forked from Archive/PX4-Autopilot
PX4 sensor driver helpers
This commit is contained in:
Daniel Agar
parent
a2e9d9ffce
commit
91dcfb7ab2
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@ -31,8 +31,11 @@
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#
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############################################################################
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add_subdirectory(accelerometer)
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add_subdirectory(airspeed)
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add_subdirectory(device)
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add_subdirectory(gyroscope)
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add_subdirectory(led)
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add_subdirectory(linux_gpio)
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add_subdirectory(magnetometer)
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add_subdirectory(smbus)
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@ -0,0 +1,34 @@
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############################################################################
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#
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# Copyright (c) 2018 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_library(drivers_accelerometer PX4Accelerometer.cpp)
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@ -0,0 +1,150 @@
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/****************************************************************************
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*
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* Copyright (c) 2018 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 "PX4Accelerometer.hpp"
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#include <lib/drivers/device/Device.hpp>
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PX4Accelerometer::PX4Accelerometer(uint32_t device_id, uint8_t priority, enum Rotation rotation) :
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CDev(nullptr),
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ModuleParams(nullptr),
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_sensor_accel_pub{ORB_ID(sensor_accel), priority},
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_rotation{get_rot_matrix(rotation)}
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{
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_class_device_instance = register_class_devname(ACCEL_BASE_DEVICE_PATH);
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_sensor_accel_pub.get().device_id = device_id;
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_sensor_accel_pub.get().scaling = 1.0f;
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// set software low pass filter for controllers
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updateParams();
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configure_filter(_filter_cutoff.get());
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// force initial publish to allocate uORB buffer
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// TODO: can be removed once all drivers are in threads
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_sensor_accel_pub.update();
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}
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PX4Accelerometer::~PX4Accelerometer()
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{
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if (_class_device_instance != -1) {
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unregister_class_devname(ACCEL_BASE_DEVICE_PATH, _class_device_instance);
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}
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}
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int PX4Accelerometer::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
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{
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switch (cmd) {
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case ACCELIOCSSCALE: {
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// Copy offsets and scale factors in
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accel_calibration_s cal{};
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memcpy(&cal, (accel_calibration_s *) arg, sizeof(cal));
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_calibration_offset = matrix::Vector3f{cal.x_offset, cal.y_offset, cal.z_offset};
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_calibration_scale = matrix::Vector3f{cal.x_scale, cal.y_scale, cal.z_scale};
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}
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return PX4_OK;
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case DEVIOCGDEVICEID:
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return _sensor_accel_pub.get().device_id;
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default:
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return -ENOTTY;
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}
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}
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void PX4Accelerometer::set_device_type(uint8_t devtype)
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{
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// current DeviceStructure
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union device::Device::DeviceId device_id;
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device_id.devid = _sensor_accel_pub.get().device_id;
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// update to new device type
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device_id.devid_s.devtype = devtype;
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// copy back to report
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_sensor_accel_pub.get().device_id = device_id.devid;
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}
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void PX4Accelerometer::update(hrt_abstime timestamp, int16_t x, int16_t y, int16_t z)
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{
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sensor_accel_s &report = _sensor_accel_pub.get();
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report.timestamp = timestamp;
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// Apply rotation, range scale, and the calibrating offset/scale
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const matrix::Vector3f val_raw{(float)x, (float)y, (float)z};
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const matrix::Vector3f val_calibrated{ _rotation *(((val_raw * report.scaling) - _calibration_offset).emult(_calibration_scale))};
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// Filtered values
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const matrix::Vector3f val_filtered{_filter.apply(val_calibrated)};
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// Integrated values
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matrix::Vector3f integrated_value;
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uint32_t integral_dt = 0;
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if (_integrator.put(timestamp, val_calibrated, integrated_value, integral_dt)) {
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// Raw values (ADC units 0 - 65535)
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report.x_raw = x;
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report.y_raw = y;
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report.z_raw = z;
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report.x = val_filtered(0);
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report.y = val_filtered(1);
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report.z = val_filtered(2);
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report.integral_dt = integral_dt;
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report.x_integral = integrated_value(0);
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report.y_integral = integrated_value(1);
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report.z_integral = integrated_value(2);
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poll_notify(POLLIN);
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_sensor_accel_pub.update();
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}
