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px4-firmware/apps/sensors/sensors.c

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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
*
* 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 sensors.c
* Sensor readout process.
*/
#include <nuttx/config.h>
#include <pthread.h>
#include <fcntl.h>
#include <sys/prctl.h>
#include <nuttx/analog/adc.h>
#include <unistd.h>
#include <string.h>
#include <stdbool.h>
#include <stdio.h>
#include <errno.h>
#include <float.h>
#include <arch/board/up_hrt.h>
#include <arch/board/drv_lis331.h>
#include <arch/board/drv_bma180.h>
#include <arch/board/drv_l3gd20.h>
#include <arch/board/drv_hmc5883l.h>
#include <arch/board/up_adc.h>
#include <systemlib/systemlib.h>
#include <uORB/uORB.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/rc_channels.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/vehicle_status.h>
#include "sensors.h"
#define errno *get_errno_ptr()
#define SENSOR_INTERVAL_MICROSEC 2000
#define GYRO_HEALTH_COUNTER_LIMIT_ERROR 20 /* 40 ms downtime at 500 Hz update rate */
#define ACC_HEALTH_COUNTER_LIMIT_ERROR 20 /* 40 ms downtime at 500 Hz update rate */
#define MAGN_HEALTH_COUNTER_LIMIT_ERROR 100 /* 1000 ms downtime at 100 Hz update rate */
#define BARO_HEALTH_COUNTER_LIMIT_ERROR 50 /* 500 ms downtime at 100 Hz update rate */
#define ADC_HEALTH_COUNTER_LIMIT_ERROR 10 /* 100 ms downtime at 100 Hz update rate */
#define GYRO_HEALTH_COUNTER_LIMIT_OK 5
#define ACC_HEALTH_COUNTER_LIMIT_OK 5
#define MAGN_HEALTH_COUNTER_LIMIT_OK 5
#define BARO_HEALTH_COUNTER_LIMIT_OK 5
#define ADC_HEALTH_COUNTER_LIMIT_OK 5
#define ADC_BATTERY_VOLATGE_CHANNEL 10
#define BAT_VOL_INITIAL 12.f
#define BAT_VOL_LOWPASS_1 0.99f
#define BAT_VOL_LOWPASS_2 0.01f
#define VOLTAGE_BATTERY_IGNORE_THRESHOLD_VOLTS 3.5f
/* PPM Settings */
#define PPM_MIN 1000
#define PPM_MAX 2000
/* Internal resolution is 10000 */
#define PPM_SCALE 10000/((PPM_MAX-PPM_MIN)/2)
#define PPM_MID (PPM_MIN+PPM_MAX)/2
static pthread_cond_t sensors_read_ready;
static pthread_mutex_t sensors_read_ready_mutex;
static int sensors_timer_loop_counter = 0;
/* File descriptors for all sensors */
static int fd_gyro = -1;
static int fd_accelerometer = -1;
static int fd_magnetometer = -1;
static int fd_barometer = -1;
static int fd_adc = -1;
/* Private functions declared static */
static void sensors_timer_loop(void *arg);
#ifdef CONFIG_HRT_PPM
extern uint16_t ppm_buffer[];
extern unsigned ppm_decoded_channels;
extern uint64_t ppm_last_valid_decode;
#endif
/* file handle that will be used for subscribing */
static int sensor_pub;
/**
* Sensor readout and publishing.
*
* This function reads all onboard sensors and publishes the sensor_combined topic.
*
* @see sensor_combined_s
* @ingroup apps
*/
__EXPORT int sensors_main(int argc, char *argv[]);
/**
* Initialize all sensor drivers.
