forked from Archive/PX4-Autopilot
Add DF wrapper for MPU6050
This commit is contained in:
Michael Schaeuble
Julian Oes
parent
8ab841e046
commit
e73d8d73e1
|
|
@ -0,0 +1,46 @@
|
|||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2016 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_directories(../../../../lib/DriverFramework/drivers)
|
||||
|
||||
px4_add_module(
|
||||
MODULE platforms__posix__drivers__df_mpu6050_wrapper
|
||||
MAIN df_mpu6050_wrapper
|
||||
SRCS
|
||||
df_mpu6050_wrapper.cpp
|
||||
DEPENDS
|
||||
platforms__common
|
||||
df_driver_framework
|
||||
df_mpu6050
|
||||
)
|
||||
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
|
||||
|
|
@ -0,0 +1,712 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2016 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file df_mpu6050_wrapper.cpp
|
||||
* Lightweight driver to access the MPU6050 of the DriverFramework.
|
||||
*/
|
||||
|
||||
#include <px4_config.h>
|
||||
|
||||
#include <sys/types.h>
|
||||
#include <sys/stat.h>
|
||||
#include <stdint.h>
|
||||
#include <stddef.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <math.h>
|
||||
#include <unistd.h>
|
||||
#include <px4_getopt.h>
|
||||
#include <errno.h>
|
||||
|
||||
#include <systemlib/err.h>
|
||||
#include <systemlib/perf_counter.h>
|
||||
#include <systemlib/mavlink_log.h>
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <drivers/drv_accel.h>
|
||||
#include <drivers/drv_gyro.h>
|
||||
#include <drivers/device/integrator.h>
|
||||
|
||||
#include <lib/conversion/rotation.h>
|
||||
|
||||
#include <uORB/topics/parameter_update.h>
|
||||
|
||||
#include <mpu6050/MPU6050.hpp>
|
||||
#include <DevMgr.hpp>
|
||||
|
||||
// We don't want to auto publish, therefore set this to 0.
|
||||
#define MPU6050_NEVER_AUTOPUBLISH_US 0
|
||||
|
||||
|
||||
extern "C" { __EXPORT int df_mpu6050_wrapper_main(int argc, char *argv[]); }
|
||||
|
||||
using namespace DriverFramework;
|
||||
|
||||
|
||||
class DfMPU6050Wrapper : public MPU6050
|
||||
{
|
||||
public:
|
||||
DfMPU6050Wrapper(enum Rotation rotation);
|
||||
~DfMPU6050Wrapper();
|
||||
|
||||
|
||||
/**
|
||||
* Start automatic measurement.
|
||||
*
|
||||
* @return 0 on success
|
||||
*/
|
||||
int start();
|
||||
|
||||
/**
|
||||
* Stop automatic measurement.
|
||||
*
|
||||
* @return 0 on success
|
||||
*/
|
||||
int stop();
|
||||
|
||||
/**
|
||||
* Print some debug info.