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}
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void PX4Accelerometer::print_status()
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{
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PX4_INFO(ACCEL_BASE_DEVICE_PATH " device instance: %d", _class_device_instance);
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PX4_INFO("sample rate: %d Hz", _sample_rate);
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PX4_INFO("filter cutoff: %.3f Hz", (double)_filter.get_cutoff_freq());
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PX4_INFO("calibration scale: %.5f %.5f %.5f", (double)_calibration_scale(0), (double)_calibration_scale(1),
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(double)_calibration_scale(2));
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PX4_INFO("calibration offset: %.5f %.5f %.5f", (double)_calibration_offset(0), (double)_calibration_offset(1),
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(double)_calibration_offset(2));
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print_message(_sensor_accel_pub.get());
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}
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@ -0,0 +1,88 @@
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/****************************************************************************
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*
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* Copyright (c) 2018 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
|
||||
* 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
|
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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
|
||||
* 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 <drivers/device/integrator.h>
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#include <drivers/drv_accel.h>
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#include <drivers/drv_hrt.h>
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#include <lib/cdev/CDev.hpp>
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#include <lib/conversion/rotation.h>
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#include <mathlib/math/filter/LowPassFilter2pVector3f.hpp>
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#include <px4_module_params.h>
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#include <uORB/uORB.h>
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#include <uORB/Publication.hpp>
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#include <uORB/topics/sensor_accel.h>
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class PX4Accelerometer : public cdev::CDev, public ModuleParams
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{
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public:
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PX4Accelerometer(uint32_t device_id, uint8_t priority, enum Rotation rotation);
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~PX4Accelerometer() override;
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int ioctl(cdev::file_t *filp, int cmd, unsigned long arg) override;
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void set_device_type(uint8_t devtype);
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void set_error_count(uint64_t error_count) { _sensor_accel_pub.get().error_count = error_count; }
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void set_scale(float scale) { _sensor_accel_pub.get().scaling = scale; }
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void set_temperature(float temperature) { _sensor_accel_pub.get().temperature = temperature; }
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void set_sample_rate(unsigned rate) { _sample_rate = rate; }
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void configure_filter(float cutoff_freq) { _filter.set_cutoff_frequency(_sample_rate, cutoff_freq); }
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void update(hrt_abstime timestamp, int16_t x, int16_t y, int16_t z);
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void print_status();
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private:
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uORB::Publication<sensor_accel_s> _sensor_accel_pub;
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math::LowPassFilter2pVector3f _filter{1000, 100};
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Integrator _integrator{4000, false};
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const matrix::Dcmf _rotation;
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matrix::Vector3f _calibration_scale{1.0f, 1.0f, 1.0f};
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matrix::Vector3f _calibration_offset{0.0f, 0.0f, 0.0f};
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int _class_device_instance{-1};
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unsigned _sample_rate{1000};
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DEFINE_PARAMETERS(
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(ParamFloat<px4::params::IMU_ACCEL_CUTOFF>) _filter_cutoff
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)
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};
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@ -44,14 +44,15 @@
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#include <drivers/drv_hrt.h>
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Integrator::Integrator(uint64_t auto_reset_interval, bool coning_compensation) :
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_auto_reset_interval(auto_reset_interval),
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Integrator::Integrator(uint32_t auto_reset_interval, bool coning_compensation) :
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_coning_comp_on(coning_compensation)
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{
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set_autoreset_interval(auto_reset_interval);
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}
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bool
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Integrator::put(uint64_t timestamp, matrix::Vector3f &val, matrix::Vector3f &integral, uint32_t &integral_dt)
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Integrator::put(const uint64_t ×tamp, const matrix::Vector3f &val, matrix::Vector3f &integral,
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uint32_t &integral_dt)
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{
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if (_last_integration_time == 0) {
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/* this is the first item in the integrator */
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@ -72,7 +73,7 @@ Integrator::put(uint64_t timestamp, matrix::Vector3f &val, matrix::Vector3f &int
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}
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// Use trapezoidal integration to calculate the delta integral
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matrix::Vector3f delta_alpha = (val + _last_val) * dt * 0.5f;
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const matrix::Vector3f delta_alpha = (val + _last_val) * dt * 0.5f;
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_last_val = val;
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// Calculate coning corrections if required
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@ -128,7 +129,7 @@ Integrator::put_with_interval(unsigned interval_us, matrix::Vector3f &val, matri
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}
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// Create the timestamp artifically.
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uint64_t timestamp = _last_integration_time + interval_us;
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const uint64_t timestamp = _last_integration_time + interval_us;
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return put(timestamp, val, integral, integral_dt);
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}
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@ -149,12 +150,10 @@ matrix::Vector3f
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Integrator::get_and_filtered(bool reset, uint32_t &integral_dt, matrix::Vector3f &filtered_val)
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{
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// Do the usual get with reset first but don't return yet.