*
* @return 0 on success, != 0 on failure
*/
static int sensors_init(void)
{
printf("[sensors] Sensor configuration..\n");
/* open magnetometer */
fd_magnetometer = open("/dev/hmc5883l", O_RDONLY);
if (fd_magnetometer < 0) {
fprintf(stderr, "[sensors] HMC5883L open fail (err #%d): %s\n", (int)*get_errno_ptr(), strerror((int)*get_errno_ptr()));
fflush(stderr);
/* this sensor is critical, exit on failed init */
errno = ENOSYS;
return ERROR;
} else {
printf("[sensors] HMC5883L open ok\n");
}
/* open barometer */
fd_barometer = open("/dev/ms5611", O_RDONLY);
if (fd_barometer < 0) {
fprintf(stderr, "[sensors] MS5611 open fail (err #%d): %s\n", (int)*get_errno_ptr(), strerror((int)*get_errno_ptr()));
fflush(stderr);
} else {
printf("[sensors] MS5611 open ok\n");
}
/* open gyro */
fd_gyro = open("/dev/l3gd20", O_RDONLY);
if (fd_gyro < 0) {
fprintf(stderr, "[sensors] L3GD20 open fail (err #%d): %s\n", (int)*get_errno_ptr(), strerror((int)*get_errno_ptr()));
fflush(stderr);
/* this sensor is critical, exit on failed init */
errno = ENOSYS;
return ERROR;
} else {
printf("[sensors] L3GD20 open ok\n");
}
/* open accelerometer */
fd_accelerometer = open("/dev/bma180", O_RDONLY);
if (fd_accelerometer < 0) {
fprintf(stderr, "[sensors] BMA180: open fail (err #%d): %s\n", (int)*get_errno_ptr(), strerror((int)*get_errno_ptr()));
fflush(stderr);
/* this sensor is critical, exit on failed init */
errno = ENOSYS;
return ERROR;
} else {
printf("[sensors] BMA180 open ok\n");
}
/* open adc */
fd_adc = open("/dev/adc0", O_RDONLY | O_NONBLOCK);
if (fd_adc < 0) {
fprintf(stderr, "[sensors] ADC: open fail (err #%d): %s\n", (int)*get_errno_ptr(), strerror((int)*get_errno_ptr()));
fflush(stderr);
/* this sensor is critical, exit on failed init */
errno = ENOSYS;
return ERROR;
} else {
printf("[sensors] ADC open ok\n");
}
/* configure gyro */
if (ioctl(fd_gyro, L3GD20_SETRATE, L3GD20_RATE_760HZ_LP_30HZ) || ioctl(fd_gyro, L3GD20_SETRANGE, L3GD20_RANGE_500DPS)) {
fprintf(stderr, "[sensors] L3GD20 configuration (ioctl) fail (err #%d): %s\n", (int)*get_errno_ptr(), strerror((int)*get_errno_ptr()));
fflush(stderr);
/* this sensor is critical, exit on failed init */
errno = ENOSYS;
return ERROR;
} else {
printf("[sensors] L3GD20 configuration ok\n");
}
/* XXX Add IOCTL configuration of remaining sensors */
printf("[sensors] All sensors configured\n");
return OK;
}
/**
* Callback function called by high resolution timer.
*
* This function signals a pthread condition and wakes up the
* sensor main loop.
*/
static void sensors_timer_loop(void *arg)
{
/* Inform the read thread that it is now time to read */
sensors_timer_loop_counter++;
/* Do not use global data broadcast because of
* use of printf() in call - would be fatal here
*/
pthread_cond_broadcast(&sensors_read_ready);
}
int sensors_main(int argc, char *argv[])
{
/* inform about start */
printf("[sensors] Initializing..\n");
fflush(stdout);
int ret = OK;
/* start sensor reading */
if (sensors_init() != OK) {
fprintf(stderr, "[sensors] ERROR: Failed to initialize all sensors\n");
/* Clean up */
close(fd_gyro);
close(fd_accelerometer);
close(fd_magnetometer);
close(fd_barometer);
close(fd_adc);
fprintf(stderr, "[sensors] rebooting system.\n");
fflush(stderr);
fflush(stdout);
usleep(100000);
/* Sensors are critical, immediately reboot system on failure */
reboot();
/* Not ever reaching here */
} else {
/* flush stdout from init routine */
fflush(stdout);
}
bool gyro_healthy = false;
bool acc_healthy = false;
bool magn_healthy = false;
bool baro_healthy = false;
bool adc_healthy = false;
bool hil_enabled = false; /**< HIL is disabled by default */
bool publishing = false; /**< the app is not publishing by default, only if HIL is disabled on first run */
int magcounter = 0;
int barocounter = 0;
int adccounter = 0;
unsigned int mag_fail_count = 0;
unsigned int mag_success_count = 0;
unsigned int baro_fail_count = 0;
