forked from Archive/PX4-Autopilot
examples: add Gyro FFT using CMSIS 5 on Cortex-m (#15104)
- this is a work in progress experiment to compute real time FFTs from raw gyro FIFO data on Cortex-m hardware (stm32f4/f7/h7, etc)
This commit is contained in:
Daniel Agar
GitHub
parent
23aa9ac70f
commit
8ee0c62e57
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@ -51,3 +51,6 @@
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[submodule "Tools/jsbsim_bridge"]
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path = Tools/jsbsim_bridge
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url = https://github.com/PX4/px4-jsbsim-bridge.git
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[submodule "src/examples/gyro_fft/CMSIS_5"]
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path = src/examples/gyro_fft/CMSIS_5
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url = https://github.com/ARM-software/CMSIS_5.git
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@ -16,6 +16,7 @@ exec find boards msg src platforms test \
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-path src/lib/ecl -prune -o \
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-path src/lib/matrix -prune -o \
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-path src/lib/systemlib/uthash -prune -o \
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-path src/examples/gyro_fft/CMSIS_5 -prune -o \
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-path src/modules/micrortps_bridge/micro-CDR -prune -o \
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-path src/modules/micrortps_bridge/microRTPS_client -prune -o \
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-path test/mavsdk_tests/catch2 -prune -o \
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@ -117,8 +117,10 @@ px4_add_board(
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ver
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work_queue
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EXAMPLES
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fake_gyro
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fake_magnetometer
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fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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gyro_fft
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hello
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hwtest # Hardware test
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#matlab_csv_serial
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@ -121,8 +121,10 @@ px4_add_board(
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ver
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work_queue
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EXAMPLES
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fake_gyro
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fake_magnetometer
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fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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gyro_fft
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hello
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hwtest # Hardware test
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#matlab_csv_serial
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@ -119,6 +119,8 @@ set(msg_files
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sensor_correction.msg
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sensor_gps.msg
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sensor_gyro.msg
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sensor_gyro_fft.msg
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sensor_gyro_fft_axis.msg
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sensor_gyro_fifo.msg
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sensor_mag.msg
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sensor_preflight_mag.msg
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@ -0,0 +1,15 @@
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uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample
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uint32 device_id # unique device ID for the sensor that does not change between power cycles
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float32 dt # delta time between samples (microseconds)
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float32 scale
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uint8 samples # number of valid samples
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uint8 peak_index
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float32 peak_frequency_0
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float32 peak_frequency_1
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float32 peak_frequency_2
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@ -0,0 +1,23 @@
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uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample
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uint32 device_id # unique device ID for the sensor that does not change between power cycles
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float32 dt # delta time between samples (microseconds)
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uint16 samples # number of valid samples
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float32 resolution_hz
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int16[128] fft
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uint16 peak_index
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uint16 peak_index_quinns
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float32 peak_frequency
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float32 peak_frequency_quinns
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uint8 AXIS_X = 0
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uint8 AXIS_Y = 1
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uint8 AXIS_Z = 2
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uint8 axis
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@ -285,6 +285,10 @@ rtps:
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id: 135
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- msg: generator_status
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id: 136
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- msg: sensor_gyro_fft
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id: 137
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- msg: sensor_gyro_fft_axis
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id: 138
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########## multi topics: begin ##########
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- msg: actuator_controls_0
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id: 150
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@ -0,0 +1,44 @@
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############################################################################
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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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px4_add_module(
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MODULE modules__fake_gyro
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MAIN fake_gyro
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COMPILE_FLAGS
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${MAX_CUSTOM_OPT_LEVEL}
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SRCS
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FakeGyro.cpp
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FakeGyro.hpp
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DEPENDS
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px4_work_queue
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)
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@ -0,0 +1,132 @@
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/****************************************************************************
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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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#include "FakeGyro.hpp"
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using namespace time_literals;
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FakeGyro::FakeGyro() :
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ModuleParams(nullptr),