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matrix::Vector3f ret_integral = get(reset, integral_dt);
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const matrix::Vector3f ret_integral = get(reset, integral_dt);
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// Because we need both the integral and the integral_dt.
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filtered_val(0) = ret_integral(0) * 1000000 / integral_dt;
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filtered_val(1) = ret_integral(1) * 1000000 / integral_dt;
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filtered_val(2) = ret_integral(2) * 1000000 / integral_dt;
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filtered_val = ret_integral * 1000000 / integral_dt;
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return ret_integral;
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}
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@ -48,7 +48,7 @@
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class Integrator
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{
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public:
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Integrator(uint64_t auto_reset_interval = 4000 /* 250 Hz */, bool coning_compensation = false);
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Integrator(uint32_t auto_reset_interval = 4000 /* 250 Hz */, bool coning_compensation = false);
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~Integrator() = default;
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// no copy, assignment, move, move assignment
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@ -67,7 +67,7 @@ public:
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* @return true if putting the item triggered an integral reset and the integral should be
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* published.
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*/
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bool put(uint64_t timestamp, matrix::Vector3f &val, matrix::Vector3f &integral, uint32_t &integral_dt);
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bool put(const uint64_t ×tamp, const matrix::Vector3f &val, matrix::Vector3f &integral, uint32_t &integral_dt);
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/**
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* Put an item into the integral but provide an interval instead of a timestamp.
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@ -108,12 +108,12 @@ public:
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/**
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* Set auto reset interval during runtime. This won't reset the integrator.
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*
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* @param auto_reset_interval New reset time interval for the integrator.
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* @param auto_reset_interval New reset time interval for the integrator (+- 10%).
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*/
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void set_autoreset_interval(uint64_t auto_reset_interval) { _auto_reset_interval = auto_reset_interval; }
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void set_autoreset_interval(uint32_t auto_reset_interval) { _auto_reset_interval = 0.90f * auto_reset_interval; }
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private:
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uint64_t _auto_reset_interval{0}; /**< the interval after which the content will be published
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uint32_t _auto_reset_interval{0}; /**< the interval after which the content will be published
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and the integrator reset, 0 if no auto-reset */
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uint64_t _last_integration_time{0}; /**< timestamp of the last integration step */
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@ -0,0 +1,34 @@
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############################################################################
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#
