forked from Archive/PX4-Autopilot
deprecate df_hmc5883_wrapper and replace with in tree hmc5883
- deprecate DriverFramework hmc5883 driver (df_hmc5883_wrapper) - update aerotenna ocpoc and snapdragon flight eagle boards to use in tree hmc5883
This commit is contained in:
parent
7241eebd80
commit
ce1e9762b0
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@ -107,6 +107,11 @@ serial_ports = {
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"index": 202,
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"default_baudrate": 0,
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},
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"GPS3": {
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"label": "GPS 3",
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"index": 203,
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"default_baudrate": 0,
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},
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# RC Port
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"RC": {
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@ -7,6 +7,14 @@ px4_add_board(
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ARCHITECTURE cortex-a9
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TOOLCHAIN arm-linux-gnueabihf
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TESTING
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SERIAL_PORTS
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GPS1:/dev/ttyS3 # GPS/Compass #1 (OcPoC Port 6)
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GPS2:/dev/ttyS7 # GPS/Compass #2 (OcPoC Port 7)
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GPS3:/dev/ttyS1 # GPS/Compass #3 (OcPoC Port 9)
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TEL1:/dev/ttyPS1 # Radio Telemetry (OcPoC Port 4)
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TEL2:/dev/ttyS6 # uLanding Radar Altimeter (OcPoC Port 8)
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TEL3:/dev/ttyS2 # (OcPoC Port 2)
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TEL4:/dev/ttyS0 # uSharp-Patch (OcPoC Port 5)
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DRIVERS
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#barometer # all available barometer drivers
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barometer/ms5611
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@ -26,7 +34,6 @@ px4_add_board(
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pwm_out_sim
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#telemetry # all available telemetry drivers
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DF_DRIVERS # NOTE: DriverFramework is migrating to intree PX4 drivers
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hmc5883
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mpu9250
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MODULES
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airspeed_selector
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@ -34,7 +34,7 @@
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/**
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* @file board_config.h
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*
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* OCPOC internal definitions
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* Aerotenna Ocpoc internal definitions
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*/
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#pragma once
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@ -43,22 +43,36 @@
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#define PX4_SOC_ARCH_ID PX4_SOC_ARCH_ID_OCPOC
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#define BOARD_BATTERY1_V_DIV (10.177939394f)
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#define BOARD_HAS_NO_RESET
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#define BOARD_HAS_NO_BOOTLOADER
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#define BOARD_NUMBER_I2C_BUSES 4
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#define BOARD_MAX_LEDS 1 // Number of external LED's this board has
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/*
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* I2C busses
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*/
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#define PX4_I2C_BUS_EXPANSION 2 // i2c-2: Air Data Probe or I2C Splitter
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#define PX4_I2C_BUS_EXPANSION1 4 // i2c-4: GPS/Compass #1
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#define PX4_I2C_BUS_EXPANSION2 5 // i2c-5: GPS/Compass #2
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#define PX4_I2C_BUS_EXPANSION3 3 // i2c-3: GPS/Compass #3
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#define PX4_NUMBER_I2C_BUSES 4
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#define PX4_I2C_BUS_LED 1
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#define PX4_I2C_BUS_EXPANSION 1
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// SPI
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#define PX4_SPI_BUS_SENSORS 1
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#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 0) // spidev1.0 - mpu9250
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#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1) // spidev1.1 - ms5611
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//#define PX4_SPIDEV_MPU2 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 2) // TODO: where is the 2nd mpu9250?
