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124 lines
4.5 KiB
C++
124 lines
4.5 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2020 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
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* 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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#pragma once
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#include <lib/mathlib/math/filter/MedianFilter.hpp>
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#include <lib/matrix/matrix/math.hpp>
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#include <lib/perf/perf_counter.h>
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#include <px4_platform_common/defines.h>
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#include <px4_platform_common/module.h>
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#include <px4_platform_common/module_params.h>
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#include <px4_platform_common/posix.h>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <uORB/Publication.hpp>
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#include <uORB/PublicationMulti.hpp>
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#include <uORB/Subscription.hpp>
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#include <uORB/SubscriptionCallback.hpp>
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#include <uORB/topics/parameter_update.h>
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#include <uORB/topics/sensor_gyro_fft.h>
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#include <uORB/topics/sensor_gyro_fifo.h>
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#include <uORB/topics/sensor_selection.h>
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#include <uORB/topics/vehicle_imu_status.h>
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#include "arm_math.h"
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#include "arm_const_structs.h"
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class GyroFFT : public ModuleBase<GyroFFT>, public ModuleParams, public px4::ScheduledWorkItem
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{
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public:
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GyroFFT();
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~GyroFFT() override;
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/** @see ModuleBase */
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static int task_spawn(int argc, char *argv[]);
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/** @see ModuleBase */
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static int custom_command(int argc, char *argv[]);
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/** @see ModuleBase */
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static int print_usage(const char *reason = nullptr);
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/** @see ModuleBase::print_status() */
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int print_status() override;
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bool init();
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private:
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static constexpr uint16_t FFT_LENGTH = 2048;
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float EstimatePeakFrequency(q15_t fft[FFT_LENGTH * 2], uint8_t peak_index);
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void Run() override;
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bool SensorSelectionUpdate(bool force = false);
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void VehicleIMUStatusUpdate();
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static constexpr int MAX_SENSOR_COUNT = 3;
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uORB::Publication<sensor_gyro_fft_s> _sensor_gyro_fft_pub{ORB_ID(sensor_gyro_fft)};
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uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
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uORB::Subscription _sensor_selection_sub{ORB_ID(sensor_selection)};
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uORB::Subscription _vehicle_imu_status_sub{ORB_ID(vehicle_imu_status)};
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uORB::SubscriptionCallbackWorkItem _sensor_gyro_fifo_sub{this, ORB_ID(sensor_gyro_fifo)};
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perf_counter_t _cycle_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
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perf_counter_t _cycle_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": cycle interval")};
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perf_counter_t _fft_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": FFT")};
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perf_counter_t _gyro_fifo_generation_gap_perf{perf_alloc(PC_COUNT, MODULE_NAME": gyro FIFO data gap")};
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uint32_t _selected_sensor_device_id{0};
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arm_rfft_instance_q15 _rfft_q15;
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q15_t _gyro_data_buffer[3][FFT_LENGTH] {};
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q15_t _hanning_window[FFT_LENGTH] {};
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q15_t _fft_input_buffer[FFT_LENGTH] {};
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q15_t _fft_outupt_buffer[FFT_LENGTH * 2] {};
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float _gyro_sample_rate_hz{8000}; // 8 kHz default
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int _fft_buffer_index[3] {};
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unsigned _gyro_last_generation{0};
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math::MedianFilter<float, 3> _median_filter[3] {};
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sensor_gyro_fft_s _sensor_gyro_fft{};
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DEFINE_PARAMETERS(
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(ParamFloat<px4::params::IMU_GYRO_FFT_MIN>) _param_imu_gyro_fft_min,
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(ParamFloat<px4::params::IMU_GYRO_FFT_MAX>) _param_imu_gyro_fft_max
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)
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};
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