unsigned int baro_success_count = 0;
unsigned int gyro_fail_count = 0;
unsigned int gyro_success_count = 0;
unsigned int acc_fail_count = 0;
unsigned int acc_success_count = 0;
unsigned int adc_fail_count = 0;
unsigned int adc_success_count = 0;
ssize_t ret_gyro;
ssize_t ret_accelerometer;
ssize_t ret_magnetometer;
ssize_t ret_barometer;
ssize_t ret_adc;
int nsamples_adc;
int16_t buf_gyro[3];
int16_t buf_accelerometer[3];
int16_t buf_magnetometer[7];
float buf_barometer[3];
int16_t mag_offset[3] = {0, 0, 0};
int16_t acc_offset[3] = {200, 0, 0};
int16_t gyro_offset[3] = {0, 0, 0};
bool mag_calibration_enabled = false;
#pragma pack(push,1)
struct adc_msg4_s {
uint8_t am_channel1; /**< The 8-bit ADC Channel 1 */
int32_t am_data1; /**< ADC convert result 1 (4 bytes) */
uint8_t am_channel2; /**< The 8-bit ADC Channel 2 */
int32_t am_data2; /**< ADC convert result 2 (4 bytes) */
uint8_t am_channel3; /**< The 8-bit ADC Channel 3 */
int32_t am_data3; /**< ADC convert result 3 (4 bytes) */
uint8_t am_channel4; /**< The 8-bit ADC Channel 4 */
int32_t am_data4; /**< ADC convert result 4 (4 bytes) */
};
#pragma pack(pop)
struct adc_msg4_s buf_adc;
size_t adc_readsize = 1 * sizeof(struct adc_msg4_s);
float battery_voltage_conversion;
battery_voltage_conversion = global_data_parameter_storage->pm.param_values[PARAM_BATTERYVOLTAGE_CONVERSION];
if (-1 == (int)battery_voltage_conversion) {
/* default is conversion factor for the PX4IO / PX4IOAR board, the factor for PX4FMU standalone is different */
battery_voltage_conversion = 3.3f * 52.0f / 5.0f / 4095.0f;
}
#ifdef CONFIG_HRT_PPM
int ppmcounter = 0;
#endif
/* initialize to 100 to execute immediately */
int paramcounter = 100;
int excessive_readout_time_counter = 0;
int read_loop_counter = 0;
/* Empty sensor buffers, avoid junk values */
/* Read first two values of each sensor into void */
(void)read(fd_gyro, buf_gyro, sizeof(buf_gyro));
(void)read(fd_accelerometer, buf_accelerometer, sizeof(buf_accelerometer));
(void)read(fd_magnetometer, buf_magnetometer, sizeof(buf_magnetometer));
if (fd_barometer > 0)(void)read(fd_barometer, buf_barometer, sizeof(buf_barometer));
struct sensor_combined_s raw = {
.timestamp = hrt_absolute_time(),
.gyro_raw = {buf_gyro[0], buf_gyro[1], buf_gyro[2]},
.gyro_raw_counter = 0,
.gyro_rad_s = {0, 0, 0},
.accelerometer_raw = {buf_accelerometer[0], buf_accelerometer[1], buf_accelerometer[2]},
.accelerometer_raw_counter = 0,
.accelerometer_m_s2 = {0, 0, 0},
.magnetometer_raw = {buf_magnetometer[0], buf_magnetometer[1], buf_magnetometer[2]},
.magnetometer_raw_counter = 0,
.baro_pres_mbar = 0,
.baro_alt_meter = 0,
.baro_temp_celcius = 0,
.battery_voltage_v = BAT_VOL_INITIAL,
.adc_voltage_v = {0, 0 , 0},
.baro_raw_counter = 0,
.battery_voltage_counter = 0,
.battery_voltage_valid = false,
};
/* condition to wait for */
pthread_mutex_init(&sensors_read_ready_mutex, NULL);
pthread_cond_init(&sensors_read_ready, NULL);
/* advertise the sensor_combined topic and make the initial publication */
sensor_pub = orb_advertise(ORB_ID(sensor_combined), &raw);
publishing = true;
/* advertise the manual_control topic */
struct manual_control_setpoint_s manual_control = { .mode = ROLLPOS_PITCHPOS_YAWRATE_THROTTLE,
.roll = 0.0f,
.pitch = 0.0f,
.yaw = 0.0f,
.throttle = 0.0f };
int manual_control_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual_control);
if (manual_control_pub < 0) {
fprintf(stderr, "[sensors] ERROR: orb_advertise for topic manual_control_setpoint failed.\n");
}
/* advertise the rc topic */
struct rc_channels_s rc;
memset(&rc, 0, sizeof(rc));
int rc_pub = orb_advertise(ORB_ID(rc_channels), &rc);
if (rc_pub < 0) {
fprintf(stderr, "[sensors] ERROR: orb_advertise for topic rc_channels failed.\n");
}
/* subscribe to system status */
struct vehicle_status_s vstatus;
memset(&vstatus, 0, sizeof(vstatus));
int vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