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#define PX4_SPI_BUS_BARO PX4_SPI_BUS_SENSORS
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// Battery ADC channels
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#define ADC_BATTERY_VOLTAGE_CHANNEL 10
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#define ADC_BATTERY_CURRENT_CHANNEL ((uint8_t)(-1))
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#define ADC_AIRSPEED_VOLTAGE_CHANNEL 11
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// SPI
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#define PX4_SPI_BUS_SENSORS 1
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#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1)
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#include <system_config.h>
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#include <px4_platform_common/board_common.h>
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@ -52,7 +52,6 @@ px4_add_board(
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snapdragon_pwm_out
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spektrum_rc
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DF_DRIVERS
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hmc5883
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isl29501
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ltc2946
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mpu9250
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@ -58,7 +58,9 @@
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// SPI
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#define PX4_SPI_BUS_SENSORS 1
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#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1)
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#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1) // spi-1 - mpu9250
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// Battery ADC channels
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#include <system_config.h>
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#include <px4_platform_common/board_common.h>
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@ -52,7 +52,6 @@ px4_add_board(
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snapdragon_pwm_out
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spektrum_rc
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DF_DRIVERS
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hmc5883
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isl29501
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ltc2946
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mpu9250
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@ -25,7 +25,6 @@ px4_add_board(
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pwm_out_sim
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#telemetry # all available telemetry drivers
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DF_DRIVERS # NOTE: DriverFramework is migrating to intree PX4 drivers
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hmc5883
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isl29501
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lsm9ds1
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mpu9250
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@ -34,7 +34,7 @@
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/**
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* @file board_config.h
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*
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* Emlid Navio2 RPI internal definitions
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* Emlid Navio2 internal definitions
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*/
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#pragma once
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@ -42,9 +42,6 @@
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#define BOARD_OVERRIDE_UUID "RPIID00000000000" // must be of length 16
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#define PX4_SOC_ARCH_ID PX4_SOC_ARCH_ID_RPI
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#define ADC_BATTERY_VOLTAGE_CHANNEL 2
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#define ADC_BATTERY_CURRENT_CHANNEL 3
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#define BOARD_BATTERY1_V_DIV (10.177939394f)
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#define BOARD_BATTERY1_A_PER_V (15.391030303f)
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@ -57,11 +54,19 @@
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* I2C busses
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*/
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#define PX4_I2C_BUS_EXPANSION 1
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#define PX4_NUMBER_I2C_BUSES 1
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// SPI
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#define PX4_SPI_BUS_SENSORS 0
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#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1)
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#define PX4_SPIDEV_UBLOX PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 0) // spidev0.0 - ublox m8n
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#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1) // spidev0.1 - mpu9250
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#define PX4_SPIDEV_LSM9DS1_M PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 2) // spidev0.2 - lsm9ds1 mag
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#define PX4_SPIDEV_LSM9DS1_AG PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 3) // spidev0.3 - lsm9ds1 accel/gyro
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// Battery ADC channels
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#define ADC_BATTERY_VOLTAGE_CHANNEL 2
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#define ADC_BATTERY_CURRENT_CHANNEL 3
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#include <system_config.h>
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#include <px4_platform_common/board_common.h>
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@ -28,7 +28,7 @@ px4_add_board(
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MODULES
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airspeed_selector
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attitude_estimator_q
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battery_status
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#battery_status
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camera_feedback
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commander
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dataman
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@ -55,10 +55,7 @@
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// SPI
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#define PX4_SPI_BUS_SENSORS 0
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#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 0)
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#define ADC_BATTERY_VOLTAGE_CHANNEL 0
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#define ADC_BATTERY_CURRENT_CHANNEL 1
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#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 0) // spidev0.0
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#include <system_config.h>
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#include <px4_platform_common/board_common.h>
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@ -5,7 +5,7 @@ sleep 1
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gps start -d /dev/tty-4
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param set MAV_TYPE 2
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sleep 1
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df_hmc5883_wrapper start
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hmc5883 start
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df_mpu9250_wrapper start_without_mag
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bmp280 start
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df_trone_wrapper start
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@ -19,7 +19,7 @@ then
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qshell pwm_out_rc_in start -d /dev/tty-2
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qshell gps start -d /dev/tty-4
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qshell df_hmc5883_wrapper start
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qshell hmc5883 start
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qshell df_trone_wrapper start
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#qshell df_isl29501_wrapper start
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@ -16,7 +16,7 @@ param set MAV_TYPE 2
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param set MAV_SYS_ID 1
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df_mpu9250_wrapper start_without_mag -R 10
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df_hmc5883_wrapper start -D /dev/i2c-4
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hmc5883 start
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ms5611 start
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rgbled start -b 1
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ocpoc_adc start
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@ -19,7 +19,6 @@ param set BAT_A_PER_V 15.391030303
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dataman start
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df_lsm9ds1_wrapper start -R 4
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#df_mpu9250_wrapper start -R 10
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#df_hmc5883_wrapper start
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ms5611 start
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navio_rgbled start
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navio_adc start
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@ -19,7 +19,6 @@ param set BAT_A_PER_V 15.391030303
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dataman start
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df_lsm9ds1_wrapper start -R 4
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#df_mpu9250_wrapper start -R 10
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#df_hmc5883_wrapper start
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ms5611 start
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navio_rgbled start
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navio_adc start
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@ -1,45 +0,0 @@
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############################################################################
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#
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# Copyright (c) 2016 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_directories(../../../lib/DriverFramework/drivers)
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px4_add_module(
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MODULE platforms__posix__drivers__df_hmc5883_wrapper
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MAIN df_hmc5883_wrapper
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SRCS
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df_hmc5883_wrapper.cpp
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DEPENDS
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git_driverframework
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df_driver_framework
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df_hmc5883
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)
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@ -1,462 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2016 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
|
||||
* 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
|
||||
* 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
|
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* 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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/**
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* @file df_hmc5883_wrapper.cpp
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* Lightweight driver to access the HMC5883 of the DriverFramework.