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# Copyright (c) 2018 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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||||
|
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px4_add_library(drivers_gyroscope PX4Gyroscope.cpp)
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@ -0,0 +1,150 @@
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/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2018 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 "PX4Gyroscope.hpp"
|
||||
|
||||
#include <lib/drivers/device/Device.hpp>
|
||||
|
||||
PX4Gyroscope::PX4Gyroscope(uint32_t device_id, uint8_t priority, enum Rotation rotation) :
|
||||
CDev(nullptr),
|
||||
ModuleParams(nullptr),
|
||||
_sensor_gyro_pub{ORB_ID(sensor_gyro), priority},
|
||||
_rotation{get_rot_matrix(rotation)}
|
||||
{
|
||||
_class_device_instance = register_class_devname(GYRO_BASE_DEVICE_PATH);
|
||||
|
||||
_sensor_gyro_pub.get().device_id = device_id;
|
||||
_sensor_gyro_pub.get().scaling = 1.0f;
|
||||
|
||||
// set software low pass filter for controllers
|
||||
updateParams();
|
||||
configure_filter(_filter_cutoff.get());
|
||||
|
||||
// force initial publish to allocate uORB buffer
|
||||
// TODO: can be removed once all drivers are in threads
|
||||
_sensor_gyro_pub.update();
|
||||
}
|
||||
|
||||
PX4Gyroscope::~PX4Gyroscope()
|
||||
{
|
||||
if (_class_device_instance != -1) {
|
||||
unregister_class_devname(GYRO_BASE_DEVICE_PATH, _class_device_instance);
|
||||
}
|
||||
}
|
||||
|
||||
int PX4Gyroscope::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
|
||||
{
|
||||
switch (cmd) {
|
||||
case GYROIOCSSCALE: {
|
||||
// Copy offsets and scale factors in
|
||||
gyro_calibration_s cal{};
|
||||
memcpy(&cal, (gyro_calibration_s *) arg, sizeof(cal));
|
||||
|
||||
_calibration_offset = matrix::Vector3f{cal.x_offset, cal.y_offset, cal.z_offset};
|
||||
_calibration_scale = matrix::Vector3f{cal.x_scale, cal.y_scale, cal.z_scale};
|
||||
}
|
||||
|
||||
return PX4_OK;
|
||||
|
||||
case DEVIOCGDEVICEID:
|
||||
return _sensor_gyro_pub.get().device_id;
|
||||
|
||||
default:
|
||||
return -ENOTTY;
|
||||
}
|
||||
}
|
||||
|
||||
void PX4Gyroscope::set_device_type(uint8_t devtype)
|
||||
{
|
||||
// current DeviceStructure
|
||||
union device::Device::DeviceId device_id;
|
||||
device_id.devid = _sensor_gyro_pub.get().device_id;
|
||||
|
||||
// update to new device type
|
||||
device_id.devid_s.devtype = devtype;
|
||||
|
||||
// copy back to report
|
||||
_sensor_gyro_pub.get().device_id = device_id.devid;
|
||||
}
|
||||
|
||||
void PX4Gyroscope::update(hrt_abstime timestamp, int16_t x, int16_t y, int16_t z)
|
||||
{
|
||||
sensor_gyro_s &report = _sensor_gyro_pub.get();
|
||||
report.timestamp = timestamp;
|
||||
|
||||
// Apply rotation, range scale, and the calibrating offset/scale
|
||||
const matrix::Vector3f val_raw{(float)x, (float)y, (float)z};
|
||||
const matrix::Vector3f val_calibrated{ _rotation *(((val_raw * report.scaling) - _calibration_offset).emult(_calibration_scale))};
|
||||
|
||||
// Filtered values
|
||||
const matrix::Vector3f val_filtered{_filter.apply(val_calibrated)};
|
||||
|
||||
// Integrated values
|
||||
matrix::Vector3f integrated_value;
|
||||
uint32_t integral_dt = 0;
|
||||
|
||||
if (_integrator.put(timestamp, val_calibrated, integrated_value, integral_dt)) {
|
||||
|
||||
// Raw values (ADC units 0 - 65535)
|
||||
report.x_raw = x;
|
||||
report.y_raw = y;
|
||||
report.z_raw = z;
|
||||
|
||||
report.x = val_filtered(0);
|
||||
report.y = val_filtered(1);
|
||||
report.z = val_filtered(2);
|
||||
|
||||
report.integral_dt = integral_dt;
|
||||
report.x_integral = integrated_value(0);
|
||||
report.y_integral = integrated_value(1);
|
||||
report.z_integral = integrated_value(2);
|
||||
|
||||
poll_notify(POLLIN);
|
||||
_sensor_gyro_pub.update();
|
||||
}
|
||||
}
|
||||
|
||||
void PX4Gyroscope::print_status()
|
||||
{
|
||||
PX4_INFO(GYRO_BASE_DEVICE_PATH " device instance: %d", _class_device_instance);
|
||||
PX4_INFO("sample rate: %d Hz", _sample_rate);
|
||||
PX4_INFO("filter cutoff: %.3f Hz", (double)_filter.get_cutoff_freq());
|
||||
|
||||
PX4_INFO("calibration scale: %.5f %.5f %.5f", (double)_calibration_scale(0), (double)_calibration_scale(1),
|
||||
(double)_calibration_scale(2));
|
||||
PX4_INFO("calibration offset: %.5f %.5f %.5f", (double)_calibration_offset(0), (double)_calibration_offset(1),
