mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-21 20:43:33 +08:00
Daniel Agar
afeab9587e
- when estimating the peak frequency the magnitude of side buckets will be factored in, so it doesn't make sense to potentially treat them as separatey detected peaks
174 lines
6.1 KiB
C++
174 lines
6.1 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2020-2022 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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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#ifndef GYRO_FFT_HPP
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#define GYRO_FFT_HPP
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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.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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using namespace time_literals;
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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 int MAX_SENSOR_COUNT = 4;
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static constexpr int MAX_NUM_PEAKS = sizeof(sensor_gyro_fft_s::peak_frequencies_x) / sizeof(
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sensor_gyro_fft_s::peak_frequencies_x[0]);
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void Run() override;
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inline void FindPeaks(const hrt_abstime ×tamp_sample, int axis, q15_t *fft_outupt_buffer);
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inline float EstimatePeakFrequencyBin(q15_t fft[], int peak_index);
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inline void Publish();
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bool SensorSelectionUpdate(bool force = false);
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void Update(const hrt_abstime ×tamp_sample, int16_t *input[], uint8_t N);
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inline void UpdateOutput(const hrt_abstime ×tamp_sample, int axis, float peak_frequencies[MAX_NUM_PEAKS],
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float peak_snr[MAX_NUM_PEAKS], int num_peaks_found);
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void VehicleIMUStatusUpdate(bool force = false);
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template<size_t N>
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bool AllocateBuffers()
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{
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_gyro_data_buffer_x = new q15_t[N];
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_gyro_data_buffer_y = new q15_t[N];
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_gyro_data_buffer_z = new q15_t[N];
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_hanning_window = new q15_t[N];
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_fft_input_buffer = new q15_t[N];
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_fft_outupt_buffer = new q15_t[N * 2];
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_peak_magnitudes_all = new float[N];
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return (_gyro_data_buffer_x && _gyro_data_buffer_y && _gyro_data_buffer_z
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&& _hanning_window
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&& _fft_input_buffer
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&& _fft_outupt_buffer);
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}
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uORB::Publication<sensor_gyro_fft_s> _sensor_gyro_fft_pub{ORB_ID(sensor_gyro_fft)};
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uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
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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_sub{this, ORB_ID(sensor_gyro)};
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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_generation_gap_perf{nullptr};
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perf_counter_t _gyro_fifo_generation_gap_perf{nullptr};
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uint32_t _selected_sensor_device_id{0};
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bool _gyro_fifo{false};
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arm_rfft_instance_q15 _rfft_q15;
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q15_t *_gyro_data_buffer_x{nullptr};
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q15_t *_gyro_data_buffer_y{nullptr};
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q15_t *_gyro_data_buffer_z{nullptr};
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q15_t *_hanning_window{nullptr};
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q15_t *_fft_input_buffer{nullptr};
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q15_t *_fft_outupt_buffer{nullptr};
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float *_peak_magnitudes_all{nullptr};
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float _gyro_sample_rate_hz{8000}; // 8 kHz default
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float _fifo_last_scale{0};
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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, 7> _median_filter[3][MAX_NUM_PEAKS] {};
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sensor_gyro_fft_s _sensor_gyro_fft{};
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hrt_abstime _last_update[3][MAX_NUM_PEAKS] {};
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int32_t _imu_gyro_fft_len{256};
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bool _fft_updated{false};
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bool _publish{false};
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DEFINE_PARAMETERS(
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(ParamInt<px4::params::IMU_GYRO_FFT_LEN>) _param_imu_gyro_fft_len,
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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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(ParamFloat<px4::params::IMU_GYRO_FFT_SNR>) _param_imu_gyro_fft_snr
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)
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};
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#endif // !GYRO_FFT_HPP
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