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*
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* @author Julian Oes <julian@oes.ch>
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*/
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#include <px4_platform_common/px4_config.h>
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <stdint.h>
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#include <stddef.h>
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#include <stdlib.h>
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#include <string.h>
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#include <math.h>
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#include <unistd.h>
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#include <px4_platform_common/getopt.h>
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#include <errno.h>
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#include <lib/parameters/param.h>
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#include <perf/perf_counter.h>
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#include <systemlib/err.h>
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#include <drivers/drv_mag.h>
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#include <drivers/drv_hrt.h>
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#include <uORB/topics/parameter_update.h>
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#include <board_config.h>
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#include <lib/conversion/rotation.h>
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#include <hmc5883/HMC5883.hpp>
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#include <DevMgr.hpp>
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extern "C" { __EXPORT int df_hmc5883_wrapper_main(int argc, char *argv[]); }
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using namespace DriverFramework;
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class DfHmc5883Wrapper : public HMC5883
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{
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public:
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DfHmc5883Wrapper(enum Rotation rotation, const char *path);
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~DfHmc5883Wrapper();
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/**
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* Start automatic measurement.
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*
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* @return 0 on success
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*/
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int start();
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/**
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* Stop automatic measurement.
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*
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* @return 0 on success
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*/
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int stop();
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private:
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int _publish(struct mag_sensor_data &data);
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void _update_mag_calibration();
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orb_advert_t _mag_topic;
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int _param_update_sub;
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struct mag_calibration_s {
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float x_offset;
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float x_scale;
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float y_offset;
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float y_scale;
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float z_offset;
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float z_scale;
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} _mag_calibration;
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matrix::Dcmf _rotation_matrix;
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int _mag_orb_class_instance;
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perf_counter_t _mag_sample_perf;
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};
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DfHmc5883Wrapper::DfHmc5883Wrapper(enum Rotation rotation, const char *path) :
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HMC5883(path),
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_mag_topic(nullptr),
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_param_update_sub(-1),
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_mag_calibration{},
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_mag_orb_class_instance(-1),
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_mag_sample_perf(perf_alloc(PC_ELAPSED, "df_mag_read"))
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{
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// Set sane default calibration values
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_mag_calibration.x_scale = 1.0f;
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_mag_calibration.y_scale = 1.0f;
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_mag_calibration.z_scale = 1.0f;
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_mag_calibration.x_offset = 0.0f;
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_mag_calibration.y_offset = 0.0f;
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_mag_calibration.z_offset = 0.0f;
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// Get sensor rotation matrix
