Add DF wrapper for AK8963

cmake/configs/posix_bebop_default.cmake

@@ -23,7 +23,11 @@ set(config_module_list
 	drivers/device
 	modules/sensors
 	platforms/posix/drivers/df_ms5607_wrapper
+<<<<<<< c4eb65862f307de4b679e24f44fab0c565d7c2a3
 	platforms/posix/drivers/df_mpu6050_wrapper
+=======
+	platforms/posix/drivers/df_ak8963_wrapper
+>>>>>>> Add DF wrapper for AK8963
 
 	#
 	# System commands

posix-configs/bebop/px4.config

@@ -5,6 +5,7 @@ param set SYS_AUTOSTART 4001
 param set MAV_BROADCAST 1
 df_ms5607_wrapper start
 df_mpu6050_wrapper start -R 8
+df_ak8963_wrapper start
 sensors start
 sleep 1
 mavlink start -u 14556 -r 1000000

src/platforms/posix/drivers/df_ak8963_wrapper/CMakeLists.txt

@@ -0,0 +1,46 @@
+############################################################################
+#
+#   Copyright (c) 2016 PX4 Development Team. All rights reserved.
+#
+# 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.
+#
+############################################################################
+
+include_directories(../../../../lib/DriverFramework/drivers)
+
+px4_add_module(
+	MODULE platforms__posix__drivers__df_ak8963_wrapper
+	MAIN df_ak8963_wrapper
+	SRCS
+		df_ak8963_wrapper.cpp
+	DEPENDS
+		platforms__common
+		df_driver_framework
+		df_ak8963
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix :