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ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
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{
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}
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bool FakeGyro::init()
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{
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ScheduleOnInterval(SENSOR_RATE, SENSOR_RATE);
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return true;
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}
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void FakeGyro::Run()
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{
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if (should_exit()) {
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ScheduleClear();
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exit_and_cleanup();
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return;
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}
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sensor_gyro_fifo_s sensor_gyro_fifo{};
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sensor_gyro_fifo.timestamp_sample = hrt_absolute_time();
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sensor_gyro_fifo.device_id = 1;
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sensor_gyro_fifo.samples = GYRO_RATE / (1e6f / SENSOR_RATE);
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sensor_gyro_fifo.dt = 1e6f / GYRO_RATE; // 8 kHz fake gyro
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sensor_gyro_fifo.scale = math::radians(2000.f) / static_cast<float>(INT16_MAX - 1); // 2000 degrees/second max
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const float dt_s = sensor_gyro_fifo.dt / 1e6f;
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const float x_freq = 15.f; // 15 Hz x frequency
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const float y_freq = 63.5f; // 63.5 Hz y frequency
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const float z_freq = 99.f; // 99 Hz z frequency
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for (int n = 0; n < sensor_gyro_fifo.samples; n++) {
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_time += dt_s;
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const float k = 2.f * M_PI_F * _time;
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sensor_gyro_fifo.x[n] = (INT16_MAX - 1) * sinf(k * x_freq);
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sensor_gyro_fifo.y[n] = (INT16_MAX - 1) / 2 * sinf(k * y_freq);
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sensor_gyro_fifo.z[n] = (INT16_MAX - 1) * cosf(k * z_freq);
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}
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sensor_gyro_fifo.timestamp = hrt_absolute_time();
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_sensor_gyro_fifo_pub.publish(sensor_gyro_fifo);
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}
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int FakeGyro::task_spawn(int argc, char *argv[])
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{
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FakeGyro *instance = new FakeGyro();
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if (instance) {
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_object.store(instance);
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_task_id = task_id_is_work_queue;
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if (instance->init()) {
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return PX4_OK;
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}
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} else {
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PX4_ERR("alloc failed");
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}
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delete instance;
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_object.store(nullptr);
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_task_id = -1;
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return PX4_ERROR;
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}
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int FakeGyro::custom_command(int argc, char *argv[])
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{
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return print_usage("unknown command");
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}
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int FakeGyro::print_usage(const char *reason)
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{
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if (reason) {
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PX4_WARN("%s\n", reason);
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}
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PRINT_MODULE_DESCRIPTION(
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R"DESCR_STR(
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### Description
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)DESCR_STR");
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PRINT_MODULE_USAGE_NAME("fake_gyro", "driver");
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PRINT_MODULE_USAGE_COMMAND("start");
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PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
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return 0;
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}
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extern "C" __EXPORT int fake_gyro_main(int argc, char *argv[])
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{
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return FakeGyro::main(argc, argv);
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}
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@ -0,0 +1,71 @@
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/****************************************************************************
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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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*
|
||||
* 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
|
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* distribution.
|
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* 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
|
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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 <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/PublicationMulti.hpp>
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#include <uORB/Subscription.hpp>
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#include <uORB/topics/sensor_gyro_fifo.h>
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class FakeGyro : public ModuleBase<FakeGyro>, public ModuleParams, public px4::ScheduledWorkItem
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{
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public:
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FakeGyro();
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~FakeGyro() override = default;
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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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bool init();
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private:
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static constexpr uint32_t SENSOR_RATE = 1250;
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static constexpr float GYRO_RATE = 8000;
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void Run() override;
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uORB::PublicationMulti<sensor_gyro_fifo_s> _sensor_gyro_fifo_pub{ORB_ID(sensor_gyro_fifo)};
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float _time{0.f};
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};
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@ -0,0 +1 @@
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Subproject commit 03a697980f808120f1b75bfe0a96c2dd31bafbbc
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@ -0,0 +1,107 @@
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############################################################################
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#
|
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# Copyright (c) 2020 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.
