mirror of https://github.com/ArduPilot/ardupilot
265 lines
7.3 KiB
C++
265 lines
7.3 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include <AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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#include "AP_InertialSensor_PX4.h"
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const extern AP_HAL::HAL& hal;
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <fcntl.h>
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#include <unistd.h>
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#include <drivers/drv_accel.h>
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#include <drivers/drv_gyro.h>
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#include <drivers/drv_hrt.h>
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#include <AP_Notify.h>
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uint16_t AP_InertialSensor_PX4::_init_sensor( Sample_rate sample_rate )
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{
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// assumes max 2 instances
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_accel_fd[0] = open(ACCEL_DEVICE_PATH, O_RDONLY);
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_accel_fd[1] = open(ACCEL_DEVICE_PATH "1", O_RDONLY);
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_gyro_fd[0] = open(GYRO_DEVICE_PATH, O_RDONLY);
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_gyro_fd[1] = open(GYRO_DEVICE_PATH "1", O_RDONLY);
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if (_accel_fd[0] < 0) {
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hal.scheduler->panic("Unable to open accel device " ACCEL_DEVICE_PATH);
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}
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if (_gyro_fd[0] < 0) {
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hal.scheduler->panic("Unable to open gyro device " GYRO_DEVICE_PATH);
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}
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_num_accel_instances = _accel_fd[1] >= 0?2:1;
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_num_gyro_instances = _gyro_fd[1] >= 0?2:1;
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switch (sample_rate) {
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case RATE_50HZ:
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_default_filter_hz = 15;
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_sample_time_usec = 20000;
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break;
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case RATE_100HZ:
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_default_filter_hz = 30;
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_sample_time_usec = 10000;
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break;
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case RATE_200HZ:
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_default_filter_hz = 30;
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_sample_time_usec = 5000;
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break;
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case RATE_400HZ:
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default:
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_default_filter_hz = 30;
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_sample_time_usec = 2500;
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break;
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}
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_set_filter_frequency(_mpu6000_filter);
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#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
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return AP_PRODUCT_ID_PX4_V2;
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#else
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return AP_PRODUCT_ID_PX4;
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#endif
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}
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/*
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set the filter frequency
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*/
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void AP_InertialSensor_PX4::_set_filter_frequency(uint8_t filter_hz)
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{
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if (filter_hz == 0) {
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filter_hz = _default_filter_hz;
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}
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for (uint8_t i=0; i<_num_gyro_instances; i++) {
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ioctl(_gyro_fd[i], GYROIOCSLOWPASS, filter_hz);
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}
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for (uint8_t i=0; i<_num_accel_instances; i++) {
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ioctl(_accel_fd[i], ACCELIOCSLOWPASS, filter_hz);
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}
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}
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/*================ AP_INERTIALSENSOR PUBLIC INTERFACE ==================== */
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// multi-device interface
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bool AP_InertialSensor_PX4::get_gyro_health(uint8_t instance) const
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{
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if (_sample_time_usec == 0 || _last_get_sample_timestamp == 0) {
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// not initialised yet, show as healthy to prevent scary GCS
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// warnings
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return true;
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}
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if (instance >= _num_gyro_instances) {
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return false;
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}
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if ((_last_get_sample_timestamp - _last_gyro_timestamp[instance]) > 2*_sample_time_usec) {
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// gyros have not updated
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return false;
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}
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return true;
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}
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uint8_t AP_InertialSensor_PX4::get_gyro_count(void) const
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{
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return _num_gyro_instances;
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}
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bool AP_InertialSensor_PX4::get_accel_health(uint8_t k) const
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{
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if (_sample_time_usec == 0 || _last_get_sample_timestamp == 0) {
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// not initialised yet, show as healthy to prevent scary GCS
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// warnings
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return true;
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}
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if (k >= _num_accel_instances) {
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return false;
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}
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if ((_last_get_sample_timestamp - _last_accel_timestamp[k]) > 2*_sample_time_usec) {
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// accels have not updated
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return false;
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}
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if (fabsf(_accel[k].x) > 30 && fabsf(_accel[k].y) > 30 && fabsf(_accel[k].z) > 30 &&
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(_previous_accel[k] - _accel[k]).length() < 0.01f) {
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// unchanging accel, large in all 3 axes. This is a likely
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// accelerometer failure of the LSM303d
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return false;
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}
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return true;
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}
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uint8_t AP_InertialSensor_PX4::get_accel_count(void) const
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{
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return _num_accel_instances;
