forked from Archive/PX4-Autopilot
PX4Magnetometer now functional
This commit is contained in:
Daniel Agar
parent
12374490cb
commit
a883d8eff9
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@ -31,4 +31,4 @@
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#
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############################################################################
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px4_add_library(drivers__magnetometer PX4Magnetometer.cpp)
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px4_add_library(drivers_magnetometer PX4Magnetometer.cpp)
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@ -34,118 +34,100 @@
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#include "PX4Magnetometer.hpp"
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PX4Magnetometer::PX4Magnetometer(const char *path, device::Device *interface, uint8_t dev_type, enum Rotation rotation,
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float scale) :
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CDev(path),
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_interface(interface)
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#include <lib/drivers/device/Device.hpp>
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PX4Magnetometer::PX4Magnetometer(uint32_t device_id, uint8_t priority, enum Rotation rotation) :
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CDev(nullptr),
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_sensor_mag_pub{ORB_ID(sensor_mag), priority},
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_rotation{rotation}
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{
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_device_id.devid = _interface->get_device_id();
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// _device_id.devid_s.bus_type = (device::Device::DeviceBusType)_interface->get_device_bus_type();
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// _device_id.devid_s.bus = _interface->get_device_bus();
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// _device_id.devid_s.address = _interface->get_device_address();
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_device_id.devid_s.devtype = dev_type;
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CDev::init();
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_class_device_instance = register_class_devname(MAG_BASE_DEVICE_PATH);
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_rotation = rotation;
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_scale = scale;
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_sensor_mag_pub.get().device_id = device_id;
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_sensor_mag_pub.get().scaling = 1.0f;
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_cal.x_offset = 0;
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_cal.x_scale = 1.0f;
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_cal.y_offset = 0;
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_cal.y_scale = 1.0f;
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_cal.z_offset = 0;
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_cal.z_scale = 1.0f;
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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_mag_pub.update();
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}
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PX4Magnetometer::~PX4Magnetometer()
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{
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if (_topic != nullptr) {
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orb_unadvertise(_topic);
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if (_class_device_instance != -1) {
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unregister_class_devname(MAG_BASE_DEVICE_PATH, _class_device_instance);
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}
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}
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int PX4Magnetometer::init()
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{
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mag_report report{};
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report.device_id = _device_id.devid;
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if (_topic == nullptr) {
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_topic = orb_advertise_multi(ORB_ID(sensor_mag), &report, &_orb_class_instance, ORB_PRIO_HIGH - 1);
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if (_topic == nullptr) {
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PX4_ERR("Advertise failed.");
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return PX4_ERROR;
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}
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}
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return PX4_OK;
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}
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int PX4Magnetometer::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 MAGIOCSSCALE:
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// Copy scale in.
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memcpy(&_cal, (struct mag_calibration_s *) arg, sizeof(_cal));
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return OK;
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case MAGIOCSSCALE: {
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// Copy offsets and scale factors in
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mag_calibration_s cal{};
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memcpy(&cal, (mag_calibration_s *) arg, sizeof(cal));
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case MAGIOCGSCALE:
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// Copy scale out.
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memcpy((struct mag_calibration_s *) arg, &_cal, sizeof(_cal));
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return OK;
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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 _device_id.devid;
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return _sensor_mag_pub.get().device_id;
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default:
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// Give it to the superclass.