|
||||
#
|
||||
############################################################################
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px4_add_git_submodule(TARGET git_cmsis_v5 PATH "${CMAKE_CURRENT_SOURCE_DIR}/CMSIS_5")
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# Needed to include the configBoot module
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# Define the path to CMSIS-DSP (ROOT is defined on command line when using cmake)
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set(ROOT ${CMAKE_CURRENT_SOURCE_DIR}/CMSIS_5)
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set(DSP ${ROOT}/CMSIS/DSP)
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set(GCC ON CACHE BOOL "")
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set(PLATFORM "FVP" CACHE STRING "")
|
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set(ARM_CPU ${ARCHITECTURE} CACHE STRING "Set ARM CPU. Default : cortex-m4")
|
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|
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set(FASTMATH ON CACHE BOOL "")
|
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set(TRANSFORM ON CACHE BOOL "")
|
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#set(CONFIGTABLE ON CACHE BOOL "")
|
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#set(ALLFAST ON CACHE BOOL "")
|
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#set(ALLFFT ON CACHE BOOL "")
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|
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add_compile_options(
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#-Wno-strict-prototypes
|
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-Wno-error
|
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|
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-DARM_FFT_ALLOW_TABLES
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-DARM_ALL_FFT_TABLES
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-DARM_TABLE_TWIDDLECOEF_Q15_128
|
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-DARM_TABLE_BITREVIDX_FXT_128
|
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-DARM_TABLE_REALCOEF_Q15
|
||||
|
||||
-DARMCM4_FP
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-DARM_MATH_LOOPUNROLL
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-DCORTEXM
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)
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add_compile_options($<$<COMPILE_LANGUAGE:C>:-Wno-nested-externs>)
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px4_add_module(
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MODULE modules__gyro_fft
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MAIN gyro_fft
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STACK_MAIN
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8192
|
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COMPILE_FLAGS
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${MAX_CUSTOM_OPT_LEVEL}
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INCLUDES
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${ROOT}/CMSIS/Core/Include
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${DSP}/Include
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SRCS
|