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_rotation_matrix = get_rot_matrix(rotation);
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}
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DfHmc5883Wrapper::~DfHmc5883Wrapper()
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{
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perf_free(_mag_sample_perf);
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}
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int DfHmc5883Wrapper::start()
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{
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/* Subscribe to param update topic. */
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if (_param_update_sub < 0) {
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_param_update_sub = orb_subscribe(ORB_ID(parameter_update));
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}
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/* Init device and start sensor. */
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int ret = init();
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if (ret != 0) {
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PX4_ERR("HMC5883 init fail: %d", ret);
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return ret;
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}
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ret = HMC5883::start();
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if (ret != 0) {
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PX4_ERR("HMC5883 start fail: %d", ret);
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return ret;
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}
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/* Force getting the calibration values. */
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||||
_update_mag_calibration();
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int DfHmc5883Wrapper::stop()
|
||||
{
|
||||
/* Stop sensor. */
|
||||
int ret = HMC5883::stop();
|
||||
|
||||
if (ret != 0) {
|
||||
PX4_ERR("HMC5883 stop fail: %d", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
void DfHmc5883Wrapper::_update_mag_calibration()
|
||||
{
|
||||
// TODO: replace magic number
|
||||
for (unsigned i = 0; i < 3; ++i) {
|
||||
|
||||
// TODO: remove printfs and add error counter
|
||||
|
||||
char str[30];
|
||||
(void)sprintf(str, "CAL_MAG%u_ID", i);
|
||||
int32_t device_id;
|
||||
int res = param_get(param_find(str), &device_id);
|
||||
|
||||
if (res != OK) {
|
||||
PX4_ERR("Could not access param %s", str);
|
||||
continue;
|
||||
}
|
||||
|
||||
if ((uint32_t)device_id != m_id.dev_id) {
|
||||
continue;
|
||||
}
|
||||
|
||||
(void)sprintf(str, "CAL_MAG%u_XSCALE", i);
|
||||
res = param_get(param_find(str), &_mag_calibration.x_scale);
|
||||
|
||||
if (res != OK) {
|
||||
PX4_ERR("Could not access param %s", str);
|
||||
}
|
||||
|
||||
(void)sprintf(str, "CAL_MAG%u_YSCALE", i);
|
||||
res = param_get(param_find(str), &_mag_calibration.y_scale);
|
||||
|
||||
if (res != OK) {
|
||||
PX4_ERR("Could not access param %s", str);
|
||||
}
|
||||
|
||||
(void)sprintf(str, "CAL_MAG%u_ZSCALE", i);
|
||||
res = param_get(param_find(str), &_mag_calibration.z_scale);
|
||||
|
||||
if (res != OK) {
|
||||
PX4_ERR("Could not access param %s", str);
|
||||
}
|
||||
|
||||
(void)sprintf(str, "CAL_MAG%u_XOFF", i);
|
||||
res = param_get(param_find(str), &_mag_calibration.x_offset);
|
||||
|
||||
if (res != OK) {
|
||||
PX4_ERR("Could not access param %s", str);
|
||||
}
|
||||
|
||||
(void)sprintf(str, "CAL_MAG%u_YOFF", i);
|
||||
res = param_get(param_find(str), &_mag_calibration.y_offset);
|
||||
|
||||
if (res != OK) {
|
||||
PX4_ERR("Could not access param %s", str);
|
||||
}
|
||||
|
||||
(void)sprintf(str, "CAL_MAG%u_ZOFF", i);
|
||||
res = param_get(param_find(str), &_mag_calibration.z_offset);
|
||||
|
||||
if (res != OK) {
|
||||
PX4_ERR("Could not access param %s", str);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
int DfHmc5883Wrapper::_publish(struct mag_sensor_data &data)
|
||||
{
|
||||
/* Check if calibration values are still up-to-date. */
|
||||
bool updated;
|
||||
orb_check(_param_update_sub, &updated);
|
||||
|
||||
if (updated) {
|
||||
parameter_update_s parameter_update;
|
||||
orb_copy(ORB_ID(parameter_update), _param_update_sub, ¶meter_update);
|
||||
|
||||
_update_mag_calibration();
|
||||
}
|
||||
|
||||
/* Publish mag first. */
|
||||
perf_begin(_mag_sample_perf);
|
||||
|
||||
mag_report mag_report = {};
|
||||
mag_report.timestamp = hrt_absolute_time();
|
||||
mag_report.is_external = true;
|
||||
|
||||
/* The standard external mag by 3DR has x pointing to the
|
||||
* right, y pointing backwards, and z down, therefore switch x
|
||||
* and y and invert y. */
|
||||
const float tmp = data.field_x_ga;
|
||||
data.field_x_ga = -data.field_y_ga;
|
||||
data.field_y_ga = tmp;
|
||||
|
||||
// TODO: remove these (or get the values)
|
||||
mag_report.x_raw = 0;
|
||||
mag_report.y_raw = 0;
|
||||
mag_report.z_raw = 0;
|
||||
|
||||
matrix::Vector3f mag_val(data.field_x_ga,
|
||||
data.field_y_ga,
|
||||
data.field_z_ga);
|
||||
|
||||
// apply sensor rotation on the accel measurement
|
||||
mag_val = _rotation_matrix * mag_val;
|
||||
|
||||
// Apply calibration after rotation.
|
||||
mag_report.x = (mag_val(0) - _mag_calibration.x_offset) * _mag_calibration.x_scale;
|
||||
mag_report.y = (mag_val(1) - _mag_calibration.y_offset) * _mag_calibration.y_scale;
|
||||
mag_report.z = (mag_val(2) - _mag_calibration.z_offset) * _mag_calibration.z_scale;
|
||||
|
||||
// TODO: get these right
|
||||
//mag_report.scaling = -1.0f;
|
||||
|
||||
mag_report.device_id = m_id.dev_id;
|
||||
|
||||
// TODO: when is this ever blocked?