|
||||
*/
|
||||
void info();
|
||||
|
||||
private:
|
||||
int _publish(struct imu_sensor_data &data);
|
||||
|
||||
void _update_accel_calibration();
|
||||
void _update_gyro_calibration();
|
||||
|
||||
orb_advert_t _accel_topic;
|
||||
orb_advert_t _gyro_topic;
|
||||
|
||||
orb_advert_t _mavlink_log_pub;
|
||||
|
||||
int _param_update_sub;
|
||||
|
||||
struct accel_calibration_s {
|
||||
float x_offset;
|
||||
float x_scale;
|
||||
float y_offset;
|
||||
float y_scale;
|
||||
float z_offset;
|
||||
float z_scale;
|
||||
} _accel_calibration;
|
||||
|
||||
struct gyro_calibration_s {
|
||||
float x_offset;
|
||||
float x_scale;
|
||||
float y_offset;
|
||||
float y_scale;
|
||||
float z_offset;
|
||||
float z_scale;
|
||||
} _gyro_calibration;
|
||||
|
||||
math::Matrix<3, 3> _rotation_matrix;
|
||||
|
||||
int _accel_orb_class_instance;
|
||||
int _gyro_orb_class_instance;
|
||||
|
||||
Integrator _accel_int;
|
||||
Integrator _gyro_int;
|
||||
|
||||
unsigned _publish_count;
|
||||
|
||||
perf_counter_t _read_counter;
|
||||
perf_counter_t _error_counter;
|
||||
perf_counter_t _fifo_overflow_counter;
|
||||
perf_counter_t _fifo_corruption_counter;
|
||||
perf_counter_t _gyro_range_hit_counter;
|
||||
perf_counter_t _accel_range_hit_counter;
|
||||
perf_counter_t _publish_perf;
|
||||
|
||||
hrt_abstime _last_accel_range_hit_time;
|
||||
uint64_t _last_accel_range_hit_count;
|
||||
|
||||
};
|
||||
|
||||
DfMPU6050Wrapper::DfMPU6050Wrapper(enum Rotation rotation) :
|
||||
MPU6050(IMU_DEVICE_PATH),
|
||||
_accel_topic(nullptr),
|
||||
_gyro_topic(nullptr),
|
||||
_mavlink_log_pub(nullptr),
|
||||
_param_update_sub(-1),
|
||||
_accel_calibration{},
|
||||
_gyro_calibration{},
|
||||
_accel_orb_class_instance(-1),
|
||||
_gyro_orb_class_instance(-1),
|
||||
_accel_int(MPU6050_NEVER_AUTOPUBLISH_US, false),
|
||||
_gyro_int(MPU6050_NEVER_AUTOPUBLISH_US, true),
|
||||
_publish_count(0),
|
||||
_read_counter(perf_alloc(PC_COUNT, "mpu6050_reads")),
|
||||
_error_counter(perf_alloc(PC_COUNT, "mpu6050_errors")),
|
||||
_fifo_overflow_counter(perf_alloc(PC_COUNT, "mpu6050_fifo_overflows")),
|
||||
_fifo_corruption_counter(perf_alloc(PC_COUNT, "mpu6050_fifo_corruptions")),
|
||||
_gyro_range_hit_counter(perf_alloc(PC_COUNT, "mpu6050_gyro_range_hits")),
|
||||
_accel_range_hit_counter(perf_alloc(PC_COUNT, "mpu6050_accel_range_hits")),
|
||||
_publish_perf(perf_alloc(PC_ELAPSED, "mpu6050_publish")),
|
||||
_last_accel_range_hit_time(0),
|
||||
_last_accel_range_hit_count(0)
|
||||
{
|
||||
// Set sane default calibration values
|
||||
_accel_calibration.x_scale = 1.0f;
|
||||
_accel_calibration.y_scale = 1.0f;
|
||||
_accel_calibration.z_scale = 1.0f;
|
||||
_accel_calibration.x_offset = 0.0f;
|
||||
_accel_calibration.y_offset = 0.0f;
|
||||
_accel_calibration.z_offset = 0.0f;
|
||||
|
||||
_gyro_calibration.x_scale = 1.0f;
|
||||
_gyro_calibration.y_scale = 1.0f;
|
||||
_gyro_calibration.z_scale = 1.0f;
|
||||
_gyro_calibration.x_offset = 0.0f;
|
||||
_gyro_calibration.y_offset = 0.0f;
|
||||
_gyro_calibration.z_offset = 0.0f;
|
||||
|
||||
// Get sensor rotation matrix
|
||||
get_rot_matrix(rotation, &_rotation_matrix);
|
||||
}
|
||||
|
||||