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GyroFFT.cpp
|
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GyroFFT.hpp
|
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|
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${DSP}/Source/BasicMathFunctions/arm_shift_q15.c
|
||||
|
||||
${DSP}/Source/CommonTables/arm_common_tables.c
|
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${DSP}/Source/CommonTables/arm_const_structs.c
|
||||
|
||||
${DSP}/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q15.c
|
||||
|
||||
${DSP}/Source/TransformFunctions/arm_bitreversal2.c
|
||||
|
||||
#${DSP}/Source/TransformFunctions/arm_cfft_init_q15.c
|
||||
${DSP}/Source/TransformFunctions/arm_cfft_q15.c
|
||||
${DSP}/Source/TransformFunctions/arm_cfft_radix4_q15.c
|
||||
|
||||
${DSP}/Source/TransformFunctions/arm_rfft_init_q15.c
|
||||
${DSP}/Source/TransformFunctions/arm_rfft_q15.c
|
||||
#${DSP}/Source/TransformFunctions/arm_rfft_radix4_q15.c
|
||||
|
||||
${DSP}/Source/SupportFunctions/arm_float_to_q15.c
|
||||
${DSP}/Source/BasicMathFunctions/arm_mult_q15.c
|
||||
|
||||
DEPENDS
|
||||
git_cmsis_v5
|
||||
px4_work_queue
|
||||
)
|
||||
|
|
@ -0,0 +1,310 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2020 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 "GyroFFT.hpp"
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <mathlib/math/Limits.hpp>
|
||||
#include <mathlib/math/Functions.hpp>
|
||||
|
||||
using namespace matrix;
|
||||
using namespace time_literals;
|
||||
using math::radians;
|
||||
|
||||
GyroFFT::GyroFFT() :
|
||||
ModuleParams(nullptr),
|
||||
ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default)
|
||||
{
|
||||
for (int axis = 0; axis < 3; axis++) {
|
||||
arm_rfft_init_q15(&_rfft_q15[axis], FFT_LENGTH, 0, 1);
|
||||
}
|
||||
|
||||
// init Hanning window
|
||||
float hanning_window[FFT_LENGTH];
|
||||
|
||||
for (int n = 0; n < FFT_LENGTH; n++) {
|
||||
hanning_window[n] = 0.5f - 0.5f * cosf(2.f * M_PI_F * n / (FFT_LENGTH - 1));
|
||||
}
|
||||
|
||||
arm_float_to_q15(hanning_window, _hanning_window, FFT_LENGTH);
|
||||
}
|
||||
|
||||
GyroFFT::~GyroFFT()
|
||||
{
|
||||
perf_free(_cycle_perf);
|
||||
perf_free(_cycle_interval_perf);
|
||||
perf_free(_fft_perf);
|
||||
perf_free(_gyro_fifo_generation_gap_perf);
|
||||
}
|
||||
|
||||
bool GyroFFT::init()
|
||||
{
|
||||
if (!SensorSelectionUpdate(true)) {
|
||||
PX4_ERR("sensor_gyro_fifo callback registration failed!");
|
||||
return false;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
bool GyroFFT::SensorSelectionUpdate(bool force)
|
||||
{
|
||||
if (_sensor_selection_sub.updated() || force) {
|
||||
sensor_selection_s sensor_selection{};
|
||||
_sensor_selection_sub.copy(&sensor_selection);
|
||||
|
||||
if (_selected_sensor_device_id != sensor_selection.gyro_device_id) {
|
||||
for (uint8_t i = 0; i < MAX_SENSOR_COUNT; i++) {
|
||||
uORB::SubscriptionData<sensor_gyro_fifo_s> sensor_gyro_fifo_sub{ORB_ID(sensor_gyro_fifo), i};
|
||||
|
||||
if ((sensor_gyro_fifo_sub.get().device_id != 0)
|
||||
&& (sensor_gyro_fifo_sub.get().device_id == sensor_selection.gyro_device_id)) {
|
||||
|
||||
if (_sensor_gyro_fifo_sub.ChangeInstance(i) && _sensor_gyro_fifo_sub.registerCallback()) {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