|
||||
if (!(m_pub_blocked)) {
|
||||
|
||||
if (_mag_topic == nullptr) {
|
||||
_mag_topic = orb_advertise_multi(ORB_ID(sensor_mag), &mag_report,
|
||||
&_mag_orb_class_instance, ORB_PRIO_HIGH);
|
||||
|
||||
} else {
|
||||
orb_publish(ORB_ID(sensor_mag), _mag_topic, &mag_report);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
perf_end(_mag_sample_perf);
|
||||
|
||||
return 0;
|
||||
};
|
||||
|
||||
|
||||
namespace df_hmc5883_wrapper
|
||||
{
|
||||
|
||||
DfHmc5883Wrapper *g_dev = nullptr;
|
||||
|
||||
int start(enum Rotation rotation, const char *path);
|
||||
int stop();
|
||||
int info();
|
||||
void usage();
|
||||
|
||||
int start(enum Rotation rotation, const char *path)
|
||||
{
|
||||
g_dev = new DfHmc5883Wrapper(rotation, path);
|
||||
|
||||
if (g_dev == nullptr) {
|
||||
PX4_ERR("failed instantiating DfHmc5883Wrapper object");
|
||||
return -1;
|
||||
}
|
||||
|
||||
int ret = g_dev->start();
|
||||
|
||||
if (ret != 0) {
|
||||
PX4_ERR("DfHmc5883Wrapper start failed");
|
||||
return ret;
|
||||
}
|
||||
|
||||
// Open the MAG sensor
|
||||
DevHandle h;
|
||||
DevMgr::getHandle(path, h);
|
||||
|
||||
if (!h.isValid()) {
|
||||
DF_LOG_INFO("Error: unable to obtain a valid handle for the receiver at: %s (%d)",
|
||||
path, h.getError());
|
||||
return -1;
|
||||
}
|
||||
|
||||
DevMgr::releaseHandle(h);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int stop()
|
||||
{
|
||||
if (g_dev == nullptr) {
|
||||
PX4_ERR("driver not running");
|
||||
return 1;
|
||||
}
|
||||
|
||||
int ret = g_dev->stop();
|
||||
|
||||
if (ret != 0) {
|
||||
PX4_ERR("driver could not be stopped");
|
||||
return ret;
|
||||
}
|
||||
|
||||
delete g_dev;
|
||||
g_dev = nullptr;
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* Print a little info about the driver.
|
||||
*/
|
||||
int
|
||||
info()
|
||||
{
|
||||
if (g_dev == nullptr) {
|
||||
PX4_ERR("driver not running");
|
||||
return 1;
|
||||
}
|
||||
|
||||
PX4_DEBUG("state @ %p", g_dev);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
void
|
||||
usage()
|
||||
{
|
||||
PX4_INFO("Usage: df_hmc5883_wrapper 'start', 'info', 'stop'");
|
||||
PX4_INFO("options:");
|
||||
PX4_INFO(" -R rotation");
|
||||
}
|
||||
|
||||
} // namespace df_hmc5883_wrapper
|
||||
|
||||
|
||||
int
|
||||
df_hmc5883_wrapper_main(int argc, char *argv[])
|
||||
{
|
||||
int ch;
|
||||
enum Rotation rotation = ROTATION_NONE;
|
||||
int ret = 0;
|
||||
int myoptind = 1;
|
||||
const char *myoptarg = NULL;
|
||||
const char *device_path = MAG_DEVICE_PATH;
|
||||
|
||||
/* jump over start/off/etc and look at options first */
|
||||
while ((ch = px4_getopt(argc, argv, "R:D:", &myoptind, &myoptarg)) != EOF) {
|
||||
switch (ch) {
|
||||
case 'R':
|
||||
rotation = (enum Rotation)atoi(myoptarg);
|
||||
break;
|
||||
|
||||
case 'D':
|
||||
device_path = myoptarg;
|
||||
break;
|
||||
|
||||
default:
|
||||
df_hmc5883_wrapper::usage();
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
|
||||
if (argc <= 1) {
|
||||
df_hmc5883_wrapper::usage();
|
||||
return 1;
|
||||
}
|
||||
|
||||
const char *verb = argv[myoptind];
|
||||
|
||||
|
||||
if (!strcmp(verb, "start")) {
|
||||
ret = df_hmc5883_wrapper::start(rotation, device_path);
|
||||
}
|
||||
|
||||
else if (!strcmp(verb, "stop")) {
|
||||
ret = df_hmc5883_wrapper::stop();
|
||||
}
|
||||
|
||||
else if (!strcmp(verb, "info")) {
|
||||
ret = df_hmc5883_wrapper::info();
|
||||
}
|
||||
|
||||
else {
|
||||
df_hmc5883_wrapper::usage();
|
||||
return 1;
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
Loading…
Reference in New Issue