mirror of https://github.com/ArduPilot/ardupilot
156 lines
4.5 KiB
C++
156 lines
4.5 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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* AP_Compass_PX4.cpp - Arduino Library for PX4 magnetometer
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*
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*/
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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_Compass_PX4.h"
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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_device.h>
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#include <drivers/drv_mag.h>
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#include <drivers/drv_hrt.h>
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#include <stdio.h>
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#include <errno.h>
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extern const AP_HAL::HAL& hal;
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// Public Methods //////////////////////////////////////////////////////////////
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bool AP_Compass_PX4::init(void)
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{
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_mag_fd[0] = open(MAG_DEVICE_PATH, O_RDONLY);
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_mag_fd[1] = open(MAG_DEVICE_PATH "1", O_RDONLY);
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_mag_fd[2] = open(MAG_DEVICE_PATH "2", O_RDONLY);
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_num_instances = 0;
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for (uint8_t i=0; i<COMPASS_MAX_INSTANCES; i++) {
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if (_mag_fd[i] >= 0) {
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_num_instances = i+1;
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}
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}
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if (_num_instances == 0) {
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hal.console->printf("Unable to open " MAG_DEVICE_PATH "\n");
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return false;
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}
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for (uint8_t i=0; i<_num_instances; i++) {
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// get device id
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_dev_id[i] = ioctl(_mag_fd[i], DEVIOCGDEVICEID, 0);
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// average over up to 20 samples
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if (ioctl(_mag_fd[i], SENSORIOCSQUEUEDEPTH, 20) != 0) {
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hal.console->printf("Failed to setup compass queue\n");
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return false;
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}
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// remember if the compass is external
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_external[i] = (ioctl(_mag_fd[i], MAGIOCGEXTERNAL, 0) > 0);
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if (_external[i]) {
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hal.console->printf("Using external compass[%u]\n", (unsigned)i);
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}
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_count[0] = 0;
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_sum[i].zero();
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_healthy[i] = false;
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}
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// give the driver a chance to run, and gather one sample
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hal.scheduler->delay(40);
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accumulate();
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if (_count[0] == 0) {
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hal.console->printf("Failed initial compass accumulate\n");
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}
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return true;
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}
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bool AP_Compass_PX4::read(void)
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{
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// try to accumulate one more sample, so we have the latest data
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accumulate();
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// consider the compass healthy if we got a reading in the last 0.2s
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for (uint8_t i=0; i<_num_instances; i++) {
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_healthy[i] = (hal.scheduler->micros64() - _last_timestamp[i] < 200000);
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}
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for (uint8_t i=0; i<_num_instances; i++) {
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// avoid division by zero if we haven't received any mag reports
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if (_count[i] == 0) continue;
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_sum[i] /= _count[i];
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_sum[i] *= 1000;
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// apply default board orientation for this compass type. This is
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// a noop on most boards
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_sum[i].rotate(MAG_BOARD_ORIENTATION);
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if (_external[i]) {
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// add user selectable orientation
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_sum[i].rotate((enum Rotation)_orientation[i].get());
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} else {
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// add in board orientation from AHRS
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_sum[i].rotate(_board_orientation);
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}
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_field[i] = _sum[i];
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apply_corrections(_field[i],i);
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_sum[i].zero();
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_count[i] = 0;
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}
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last_update = _last_timestamp[get_primary()];
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return _healthy[get_primary()];
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}
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void AP_Compass_PX4::accumulate(void)
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{
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struct mag_report mag_report;
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for (uint8_t i=0; i<_num_instances; i++) {
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while (::read(_mag_fd[i], &mag_report, sizeof(mag_report)) == sizeof(mag_report) &&
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mag_report.timestamp != _last_timestamp[i]) {
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_sum[i] += Vector3f(mag_report.x, mag_report.y, mag_report.z);
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_count[i]++;
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_last_timestamp[i] = mag_report.timestamp;
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}
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}
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}
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uint8_t AP_Compass_PX4::get_primary(void) const
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{
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if (_primary < _num_instances && _healthy[_primary] && use_for_yaw(_primary)) {
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return _primary;
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}
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for (uint8_t i=0; i<_num_instances; i++) {
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if (_healthy[i] && (use_for_yaw(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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