PX4_ERR("unable to find or subscribe to selected sensor (%d)", sensor_selection.gyro_device_id);
|
||||
}
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
// helper function used for frequency estimation
|
||||
static constexpr float tau(float x)
|
||||
{
|
||||
float p1 = logf(3.f * powf(x, 2.f) + 6 * x + 1);
|
||||
float part1 = x + 1 - sqrtf(2.f / 3.f);
|
||||
float part2 = x + 1 + sqrtf(2.f / 3.f);
|
||||
float p2 = logf(part1 / part2);
|
||||
return (1.f / 4.f * p1 - sqrtf(6) / 24 * p2);
|
||||
}
|
||||
|
||||
void GyroFFT::Run()
|
||||
{
|
||||
if (should_exit()) {
|
||||
_sensor_gyro_fifo_sub.unregisterCallback();
|
||||
exit_and_cleanup();
|
||||
return;
|
||||
}
|
||||
|
||||
// backup schedule
|
||||
ScheduleDelayed(500_ms);
|
||||
|
||||
perf_begin(_cycle_perf);
|
||||
perf_count(_cycle_interval_perf);
|
||||
|
||||
// Check if parameters have changed
|
||||
if (_parameter_update_sub.updated()) {
|
||||
// clear update
|
||||
parameter_update_s param_update;
|
||||
_parameter_update_sub.copy(¶m_update);
|
||||
|
||||
updateParams();
|
||||
}
|
||||
|
||||
SensorSelectionUpdate();
|
||||
|
||||
// run on sensor gyro fifo updates
|
||||
sensor_gyro_fifo_s sensor_gyro_fifo;
|
||||
|
||||
while (_sensor_gyro_fifo_sub.update(&sensor_gyro_fifo)) {
|
||||
|
||||
if (_sensor_gyro_fifo_sub.get_last_generation() != _gyro_last_generation + 1) {
|
||||
// force reset if we've missed a sample
|
||||
_fft_buffer_index[0] = 0;
|
||||
_fft_buffer_index[1] = 0;
|
||||
_fft_buffer_index[2] = 0;
|
||||
|
||||
perf_count(_gyro_fifo_generation_gap_perf);
|
||||
}
|
||||
|
||||
_gyro_last_generation = _sensor_gyro_fifo_sub.get_last_generation();
|
||||
|
||||
const int N = sensor_gyro_fifo.samples;
|
||||
|
||||
for (int axis = 0; axis < 3; axis++) {
|
||||
int16_t *input = nullptr;
|
||||
|
||||
switch (axis) {
|
||||
case 0:
|
||||
input = sensor_gyro_fifo.x;
|
||||
break;
|
||||
|
||||
case 1:
|
||||
input = sensor_gyro_fifo.y;
|
||||
break;
|
||||
|
||||
case 2:
|
||||
input = sensor_gyro_fifo.z;
|
||||
break;
|
||||
}
|
||||
|
||||
for (int n = 0; n < N; n++) {
|
||||
int &buffer_index = _fft_buffer_index[axis];
|
||||
|
||||
_data_buffer[axis][buffer_index] = input[n] / 2;
|
||||
|
||||
buffer_index++;
|
||||
|
||||
// if we have enough samples, begin processing
|
||||
if (buffer_index >= FFT_LENGTH) {
|
||||
|
||||
arm_mult_q15(_data_buffer[axis], _hanning_window, _fft_input_buffer, FFT_LENGTH);
|
||||
|
||||
perf_begin(_fft_perf);
|
||||
arm_rfft_q15(&_rfft_q15[axis], _fft_input_buffer, _fft_outupt_buffer);
|
||||
perf_end(_fft_perf);
|
||||
|
||||
|
||||
// find peak location using Quinn's Second Estimator (2020-06-14: http://dspguru.com/dsp/howtos/how-to-interpolate-fft-peak/)
|
||||
int16_t max_peak = 0;
|
||||
uint16_t max_peak_index = 0;
|
||||
|
||||
// start at 1 to skip DC
|
||||
for (uint16_t bucket_index = 1; bucket_index < FFT_LENGTH; bucket_index++) {
|
||||
if (abs(_fft_outupt_buffer[bucket_index]) >= max_peak) {
|
||||
max_peak_index = bucket_index;
|
||||
max_peak = abs(_fft_outupt_buffer[bucket_index]);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
int k = max_peak_index;
|
||||
float divider = powf(_fft_outupt_buffer[k], 2.f);
|
||||
float ap = (_fft_outupt_buffer[k + 1] * _fft_outupt_buffer[k]) / divider;