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}
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bool AP_InertialSensor_PX4::update(void)
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{
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if (!wait_for_sample(100)) {
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return false;
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}
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// get the latest sample from the sensor drivers
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_get_sample();
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for (uint8_t k=0; k<_num_accel_instances; k++) {
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_previous_accel[k] = _accel[k];
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_accel[k] = _accel_in[k];
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_accel[k].rotate(_board_orientation);
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_accel[k].x *= _accel_scale[k].get().x;
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_accel[k].y *= _accel_scale[k].get().y;
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_accel[k].z *= _accel_scale[k].get().z;
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_accel[k] -= _accel_offset[k];
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}
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for (uint8_t k=0; k<_num_gyro_instances; k++) {
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_gyro[k] = _gyro_in[k];
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_gyro[k].rotate(_board_orientation);
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_gyro[k] -= _gyro_offset[k];
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}
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if (_last_filter_hz != _mpu6000_filter) {
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_set_filter_frequency(_mpu6000_filter);
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_last_filter_hz = _mpu6000_filter;
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}
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_have_sample_available = false;
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return true;
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}
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float AP_InertialSensor_PX4::get_delta_time(void) const
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{
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return _sample_time_usec * 1.0e-6f;
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}
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float AP_InertialSensor_PX4::get_gyro_drift_rate(void)
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{
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// assume 0.5 degrees/second/minute
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return ToRad(0.5/60);
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}
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void AP_InertialSensor_PX4::_get_sample(void)
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{
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for (uint8_t i=0; i<_num_accel_instances; i++) {
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struct accel_report accel_report;
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while (_accel_fd[i] != -1 &&
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::read(_accel_fd[i], &accel_report, sizeof(accel_report)) == sizeof(accel_report) &&
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accel_report.timestamp != _last_accel_timestamp[i]) {
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_accel_in[i] = Vector3f(accel_report.x, accel_report.y, accel_report.z);
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_last_accel_timestamp[i] = accel_report.timestamp;
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}
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}
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for (uint8_t i=0; i<_num_gyro_instances; i++) {
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struct gyro_report gyro_report;
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while (_gyro_fd[i] != -1 &&
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::read(_gyro_fd[i], &gyro_report, sizeof(gyro_report)) == sizeof(gyro_report) &&
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gyro_report.timestamp != _last_gyro_timestamp[i]) {
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_gyro_in[i] = Vector3f(gyro_report.x, gyro_report.y, gyro_report.z);
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_last_gyro_timestamp[i] = gyro_report.timestamp;
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}
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}
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_last_get_sample_timestamp = hrt_absolute_time();
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}
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bool AP_InertialSensor_PX4::_sample_available(void)
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{
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uint64_t tnow = hrt_absolute_time();
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while (tnow - _last_sample_timestamp > _sample_time_usec) {
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_have_sample_available = true;
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_last_sample_timestamp += _sample_time_usec;
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}
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return _have_sample_available;
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}
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bool AP_InertialSensor_PX4::wait_for_sample(uint16_t timeout_ms)
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{
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if (_sample_available()) {
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return true;
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}
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uint32_t start = hal.scheduler->millis();
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while ((hal.scheduler->millis() - start) < timeout_ms) {
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uint64_t tnow = hrt_absolute_time();
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// we spin for the last timing_lag microseconds. Before that
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// we yield the CPU to allow IO to happen
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const uint16_t timing_lag = 400;
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if (_last_sample_timestamp + _sample_time_usec > tnow+timing_lag) {
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hal.scheduler->delay_microseconds(_last_sample_timestamp + _sample_time_usec - (tnow+timing_lag));
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}
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if (_sample_available()) {
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return true;
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}
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}
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return false;
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}
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/**
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try to detect bad accel/gyro sensors
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*/
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bool AP_InertialSensor_PX4::healthy(void) const
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{
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return get_gyro_health(0) && get_accel_health(0);
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}
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uint8_t AP_InertialSensor_PX4::_get_primary_gyro(void) const
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{
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for (uint8_t i=0; i<_num_gyro_instances; i++) {
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if (get_gyro_health(i)) return i;
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}
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return 0;
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}
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uint8_t AP_InertialSensor_PX4::get_primary_accel(void) const
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{
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for (uint8_t i=0; i<_num_accel_instances; i++) {
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if (get_accel_health(i)) return i;
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}
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return 0;
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}
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#endif // CONFIG_HAL_BOARD
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