DfMPU6050Wrapper::~DfMPU6050Wrapper()
|
||||
{
|
||||
perf_free(_read_counter);
|
||||
perf_free(_error_counter);
|
||||
perf_free(_fifo_overflow_counter);
|
||||
perf_free(_fifo_corruption_counter);
|
||||
perf_free(_gyro_range_hit_counter);
|
||||
perf_free(_accel_range_hit_counter);
|
||||
|
||||
perf_free(_publish_perf);
|
||||
}
|
||||
|
||||
int DfMPU6050Wrapper::start()
|
||||
{
|
||||
/* Subscribe to param update topic. */
|
||||
if (_param_update_sub < 0) {
|
||||
_param_update_sub = orb_subscribe(ORB_ID(parameter_update));
|
||||
}
|
||||
|
||||
/* Init device and start sensor. */
|
||||
int ret = init();
|
||||
|
||||
if (ret != 0) {
|
||||
PX4_ERR("MPU6050 init fail: %d", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
ret = MPU6050::start();
|
||||
|
||||
if (ret != 0) {
|
||||
PX4_ERR("MPU6050 start fail: %d", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
PX4_DEBUG("MPU6050 device id is: %d", m_id.dev_id);
|
||||
|
||||
/* Force getting the calibration values. */
|
||||
_update_accel_calibration();
|
||||
_update_gyro_calibration();
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int DfMPU6050Wrapper::stop()
|
||||
{
|
||||
/* Stop sensor. */
|
||||
int ret = MPU6050::stop();
|
||||
|
||||
if (ret != 0) {
|
||||
PX4_ERR("MPU6050 stop fail: %d", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
void DfMPU6050Wrapper::info()
|
||||
{
|
||||
perf_print_counter(_read_counter);
|
||||
perf_print_counter(_error_counter);
|
||||
perf_print_counter(_fifo_overflow_counter);
|
||||
perf_print_counter(_fifo_corruption_counter);
|
||||
perf_print_counter(_gyro_range_hit_counter);
|
||||
perf_print_counter(_accel_range_hit_counter);
|
||||
|
||||
perf_print_counter(_publish_perf);
|
||||
}
|
||||
|
||||
void DfMPU6050Wrapper::_update_gyro_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_GYRO%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_GYRO%u_XSCALE", i);
|
||||
res = param_get(param_find(str), &_gyro_calibration.x_scale);
|
||||
|
||||
if (res != OK) {
|
||||
PX4_ERR("Could not access param %s", str);
|
||||
}
|
||||
|
||||
(void)sprintf(str, "CAL_GYRO%u_YSCALE", i);
|
||||
res = param_get(param_find(str), &_gyro_calibration.y_scale);
|
||||
|
||||
if (res != OK) {
|
||||
PX4_ERR("Could not access param %s", str);
|
||||
}
|
||||
|
||||
(void)sprintf(str, "CAL_GYRO%u_ZSCALE", i);
|
||||
res = param_get(param_find(str), &_gyro_calibration.z_scale);
|
||||
|
||||
if (res != OK) {
|
||||
PX4_ERR("Could not access param %s", str);
|
||||
}
|
||||
|
||||
(void)sprintf(str, "CAL_GYRO%u_XOFF", i);
|
||||
res = param_get(param_find(str), &_gyro_calibration.x_offset);
|
||||
|
||||
if (res != OK) {
|
||||
PX4_ERR("Could not access param %s", str);
|
||||
}
|
||||
|
||||
(void)sprintf(str, "CAL_GYRO%u_YOFF", i);
|
||||
res = param_get(param_find(str), &_gyro_calibration.y_offset);
|
||||
|
||||
if (res != OK) {
|
||||
PX4_ERR("Could not access param %s", str);
|
||||
}
|
||||
|
||||
(void)sprintf(str, "CAL_GYRO%u_ZOFF", i);
|
||||
res = param_get(param_find(str), &_gyro_calibration.z_offset);
|
||||
|
||||
if (res != OK) {
|
||||
PX4_ERR("Could not access param %s", str);
|
||||
}
|
||||
|
||||
// We got calibration values, let's exit.
