From e600e29ea4c12ecef8c6d3c838146941513d78ea Mon Sep 17 00:00:00 2001 From: Michael Schaeuble Date: Sun, 10 Jul 2016 23:08:58 +0200 Subject: [PATCH] Add DF wrapper for AK8963 --- cmake/configs/posix_bebop_default.cmake | 4 + posix-configs/bebop/px4.config | 1 + .../drivers/df_ak8963_wrapper/CMakeLists.txt | 46 ++ .../df_ak8963_wrapper/df_ak8963_wrapper.cpp | 459 ++++++++++++++++++ 4 files changed, 510 insertions(+) create mode 100644 src/platforms/posix/drivers/df_ak8963_wrapper/CMakeLists.txt create mode 100644 src/platforms/posix/drivers/df_ak8963_wrapper/df_ak8963_wrapper.cpp diff --git a/cmake/configs/posix_bebop_default.cmake b/cmake/configs/posix_bebop_default.cmake index 0393e2081d..a1c75d9565 100644 --- a/cmake/configs/posix_bebop_default.cmake +++ b/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 diff --git a/posix-configs/bebop/px4.config b/posix-configs/bebop/px4.config index 25370f234c..b86c389dee 100644 --- a/posix-configs/bebop/px4.config +++ b/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 diff --git a/src/platforms/posix/drivers/df_ak8963_wrapper/CMakeLists.txt b/src/platforms/posix/drivers/df_ak8963_wrapper/CMakeLists.txt new file mode 100644 index 0000000000..9ac1b2ef75 --- /dev/null +++ b/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 : diff --git a/src/platforms/posix/drivers/df_ak8963_wrapper/df_ak8963_wrapper.cpp b/src/platforms/posix/drivers/df_ak8963_wrapper/df_ak8963_wrapper.cpp new file mode 100644 index 0000000000..c58f06ccdd --- /dev/null +++ b/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 + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +#include + +#include + +#include + +#include + +#include +#include + + +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, ¶meter_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; +}