|
||||
(double)_calibration_offset(2));
|
||||
|
||||
print_message(_sensor_gyro_pub.get());
|
||||
}
|
||||
|
|
@ -0,0 +1,88 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2018 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 <drivers/device/integrator.h>
|
||||
#include <drivers/drv_gyro.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <lib/cdev/CDev.hpp>
|
||||
#include <lib/conversion/rotation.h>
|
||||
#include <mathlib/math/filter/LowPassFilter2pVector3f.hpp>
|
||||
#include <px4_module_params.h>
|
||||
#include <uORB/uORB.h>
|
||||
#include <uORB/Publication.hpp>
|
||||
#include <uORB/topics/sensor_gyro.h>
|
||||
|
||||
class PX4Gyroscope : public cdev::CDev, public ModuleParams
|
||||
{
|
||||
|
||||
public:
|
||||
PX4Gyroscope(uint32_t device_id, uint8_t priority, enum Rotation rotation);
|
||||
~PX4Gyroscope() override;
|
||||
|
||||
int ioctl(cdev::file_t *filp, int cmd, unsigned long arg) override;
|
||||
|
||||
void set_device_type(uint8_t devtype);
|
||||
void set_error_count(uint64_t error_count) { _sensor_gyro_pub.get().error_count = error_count; }
|
||||
void set_scale(float scale) { _sensor_gyro_pub.get().scaling = scale; }
|
||||
void set_temperature(float temperature) { _sensor_gyro_pub.get().temperature = temperature; }
|
||||
|
||||
void set_sample_rate(unsigned rate) { _sample_rate = rate; }
|
||||
|
||||
void configure_filter(float cutoff_freq) { _filter.set_cutoff_frequency(_sample_rate, cutoff_freq); }
|
||||
|
||||
void update(hrt_abstime timestamp, int16_t x, int16_t y, int16_t z);
|
||||
|
||||
void print_status();
|
||||
|
||||
private:
|
||||
|
||||
uORB::Publication<sensor_gyro_s> _sensor_gyro_pub;
|
||||
|
||||
math::LowPassFilter2pVector3f _filter{1000, 100};
|
||||
Integrator _integrator{4000, true};
|
||||
|
||||
const matrix::Dcmf _rotation;
|
||||
|
||||
matrix::Vector3f _calibration_scale{1.0f, 1.0f, 1.0f};
|
||||
matrix::Vector3f _calibration_offset{0.0f, 0.0f, 0.0f};
|
||||
|
||||
int _class_device_instance{-1};
|
||||
|
||||
unsigned _sample_rate{1000};
|
||||
|
||||
DEFINE_PARAMETERS(
|
||||
(ParamFloat<px4::params::IMU_GYRO_CUTOFF>) _filter_cutoff
|
||||
)
|
||||
|
||||
};
|
||||
|
|
@ -0,0 +1,34 @@
|
|||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2018 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
px4_add_library(drivers__magnetometer PX4Magnetometer.cpp)
|
||||
|
|
@ -0,0 +1,151 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2018 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 "PX4Magnetometer.hpp"
|
||||
|
||||
PX4Magnetometer::PX4Magnetometer(const char *path, device::Device *interface, uint8_t dev_type, enum Rotation rotation,
|
||||
float scale) :
|
||||
CDev(path),
|
||||
_interface(interface)
|
||||
{
|
||||
_device_id.devid = _interface->get_device_id();
|
||||
// _device_id.devid_s.bus_type = (device::Device::DeviceBusType)_interface->get_device_bus_type();
|
||||
// _device_id.devid_s.bus = _interface->get_device_bus();
|
||||
// _device_id.devid_s.address = _interface->get_device_address();
|
||||
_device_id.devid_s.devtype = dev_type;
|
||||
|
||||
CDev::init();
|
||||
|
||||
_class_device_instance = register_class_devname(MAG_BASE_DEVICE_PATH);
|
||||
|
||||
_rotation = rotation;
|
||||
_scale = scale;
|
||||
|
||||
_cal.x_offset = 0;
|
||||
_cal.x_scale = 1.0f;
|
||||
_cal.y_offset = 0;
|
||||
_cal.y_scale = 1.0f;
|
||||
_cal.z_offset = 0;
|
||||
_cal.z_scale = 1.0f;
|
||||
}
|
||||
|
||||
PX4Magnetometer::~PX4Magnetometer()
|
||||
{
|
||||
if (_topic != nullptr) {
|
||||
orb_unadvertise(_topic);
|
||||
}
|
||||
}
|
||||
|
||||
int PX4Magnetometer::init()
|
||||
{
|
||||
mag_report report{};
|
||||
report.device_id = _device_id.devid;
|
||||
|
||||
if (_topic == nullptr) {
|
||||
_topic = orb_advertise_multi(ORB_ID(sensor_mag), &report, &_orb_class_instance, ORB_PRIO_HIGH - 1);
|
||||
|
||||
if (_topic == nullptr) {
|
||||
PX4_ERR("Advertise failed.");
|
||||
return PX4_ERROR;
|
||||
}
|
||||
}
|
||||
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
int PX4Magnetometer::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
|
||||
{
|
||||
switch (cmd) {
|
||||
case MAGIOCSSCALE:
|
||||
// Copy scale in.
|
||||
memcpy(&_cal, (struct mag_calibration_s *) arg, sizeof(_cal));
|
||||
return OK;
|
||||
|
||||
case MAGIOCGSCALE:
|
||||
// Copy scale out.