|
||||
return;
|
||||
}
|
||||
|
||||
_gyro_calibration.x_scale = 1.0f;
|
||||
_gyro_calibration.y_scale = 1.0f;
|
||||
_gyro_calibration.z_scale = 1.0f;
|
||||
_gyro_calibration.x_offset = 0.0f;
|
||||
_gyro_calibration.y_offset = 0.0f;
|
||||
_gyro_calibration.z_offset = 0.0f;
|
||||
}
|
||||
|
||||
void DfMPU6050Wrapper::_update_accel_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_ACC%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_ACC%u_XSCALE", i);
|
||||
res = param_get(param_find(str), &_accel_calibration.x_scale);
|
||||
|
||||
if (res != OK) {
|
||||
PX4_ERR("Could not access param %s", str);
|
||||
}
|
||||
|
||||
(void)sprintf(str, "CAL_ACC%u_YSCALE", i);
|
||||
res = param_get(param_find(str), &_accel_calibration.y_scale);
|
||||
|
||||
if (res != OK) {
|
||||
PX4_ERR("Could not access param %s", str);
|
||||
}
|
||||
|
||||
(void)sprintf(str, "CAL_ACC%u_ZSCALE", i);
|
||||
res = param_get(param_find(str), &_accel_calibration.z_scale);
|
||||
|
||||
if (res != OK) {
|
||||
PX4_ERR("Could not access param %s", str);
|
||||
}
|
||||
|
||||
(void)sprintf(str, "CAL_ACC%u_XOFF", i);
|
||||
res = param_get(param_find(str), &_accel_calibration.x_offset);
|
||||
|
||||
if (res != OK) {
|
||||
PX4_ERR("Could not access param %s", str);
|
||||
}
|
||||
|
||||
(void)sprintf(str, "CAL_ACC%u_YOFF", i);
|
||||
res = param_get(param_find(str), &_accel_calibration.y_offset);
|
||||
|
||||
if (res != OK) {
|
||||
PX4_ERR("Could not access param %s", str);
|
||||
}
|
||||
|
||||
(void)sprintf(str, "CAL_ACC%u_ZOFF", i);
|
||||
res = param_get(param_find(str), &_accel_calibration.z_offset);
|
||||
|
||||
if (res != OK) {
|
||||
PX4_ERR("Could not access param %s", str);
|
||||
}
|
||||
|
||||
// We got calibration values, let's exit.
|
||||
return;
|
||||
}
|
||||
|
||||
// Set sane default calibration values
|
||||
_accel_calibration.x_scale = 1.0f;
|
||||
_accel_calibration.y_scale = 1.0f;
|
||||
_accel_calibration.z_scale = 1.0f;
|
||||
_accel_calibration.x_offset = 0.0f;
|
||||
_accel_calibration.y_offset = 0.0f;
|
||||
_accel_calibration.z_offset = 0.0f;
|
||||
}
|
||||
|
||||
int DfMPU6050Wrapper::_publish(struct imu_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_accel_calibration();
|
||||
_update_gyro_calibration();
|
||||
}
|
||||
|
||||
math::Vector<3> vec_integrated_unused;
|
||||
uint64_t integral_dt_unused;
|
||||
|
||||
math::Vector<3> accel_val((data.accel_m_s2_x - _accel_calibration.x_offset) * _accel_calibration.x_scale,
|
||||
(data.accel_m_s2_y - _accel_calibration.y_offset) * _accel_calibration.y_scale,
|
||||
(data.accel_m_s2_z - _accel_calibration.z_offset) * _accel_calibration.z_scale);
|
||||
|
||||
// apply sensor rotation on the accel measurement
|
||||
accel_val = _rotation_matrix * accel_val;
|
||||
|
||||
_accel_int.put_with_interval(data.fifo_sample_interval_us,
|
||||
accel_val,
|
||||
vec_integrated_unused,
|
||||
integral_dt_unused);
|
||||
|
||||
math::Vector<3> gyro_val((data.gyro_rad_s_x - _gyro_calibration.x_offset) * _gyro_calibration.x_scale,
|
||||
(data.gyro_rad_s_y - _gyro_calibration.y_offset) * _gyro_calibration.y_scale,
|
||||
(data.gyro_rad_s_z - _gyro_calibration.z_offset) * _gyro_calibration.z_scale);
|
||||
|
||||
// apply sensor rotation on the gyro measurement
|
||||
gyro_val = _rotation_matrix * gyro_val;
|
||||
|
||||
_gyro_int.put_with_interval(data.fifo_sample_interval_us,
|
||||
gyro_val,
|
||||
vec_integrated_unused,
|
||||
integral_dt_unused);
|
||||
|
||||
// If we are not receiving the last sample from the FIFO buffer yet, let's stop here
|
||||
// and wait for more packets.
|
||||
if (!data.is_last_fifo_sample) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
// The driver empties the FIFO buffer at 1kHz, however we only need to publish at 250Hz.
|
||||
// Therefore, only publish every forth time.