|
||||
float dp = -ap / (1.f - ap);
|
||||
float am = (_fft_outupt_buffer[k - 1] * _fft_outupt_buffer[k]) / divider;
|
||||
|
||||
float dm = am / (1.f - am);
|
||||
float d = (dp + dm) / 2 + tau(dp * dp) - tau(dm * dm);
|
||||
|
||||
float adjustedBinLocation = k + d;
|
||||
float peakFreqAdjusted = (_gyro_sample_rate * adjustedBinLocation / (FFT_LENGTH * 2));
|
||||
|
||||
|
||||
// publish sensor_gyro_fft_axis (one instance per axis)
|
||||
sensor_gyro_fft_axis_s sensor_gyro_fft_axis{};
|
||||
const int N_publish = math::min((unsigned)FFT_LENGTH,
|
||||
sizeof(sensor_gyro_fft_axis_s::fft) / sizeof(sensor_gyro_fft_axis_s::fft[0]));
|
||||
memcpy(sensor_gyro_fft_axis.fft, _fft_outupt_buffer, N_publish);
|
||||
|
||||
sensor_gyro_fft_axis.resolution_hz = _gyro_sample_rate / (FFT_LENGTH * 2);
|
||||
|
||||
sensor_gyro_fft_axis.peak_index = max_peak_index;
|
||||
sensor_gyro_fft_axis.peak_frequency = max_peak_index * sensor_gyro_fft_axis.resolution_hz;
|
||||
|
||||
sensor_gyro_fft_axis.peak_index_quinns = adjustedBinLocation;
|
||||
sensor_gyro_fft_axis.peak_frequency_quinns = peakFreqAdjusted;
|
||||
|
||||
sensor_gyro_fft_axis.samples = FFT_LENGTH;
|
||||
sensor_gyro_fft_axis.dt = 1e6f / _gyro_sample_rate;
|
||||
sensor_gyro_fft_axis.device_id = sensor_gyro_fifo.device_id;
|
||||
sensor_gyro_fft_axis.axis = axis;
|
||||
sensor_gyro_fft_axis.timestamp_sample = sensor_gyro_fifo.timestamp_sample;
|
||||
sensor_gyro_fft_axis.timestamp = hrt_absolute_time();
|
||||
_sensor_gyro_fft_axis_pub[axis].publish(sensor_gyro_fft_axis);
|
||||
|
||||
// reset
|
||||
buffer_index = 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
perf_end(_cycle_perf);
|
||||
}
|
||||
|
||||
int GyroFFT::task_spawn(int argc, char *argv[])
|
||||
{
|
||||
GyroFFT *instance = new GyroFFT();
|
||||
|
||||
if (instance) {
|
||||
_object.store(instance);
|
||||
_task_id = task_id_is_work_queue;
|
||||
|
||||
if (instance->init()) {
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
} else {
|
||||
PX4_ERR("alloc failed");
|
||||
}
|
||||
|
||||
delete instance;
|
||||
_object.store(nullptr);
|
||||
_task_id = -1;
|
||||
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
int GyroFFT::print_status()
|
||||
{
|
||||
perf_print_counter(_cycle_perf);
|
||||
perf_print_counter(_cycle_interval_perf);
|
||||
perf_print_counter(_fft_perf);
|
||||
perf_print_counter(_gyro_fifo_generation_gap_perf);
|
||||
return 0;
|
||||
}
|
||||
|
||||
int GyroFFT::custom_command(int argc, char *argv[])
|
||||
{
|
||||
return print_usage("unknown command");
|
||||
}
|
||||
|
||||
int GyroFFT::print_usage(const char *reason)
|
||||
{
|
||||
if (reason) {
|
||||
PX4_WARN("%s\n", reason);
|
||||
}
|
||||
|
||||
PRINT_MODULE_DESCRIPTION(
|
||||
R"DESCR_STR(
|
||||
### Description
|
||||
|
||||
)DESCR_STR");
|
||||
|
||||
PRINT_MODULE_USAGE_NAME("gyro_fft", "system");
|
||||
PRINT_MODULE_USAGE_COMMAND("start");
|
||||
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
extern "C" __EXPORT int gyro_fft_main(int argc, char *argv[])
|
||||
{
|
||||
return GyroFFT::main(argc, argv);
|
||||
}
|
||||
|
|
@ -0,0 +1,114 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2020 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <lib/matrix/matrix/math.hpp>