src/platforms/posix/drivers/df_ak8963_wrapper/df_ak8963_wrapper.cpp

@@ -0,0 +1,459 @@
+/****************************************************************************
+ *
+ * Copyright (c) 2016 PX4 Development Team. All rights reserved.
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file df_ak8963_wrapper.cpp
+ * Lightweight driver to access the AK8963 of the DriverFramework.
+ */
+
+#include <px4_config.h>
+
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <stdint.h>
+#include <stddef.h>
+#include <stdlib.h>
+#include <string.h>
+#include <math.h>
+#include <unistd.h>
+#include <px4_getopt.h>
+#include <errno.h>
+
+#include <systemlib/perf_counter.h>
+#include <systemlib/err.h>
+
+#include <drivers/drv_mag.h>
+
+#include <uORB/topics/parameter_update.h>
+
+#include <board_config.h>
+
+#include <lib/conversion/rotation.h>
+
+#include <ak8963/AK8963.hpp>
+#include <DevMgr.hpp>
+
+
+extern "C" { __EXPORT int df_ak8963_wrapper_main(int argc, char *argv[]); }
+
+using namespace DriverFramework;
+
+
+class DfAK8963Wrapper : public AK8963
+{
+public:
+	DfAK8963Wrapper(enum Rotation rotation);
+	~DfAK8963Wrapper();
+
+
+	/**
+	 * Start automatic measurement.
+	 *
+	 * @return 0 on success
+	 */
+	int		start();
+
+	/**
+	 * Stop automatic measurement.
+	 *
+	 * @return 0 on success
+	 */
+	int		stop();
+
+private:
+	int _publish(struct mag_sensor_data &data);
+
+	void _update_mag_calibration();
+
+	orb_advert_t		_mag_topic;
+
+	int			_param_update_sub;
+
+	struct mag_calibration_s {
+		float x_offset;
+		float x_scale;
+		float y_offset;
+		float y_scale;
+		float z_offset;
+		float z_scale;
+	} _mag_calibration;
+
+	math::Matrix<3, 3>      _rotation_matrix;
+
+	int			_mag_orb_class_instance;
+
+	perf_counter_t		_mag_sample_perf;
+
+};
+
+DfAK8963Wrapper::DfAK8963Wrapper(enum Rotation rotation) :
+	AK8963(MAG_DEVICE_PATH),
+	_mag_topic(nullptr),
+	_param_update_sub(-1),
+	_mag_calibration{},
+	_mag_orb_class_instance(-1),
+	_mag_sample_perf(perf_alloc(PC_ELAPSED, "df_mag_read"))
+{
+	// 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;
+
+	// Get sensor rotation matrix
+	get_rot_matrix(rotation, &_rotation_matrix);
+}
+
+DfAK8963Wrapper::~DfAK8963Wrapper()
+{
+	perf_free(_mag_sample_perf);
+}
+
+int DfAK8963Wrapper::start()
+{
+	/* 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("AK8963 init fail: %d", ret);
+		return ret;
+	}
+
+	ret = AK8963::start();
+
+	if (ret != 0) {
+		PX4_ERR("AK8963 start fail: %d", ret);
+		return ret;
+	}
+
+	/* Force getting the calibration values. */
+	_update_mag_calibration();
+
+	return 0;
+}
+
+int DfAK8963Wrapper::stop()
+{
+	/* Stop sensor. */
+	int ret = AK8963::stop();
+
+	if (ret != 0) {
+		PX4_ERR("AK8963 stop fail: %d", ret);
+		return ret;
+	}
+
+	return 0;
+}
+
+void DfAK8963Wrapper::_update_mag_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_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);
+		}
+	}
+}
+
+
+int DfAK8963Wrapper::_publish(struct mag_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, &parameter_update);
+
+		_update_mag_calibration();
+	}
+
+	/* Publish mag first. */
+	perf_begin(_mag_sample_perf);
+
+	mag_report mag_report = {};
+	mag_report.timestamp = hrt_absolute_time();
+
+  // TODO: check sensor orientation
+	/* The standard external mag by 3DR has x pointing to the
+	 * right, y pointing backwards, and z down, therefore switch x
+	 * and y and invert y. */
+	const float tmp = data.field_x_ga;
+	data.field_x_ga = -data.field_y_ga;
+	data.field_y_ga = tmp;
+
+	// TODO: remove these (or get the values)
+	mag_report.x_raw = NAN;
+	mag_report.y_raw = NAN;
+	mag_report.z_raw = NAN;
+
+
+	math::Vector<3> mag_val((data.field_x_ga - _mag_calibration.x_offset) * _mag_calibration.x_scale,
+				(data.field_y_ga - _mag_calibration.y_offset) * _mag_calibration.y_scale,
+				(data.field_z_ga - _mag_calibration.z_offset) * _mag_calibration.z_scale);
+
+	// apply sensor rotation on the accel measurement
+	mag_val = _rotation_matrix * mag_val;
+
+	mag_report.x = mag_val(0);
+	mag_report.y = mag_val(1);
+	mag_report.z = mag_val(2);
+
+
+	// TODO: get these right
+	//mag_report.scaling = -1.0f;
+	//mag_report.range_m_s2 = -1.0f;
+
+	mag_report.device_id = m_id.dev_id;
+
+	// TODO: when is this ever blocked?
+	if (!(m_pub_blocked)) {
+
+		if (_mag_topic == nullptr) {
+			_mag_topic = orb_advertise_multi(ORB_ID(sensor_mag), &mag_report,
+							 &_mag_orb_class_instance, ORB_PRIO_HIGH);
+
+		} else {
+			orb_publish(ORB_ID(sensor_mag), _mag_topic, &mag_report);
+		}
+
+	}
+
+	perf_end(_mag_sample_perf);
+
+	/* Notify anyone waiting for data. */
+	DevMgr::updateNotify(*this);
+
+	return 0;
+};
+
+
+namespace df_ak8963_wrapper
+{
+
+DfAK8963Wrapper *g_dev = nullptr;
+
+int start(enum Rotation rotation);
+int stop();
+int info();
+void usage();
+
+int start(enum Rotation rotation)
+{
+	g_dev = new DfAK8963Wrapper(rotation);
+
+	if (g_dev == nullptr) {
+		PX4_ERR("failed instantiating DfAK8963Wrapper object");
+		return -1;
+	}
+
+	int ret = g_dev->start();
+
+	if (ret != 0) {
+		PX4_ERR("DfAK8963Wrapper start failed");
+		return ret;
+	}
+
+	// Open the MAG sensor
+	DevHandle h;
+	DevMgr::getHandle(MAG_DEVICE_PATH, h);
+
+	if (!h.isValid()) {
+		DF_LOG_INFO("Error: unable to obtain a valid handle for the receiver at: %s (%d)",
+			    MAG_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_DEBUG("state @ %p", g_dev);
+
+	return 0;
+}
+
+void
+usage()
+{
+	PX4_INFO("Usage: df_ak8963_wrapper 'start', 'info', 'stop'");
+	PX4_INFO("options:");
+	PX4_INFO("    -R rotation");
+}
+
+} // namespace df_ak8963_wrapper
+
+
+int
+df_ak8963_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_ak8963_wrapper::usage();
+			return 0;
+		}
+	}
+
+	if (argc <= 1) {
+		df_ak8963_wrapper::usage();
+		return 1;
+	}
+
+	const char *verb = argv[myoptind];
+
+
+	if (!strcmp(verb, "start")) {
+		ret = df_ak8963_wrapper::start(rotation);
+	}
+
+	else if (!strcmp(verb, "stop")) {
+		ret = df_ak8963_wrapper::stop();
+	}
+
+	else if (!strcmp(verb, "info")) {
+		ret = df_ak8963_wrapper::info();
+	}
+
+	else {
+		df_ak8963_wrapper::usage();
+		return 1;
+	}
+
+	return ret;
+}