|
||||
++_publish_count;
|
||||
|
||||
if (_publish_count < 4) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
_publish_count = 0;
|
||||
|
||||
// Update all the counters.
|
||||
perf_set_count(_read_counter, data.read_counter);
|
||||
perf_set_count(_error_counter, data.error_counter);
|
||||
perf_set_count(_fifo_overflow_counter, data.fifo_overflow_counter);
|
||||
perf_set_count(_fifo_corruption_counter, data.fifo_overflow_counter);
|
||||
perf_set_count(_gyro_range_hit_counter, data.gyro_range_hit_counter);
|
||||
perf_set_count(_accel_range_hit_counter, data.accel_range_hit_counter);
|
||||
|
||||
perf_begin(_publish_perf);
|
||||
|
||||
accel_report accel_report = {};
|
||||
gyro_report gyro_report = {};
|
||||
|
||||
accel_report.timestamp = gyro_report.timestamp = hrt_absolute_time();
|
||||
|
||||
// TODO: get these right
|
||||
gyro_report.scaling = -1.0f;
|
||||
gyro_report.range_rad_s = -1.0f;
|
||||
gyro_report.device_id = m_id.dev_id;
|
||||
|
||||
accel_report.scaling = -1.0f;
|
||||
accel_report.range_m_s2 = -1.0f;
|
||||
accel_report.device_id = m_id.dev_id;
|
||||
|
||||
// TODO: remove these (or get the values)
|
||||
gyro_report.x_raw = NAN;
|
||||
gyro_report.y_raw = NAN;
|
||||
gyro_report.z_raw = NAN;
|
||||
|
||||
accel_report.x_raw = NAN;
|
||||
accel_report.y_raw = NAN;
|
||||
accel_report.z_raw = NAN;
|
||||
|
||||
math::Vector<3> gyro_val_filt;
|
||||
math::Vector<3> accel_val_filt;
|
||||
|
||||
// Read and reset.
|
||||
math::Vector<3> gyro_val_integ = _gyro_int.get_and_filtered(true, gyro_report.integral_dt, gyro_val_filt);
|
||||
math::Vector<3> accel_val_integ = _accel_int.get_and_filtered(true, accel_report.integral_dt, accel_val_filt);
|
||||
|
||||
// Use the filtered (by integration) values to get smoother / less noisy data.
|
||||
gyro_report.x = gyro_val_filt(0);
|
||||
gyro_report.y = gyro_val_filt(1);
|
||||
gyro_report.z = gyro_val_filt(2);
|
||||
|
||||
accel_report.x = accel_val_filt(0);
|
||||
accel_report.y = accel_val_filt(1);
|
||||
accel_report.z = accel_val_filt(2);
|
||||
|
||||
gyro_report.x_integral = gyro_val_integ(0);
|
||||
gyro_report.y_integral = gyro_val_integ(1);
|
||||
gyro_report.z_integral = gyro_val_integ(2);
|
||||
|
||||
accel_report.x_integral = accel_val_integ(0);
|
||||
accel_report.y_integral = accel_val_integ(1);
|
||||
accel_report.z_integral = accel_val_integ(2);
|
||||
|
||||
// TODO: when is this ever blocked?
|
||||
if (!(m_pub_blocked)) {
|
||||
|
||||
if (_gyro_topic == nullptr) {
|
||||
_gyro_topic = orb_advertise_multi(ORB_ID(sensor_gyro), &gyro_report,
|
||||
&_gyro_orb_class_instance, ORB_PRIO_DEFAULT);
|
||||
}
|
||||
else {
|
||||
orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &gyro_report);
|
||||
}
|
||||
|
||||
if (_accel_topic == nullptr) {
|
||||
_accel_topic = orb_advertise_multi(ORB_ID(sensor_accel), &accel_report,
|
||||
&_accel_orb_class_instance, ORB_PRIO_DEFAULT);
|
||||
}
|
||||
else {
|
||||
orb_publish(ORB_ID(sensor_accel), _accel_topic, &accel_report);
|
||||
}
|
||||
|
||||
/* Notify anyone waiting for data. */
|
||||
DevMgr::updateNotify(*this);
|
||||
|
||||
// Report if there are high vibrations, every 10 times it happens.
