, just publish else */
if (_battery_pub > 0) {
orb_publish(ORB_ID(battery_status), _battery_pub, &_battery_status);
printf("DBG: ADC PUB: %d, val: %d\n", ret, (int)(buf_adc[0].am_data));
} else {
_battery_pub = orb_advertise(ORB_ID(battery_status), &_battery_status);
}
}
}
raw.battery_voltage_counter++;
raw.battery_voltage_counter++;
_last_adc = hrt_absolute_time();
break;
}
}
_last_adc = hrt_absolute_time();
}
}
@@ -1012,6 +1046,7 @@ Sensors::ppm_poll()
/* publish to object request broker */
if (rc_input_pub <= 0) {
rc_input_pub = orb_advertise(ORB_ID(input_rc), &raw);
} else {
orb_publish(ORB_ID(input_rc), rc_input_pub, &raw);
}
@@ -1052,6 +1087,7 @@ Sensors::ppm_poll()
return;
unsigned channel_limit = rc_input.channel_count;
if (channel_limit > _rc_max_chan_count)
channel_limit = _rc_max_chan_count;
@@ -1064,10 +1100,11 @@ Sensors::ppm_poll()
/* scale around the mid point differently for lower and upper range */
if (rc_input.values[i] > (_parameters.trim[i] + _parameters.dz[i])) {
_rc.chan[i].scaled = (rc_input.values[i] - _parameters.trim[i]) / (float)(_parameters.max[i] - _parameters.trim[i]);
} else if (rc_input.values[i] < (_parameters.trim[i] - _parameters.dz[i])) {
/* division by zero impossible for trim == min (as for throttle), as this falls in the above if clause */
_rc.chan[i].scaled = -((_parameters.trim[i] - rc_input.values[i]) / (float)(_parameters.trim[i] - _parameters.min[i]));
} else {
/* in the configured dead zone, output zero */
_rc.chan[i].scaled = 0.0f;
@@ -1078,6 +1115,7 @@ Sensors::ppm_poll()
if ((int)_parameters.rev[i] == -1) {
_rc.chan[i].scaled = 1.0f + -1.0f * _rc.chan[i].scaled;
}
} else {
_rc.chan[i].scaled *= _parameters.rev[i];
}
@@ -1103,7 +1141,9 @@ Sensors::ppm_poll()
manual_control.yaw = limit_minus_one_to_one(_rc.chan[_rc.function[YAW]].scaled);
/* throttle input */
manual_control.throttle = _rc.chan[_rc.function[THROTTLE]].scaled;
if (manual_control.throttle < 0.0f) manual_control.throttle = 0.0f;
if (manual_control.throttle > 1.0f) manual_control.throttle = 1.0f;
/* scale output */
@@ -1175,6 +1215,7 @@ Sensors::ppm_poll()
/* check if ready for publishing */
if (_rc_pub > 0) {
orb_publish(ORB_ID(rc_channels), _rc_pub, &_rc);
} else {
/* advertise the rc topic */
_rc_pub = orb_advertise(ORB_ID(rc_channels), &_rc);
@@ -1183,6 +1224,7 @@ Sensors::ppm_poll()
/* check if ready for publishing */
if (_manual_control_pub > 0) {
orb_publish(ORB_ID(manual_control_setpoint), _manual_control_pub, &manual_control);
} else {
_manual_control_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual_control);
}
@@ -1260,7 +1302,7 @@ Sensors::task_main()
fds[0].events = POLLIN;
while (!_task_should_exit) {
/* wait for up to 500ms for data */
int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
@@ -1329,6 +1371,7 @@ Sensors::start()
warn("task start failed");
return -errno;
}
return OK;
}
@@ -1343,6 +1386,7 @@ int sensors_main(int argc, char *argv[])
errx(1, "sensors task already running");
sensors::g_sensors = new Sensors;
if (sensors::g_sensors == nullptr)
errx(1, "sensors task alloc failed");
@@ -1351,12 +1395,14 @@ int sensors_main(int argc, char *argv[])
sensors::g_sensors = nullptr;
err(1, "sensors task start failed");
}
exit(0);
}
if (!strcmp(argv[1], "stop")) {
if (sensors::g_sensors == nullptr)
errx(1, "sensors task not running");
delete sensors::g_sensors;
sensors::g_sensors = nullptr;
exit(0);
@@ -1365,6 +1411,7 @@ int sensors_main(int argc, char *argv[])
if (!strcmp(argv[1], "status")) {
if (sensors::g_sensors) {
errx(0, "task is running");
} else {
errx(1, "task is not running");
}