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return CDev::ioctl(filp, cmd, arg);
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return -ENOTTY;
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}
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}
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void PX4Magnetometer::configure_filter(float sample_freq, float cutoff_freq)
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void PX4Magnetometer::set_device_type(uint8_t devtype)
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{
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_filter_x.set_cutoff_frequency(sample_freq, cutoff_freq);
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_filter_y.set_cutoff_frequency(sample_freq, cutoff_freq);
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_filter_z.set_cutoff_frequency(sample_freq, cutoff_freq);
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// current DeviceStructure
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union device::Device::DeviceId device_id;
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device_id.devid = _sensor_mag_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_mag_pub.get().device_id = device_id.devid;
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}
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// @TODO: use fixed point math to reclaim CPU usage
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int PX4Magnetometer::publish(float x, float y, float z, float temperature)
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void PX4Magnetometer::update(hrt_abstime timestamp, int16_t x, int16_t y, int16_t z)
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{
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sensor_mag_s report{};
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sensor_mag_s &report = _sensor_mag_pub.get();
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report.timestamp = timestamp;
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report.device_id = _device_id.devid;
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report.error_count = 0;
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report.scaling = _scale;
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report.timestamp = hrt_absolute_time();
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report.temperature = temperature;
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report.is_external = false;
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// Apply rotation (before scaling)
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float xraw_f = x;
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float yraw_f = y;
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float zraw_f = z;
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rotate_3f(_rotation, xraw_f, yraw_f, zraw_f);
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// Apply range scale and the calibrating offset/scale
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const matrix::Vector3f val_calibrated{(((matrix::Vector3f{xraw_f, yraw_f, zraw_f} * report.scaling) - _calibration_offset).emult(_calibration_scale))};
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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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// Apply the rotation.
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rotate_3f(_rotation, x, y, z);
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// Apply FS range scale and the calibrating offset/scale
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x = ((x * _scale) - _cal.x_offset) * _cal.x_scale;
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y = ((y * _scale) - _cal.y_offset) * _cal.y_scale;
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z = ((z * _scale) - _cal.z_offset) * _cal.z_scale;
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// Filtered values
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report.x = _filter_x.apply(x);
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report.y = _filter_y.apply(y);
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report.z = _filter_z.apply(z);
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report.x = val_calibrated(0);
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report.y = val_calibrated(1);
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report.z = val_calibrated(2);
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poll_notify(POLLIN);
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orb_publish(ORB_ID(sensor_mag), _topic, &report);
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_sensor_mag_pub.update();
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}
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return PX4_OK;
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}
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void PX4Magnetometer::print_status()
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{
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PX4_INFO(MAG_BASE_DEVICE_PATH " device instance: %d", _class_device_instance);
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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_mag_pub.get());
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}
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@ -31,51 +31,42 @@
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*
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****************************************************************************/
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#include <mathlib/math/filter/LowPassFilter2p.hpp>
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#include <drivers/device/integrator.h>
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#include <drivers/drv_mag.h>
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#include <drivers/drv_hrt.h>
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#include <lib/drivers/device/Device.hpp>
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#include <lib/cdev/CDev.hpp>
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#include <lib/conversion/rotation.h>
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#include <uORB/topics/sensor_mag.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_mag.h>
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class PX4Magnetometer : public cdev::CDev
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{
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public:
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PX4Magnetometer(const char *name, device::Device *interface, uint8_t dev_type, enum Rotation rotation, float scale);
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PX4Magnetometer(uint32_t device_id, uint8_t priority, enum Rotation rotation);
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~PX4Magnetometer() override;
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int init() override;
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int ioctl(cdev::file_t *filp, int cmd, unsigned long arg) override;
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int publish(float x, float y, float z, float temperature);
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void set_device_type(uint8_t devtype);
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void set_error_count(uint64_t error_count) { _sensor_mag_pub.get().error_count = error_count; }
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void set_scale(float scale) { _sensor_mag_pub.get().scaling = scale; }
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void set_temperature(float temperature) { _sensor_mag_pub.get().temperature = temperature; }
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void set_external(bool external) { _sensor_mag_pub.get().is_external = external; }
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void configure_filter(float sample_freq, float 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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// Pointer to the communication interface
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const device::Device *_interface{nullptr};
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mag_calibration_s _cal{};
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uORB::Publication<sensor_mag_s> _sensor_mag_pub;
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orb_advert_t _topic{nullptr};
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const enum Rotation _rotation;
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device::Device::DeviceId _device_id{};
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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 _orb_class_instance{-1};
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int _class_device_instance{-1};
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int _class_device_instance{-1};
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enum Rotation _rotation {ROTATION_NONE};
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float _scale{1.0f};
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math::LowPassFilter2p _filter_x{100, 20};
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math::LowPassFilter2p _filter_y{100, 20};
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math::LowPassFilter2p _filter_z{100, 20};
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};
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