|
||||
#include <lib/perf/perf_counter.h>
|
||||
#include <px4_platform_common/defines.h>
|
||||
#include <px4_platform_common/module.h>
|
||||
#include <px4_platform_common/module_params.h>
|
||||
#include <px4_platform_common/posix.h>
|
||||
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <uORB/Publication.hpp>
|
||||
#include <uORB/PublicationMulti.hpp>
|
||||
#include <uORB/Subscription.hpp>
|
||||
#include <uORB/SubscriptionCallback.hpp>
|
||||
#include <uORB/topics/parameter_update.h>
|
||||
#include <uORB/topics/sensor_gyro_fft.h>
|
||||
#include <uORB/topics/sensor_gyro_fft_axis.h>
|
||||
#include <uORB/topics/sensor_gyro_fifo.h>
|
||||
#include <uORB/topics/sensor_selection.h>
|
||||
|
||||
#include "arm_math.h"
|
||||
#include "arm_const_structs.h"
|
||||
|
||||
class GyroFFT : public ModuleBase<GyroFFT>, public ModuleParams, public px4::ScheduledWorkItem
|
||||
{
|
||||
public:
|
||||
GyroFFT();
|
||||
~GyroFFT() override;
|
||||
|
||||
/** @see ModuleBase */
|
||||
static int task_spawn(int argc, char *argv[]);
|
||||
|
||||
/** @see ModuleBase */
|
||||
static int custom_command(int argc, char *argv[]);
|
||||
|
||||
/** @see ModuleBase */
|
||||
static int print_usage(const char *reason = nullptr);
|
||||
|
||||
/** @see ModuleBase::print_status() */
|
||||
int print_status() override;
|
||||
|
||||
bool init();
|
||||
|
||||
private:
|
||||
void Run() override;
|
||||
bool SensorSelectionUpdate(bool force = false);
|
||||
|
||||
static constexpr int MAX_SENSOR_COUNT = 3;
|
||||
|
||||
uORB::Publication<sensor_gyro_fft_s> _sensor_gyro_fft_pub{ORB_ID(sensor_gyro_fft)};
|
||||
uORB::Publication<sensor_gyro_fft_axis_s> _sensor_gyro_fft_axis_pub[3] {
|
||||
ORB_ID(sensor_gyro_fft_axis),
|
||||
ORB_ID(sensor_gyro_fft_axis),
|
||||
ORB_ID(sensor_gyro_fft_axis),
|
||||
};
|
||||
|
||||
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
|
||||
uORB::Subscription _sensor_selection_sub{ORB_ID(sensor_selection)};
|
||||
|
||||
uORB::SubscriptionCallbackWorkItem _sensor_gyro_fifo_sub{this, ORB_ID(sensor_gyro_fifo)};
|
||||
|
||||
perf_counter_t _cycle_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
|
||||
perf_counter_t _cycle_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": cycle interval")};
|
||||
perf_counter_t _fft_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": FFT")};
|
||||
perf_counter_t _gyro_fifo_generation_gap_perf{perf_alloc(PC_COUNT, MODULE_NAME": gyro FIFO data gap")};
|
||||
|
||||
uint32_t _selected_sensor_device_id{0};
|
||||
|
||||
static constexpr uint16_t FFT_LENGTH = 1024;
|
||||
arm_rfft_instance_q15 _rfft_q15[3];
|
||||
|
||||
q15_t _data_buffer[3][FFT_LENGTH] {};
|
||||
q15_t _hanning_window[FFT_LENGTH] {};
|
||||
q15_t _fft_input_buffer[FFT_LENGTH] {};
|
||||
q15_t _fft_outupt_buffer[FFT_LENGTH * 2] {};
|
||||
|
||||
float _gyro_sample_rate{8000}; // 8 kHz default
|
||||
|
||||
int _fft_buffer_index[3] {};
|
||||
|
||||
unsigned _gyro_last_generation{0};
|
||||
};
|
||||
|
|
@ -47,6 +47,7 @@ px4_add_module(
|
|||
MODULE systemcmds__topic_listener
|
||||
MAIN listener
|
||||
COMPILE_FLAGS
|
||||
STACK_MAIN 4096
|
||||
INCLUDES
|
||||
${CMAKE_CURRENT_SOURCE_DIR}
|
||||
${CMAKE_CURRENT_BINARY_DIR}
|
||||
|
|
|
|||
Loading…
Reference in New Issue