|
||||
memcpy((struct mag_calibration_s *) arg, &_cal, sizeof(_cal));
|
||||
return OK;
|
||||
|
||||
case DEVIOCGDEVICEID:
|
||||
return _device_id.devid;
|
||||
|
||||
default:
|
||||
// Give it to the superclass.
|
||||
return CDev::ioctl(filp, cmd, arg);
|
||||
}
|
||||
}
|
||||
|
||||
void PX4Magnetometer::configure_filter(float sample_freq, float cutoff_freq)
|
||||
{
|
||||
_filter_x.set_cutoff_frequency(sample_freq, cutoff_freq);
|
||||
_filter_y.set_cutoff_frequency(sample_freq, cutoff_freq);
|
||||
_filter_z.set_cutoff_frequency(sample_freq, cutoff_freq);
|
||||
}
|
||||
|
||||
// @TODO: use fixed point math to reclaim CPU usage
|
||||
int PX4Magnetometer::publish(float x, float y, float z, float temperature)
|
||||
{
|
||||
sensor_mag_s report{};
|
||||
|
||||
report.device_id = _device_id.devid;
|
||||
report.error_count = 0;
|
||||
report.scaling = _scale;
|
||||
report.timestamp = hrt_absolute_time();
|
||||
report.temperature = temperature;
|
||||
report.is_external = false;
|
||||
|
||||
|
||||
// Raw values (ADC units 0 - 65535)
|
||||
report.x_raw = x;
|
||||
report.y_raw = y;
|
||||
report.z_raw = z;
|
||||
|
||||
// Apply the rotation.
|
||||
rotate_3f(_rotation, x, y, z);
|
||||
|
||||
// Apply FS range scale and the calibrating offset/scale
|
||||
x = ((x * _scale) - _cal.x_offset) * _cal.x_scale;
|
||||
y = ((y * _scale) - _cal.y_offset) * _cal.y_scale;
|
||||
z = ((z * _scale) - _cal.z_offset) * _cal.z_scale;
|
||||
|
||||
// Filtered values
|
||||
report.x = _filter_x.apply(x);
|
||||
report.y = _filter_y.apply(y);
|
||||
report.z = _filter_z.apply(z);
|
||||
|
||||
poll_notify(POLLIN);
|
||||
orb_publish(ORB_ID(sensor_mag), _topic, &report);
|
||||
|
||||
return PX4_OK;
|
||||
}
|
||||
|
|
@ -0,0 +1,81 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2018 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 <mathlib/math/filter/LowPassFilter2p.hpp>
|
||||
|
||||
#include <drivers/device/integrator.h>
|
||||
#include <drivers/drv_mag.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <lib/drivers/device/Device.hpp>
|
||||
#include <lib/cdev/CDev.hpp>
|
||||
#include <lib/conversion/rotation.h>
|
||||
#include <uORB/topics/sensor_mag.h>
|
||||
#include <uORB/uORB.h>
|
||||
|
||||
class PX4Magnetometer : public cdev::CDev
|
||||
{
|
||||
|
||||
public:
|
||||
PX4Magnetometer(const char *name, device::Device *interface, uint8_t dev_type, enum Rotation rotation, float scale);
|
||||
~PX4Magnetometer() override;
|
||||
|
||||
int init() override;
|
||||
int ioctl(cdev::file_t *filp, int cmd, unsigned long arg) override;
|
||||
|
||||
int publish(float x, float y, float z, float temperature);
|
||||
|
||||
void configure_filter(float sample_freq, float cutoff_freq);
|
||||
|
||||
private:
|
||||
// Pointer to the communication interface
|
||||
const device::Device *_interface{nullptr};
|
||||
|
||||
mag_calibration_s _cal{};
|
||||
|
||||
orb_advert_t _topic{nullptr};
|
||||
|
||||
device::Device::DeviceId _device_id{};
|
||||
|
||||
int _orb_class_instance{-1};
|
||||
|
||||
int _class_device_instance{-1};
|
||||
|
||||
enum Rotation _rotation {ROTATION_NONE};
|
||||
|
||||
float _scale{1.0f};
|
||||
|
||||
math::LowPassFilter2p _filter_x{100, 20};
|
||||
math::LowPassFilter2p _filter_y{100, 20};
|
||||
math::LowPassFilter2p _filter_z{100, 20};
|
||||
};
|
||||
Loading…
Reference in New Issue