|
||||
const bool threshold_reached = (data.accel_range_hit_counter - _last_accel_range_hit_count > 10);
|
||||
|
||||
// Report every 5s.
|
||||
const bool due_to_report = (hrt_elapsed_time(&_last_accel_range_hit_time) > 5000000);
|
||||
|
||||
if (threshold_reached && due_to_report) {
|
||||
mavlink_log_critical(&_mavlink_log_pub,
|
||||
"High accelerations, range exceeded %llu times",
|
||||
data.accel_range_hit_counter);
|
||||
|
||||
_last_accel_range_hit_time = hrt_absolute_time();
|
||||
_last_accel_range_hit_count = data.accel_range_hit_counter;
|
||||
}
|
||||
}
|
||||
|
||||
perf_end(_publish_perf);
|
||||
|
||||
// TODO: check the return codes of this function
|
||||
return 0;
|
||||
};
|
||||
|
||||
|
||||
namespace df_mpu6050_wrapper
|
||||
{
|
||||
|
||||
DfMPU6050Wrapper *g_dev = nullptr;
|
||||
|
||||
int start(enum Rotation rotation);
|
||||
int stop();
|
||||
int info();
|
||||
void usage();
|
||||
|
||||
int start(enum Rotation rotation)
|
||||
{
|
||||
g_dev = new DfMPU6050Wrapper(rotation);
|
||||
|
||||
if (g_dev == nullptr) {
|
||||
PX4_ERR("failed instantiating DfMPU6050Wrapper object");
|
||||
return -1;
|
||||
}
|
||||
|
||||
int ret = g_dev->start();
|
||||
|
||||
if (ret != 0) {
|
||||
PX4_ERR("DfMPU6050Wrapper start failed");
|
||||
return ret;
|
||||
}
|
||||
|
||||
// Open the IMU sensor
|
||||
DevHandle h;
|
||||
DevMgr::getHandle(IMU_DEVICE_PATH, h);
|
||||
|
||||
if (!h.isValid()) {
|
||||
DF_LOG_INFO("Error: unable to obtain a valid handle for the receiver at: %s (%d)",
|
||||
IMU_DEVICE_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_INFO("state @ %p", g_dev);
|
||||
g_dev->info();
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
void
|
||||
usage()
|
||||
{
|
||||
PX4_INFO("Usage: df_mpu6050_wrapper 'start', 'info', 'stop'");
|
||||
PX4_INFO("options:");
|
||||
PX4_INFO(" -R rotation");
|
||||
}
|
||||
|
||||
} // namespace df_mpu6050_wrapper
|
||||
|
||||
|
||||
int
|
||||
df_mpu6050_wrapper_main(int argc, char *argv[])
|
||||
{
|
||||
int ch;
|
||||
enum Rotation rotation = ROTATION_NONE;
|
||||
int ret = 0;
|
||||
int myoptind = 1;
|
||||
const char *myoptarg = NULL;
|
||||
|
||||
/* jump over start/off/etc and look at options first */
|
||||
while ((ch = px4_getopt(argc, argv, "R:", &myoptind, &myoptarg)) != EOF) {
|
||||
switch (ch) {
|
||||
case 'R':
|
||||
rotation = (enum Rotation)atoi(myoptarg);
|
||||
break;
|
||||
|
||||
default:
|
||||
df_mpu6050_wrapper::usage();
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
|
||||
if (argc <= 1) {
|
||||
df_mpu6050_wrapper::usage();
|
||||
return 1;
|
||||
}
|
||||
|
||||
const char *verb = argv[myoptind];
|
||||
|
||||
if (!strcmp(verb, "start")) {
|
||||
ret = df_mpu6050_wrapper::start(rotation);
|
||||
}
|
||||
|
||||
else if (!strcmp(verb, "stop")) {
|
||||
ret = df_mpu6050_wrapper::stop();
|
||||
}
|
||||
|
||||
else if (!strcmp(verb, "info")) {
|
||||
ret = df_mpu6050_wrapper::info();
|
||||
}
|
||||
|
||||
else {
|
||||
df_mpu6050_wrapper::usage();
|
||||
return 1;
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
Loading…
Reference in New Issue