printf("[sensors] rate: %u Hz\n", (unsigned int)(1000000 / SENSOR_INTERVAL_MICROSEC));
struct hrt_call sensors_hrt_call;
/* Enable high resolution timer callback to unblock main thread, run after 2 ms */
hrt_call_every(&sensors_hrt_call, 2000, SENSOR_INTERVAL_MICROSEC, &sensors_timer_loop, NULL);
while (1) {
pthread_mutex_lock(&sensors_read_ready_mutex);
struct timespec time_to_wait = {0, 0};
/* Wait 2 seconds until timeout */
time_to_wait.tv_nsec = 0;
time_to_wait.tv_sec = time(NULL) + 2;
if (pthread_cond_timedwait(&sensors_read_ready, &sensors_read_ready_mutex, &time_to_wait) == OK) {
pthread_mutex_unlock(&sensors_read_ready_mutex);
bool gyro_updated = false;
bool acc_updated = false;
bool magn_updated = false;
bool baro_updated = false;
bool adc_updated = false;
/* store the time closest to all measurements */
uint64_t current_time = hrt_absolute_time();
raw.timestamp = current_time;
if (paramcounter == 100) {
// XXX paramcounter is not a good name, rename / restructure
// XXX make counter ticks dependent on update rate of sensor main loop
/* Check HIL state */
orb_copy(ORB_ID(vehicle_status), vstatus_sub, &vstatus);
/* switching from non-HIL to HIL mode */
//printf("[sensors] Vehicle mode: %i \t AND: %i, HIL: %i\n", vstatus.mode, vstatus.mode & VEHICLE_MODE_FLAG_HIL_ENABLED, hil_enabled);
if (vstatus.flag_hil_enabled && !hil_enabled) {
hil_enabled = true;
publishing = false;
int ret = close(sensor_pub);
printf("[sensors] Closing sensor pub: %i \n", ret);
/* switching from HIL to non-HIL mode */
} else if (!publishing && !hil_enabled) {
/* advertise the topic and make the initial publication */
sensor_pub = orb_advertise(ORB_ID(sensor_combined), &raw);
hil_enabled = false;
publishing = true;
}
/* Update RC scalings and function mappings */
rc.chan[0].scaling_factor = (1 / ((global_data_parameter_storage->pm.param_values[PARAM_RC1_MAX] - global_data_parameter_storage->pm.param_values[PARAM_RC1_MIN]) / 2)
* global_data_parameter_storage->pm.param_values[PARAM_RC1_REV]);
rc.chan[0].mid = (uint16_t)global_data_parameter_storage->pm.param_values[PARAM_RC1_TRIM];
rc.chan[1].scaling_factor = (1 / ((global_data_parameter_storage->pm.param_values[PARAM_RC2_MAX] - global_data_parameter_storage->pm.param_values[PARAM_RC2_MIN]) / 2)
* global_data_parameter_storage->pm.param_values[PARAM_RC2_REV]);
rc.chan[1].mid = (uint16_t)global_data_parameter_storage->pm.param_values[PARAM_RC2_TRIM];
rc.chan[2].scaling_factor = (1 / ((global_data_parameter_storage->pm.param_values[PARAM_RC3_MAX] - global_data_parameter_storage->pm.param_values[PARAM_RC3_MIN]) / 2)
* global_data_parameter_storage->pm.param_values[PARAM_RC3_REV]);
rc.chan[2].mid = (uint16_t)global_data_parameter_storage->pm.param_values[PARAM_RC3_TRIM];
rc.chan[3].scaling_factor = (1 / ((global_data_parameter_storage->pm.param_values[PARAM_RC4_MAX] - global_data_parameter_storage->pm.param_values[PARAM_RC4_MIN]) / 2)
* global_data_parameter_storage->pm.param_values[PARAM_RC4_REV]);
rc.chan[3].mid = (uint16_t)global_data_parameter_storage->pm.param_values[PARAM_RC4_TRIM];
rc.chan[4].scaling_factor = (1 / ((global_data_parameter_storage->pm.param_values[PARAM_RC5_MAX] - global_data_parameter_storage->pm.param_values[PARAM_RC5_MIN]) / 2)
* global_data_parameter_storage->pm.param_values[PARAM_RC5_REV]);
rc.chan[4].mid = (uint16_t)global_data_parameter_storage->pm.param_values[PARAM_RC5_TRIM];
rc.function[0] = global_data_parameter_storage->pm.param_values[PARAM_THROTTLE_CHAN] - 1;
rc.function[1] = global_data_parameter_storage->pm.param_values[PARAM_ROLL_CHAN] - 1;
rc.function[2] = global_data_parameter_storage->pm.param_values[PARAM_PITCH_CHAN] - 1;
rc.function[3] = global_data_parameter_storage->pm.param_values[PARAM_YAW_CHAN] - 1;
rc.function[4] = global_data_parameter_storage->pm.param_values[PARAM_OVERRIDE_CHAN] - 1;
gyro_offset[0] = global_data_parameter_storage->pm.param_values[PARAM_SENSOR_GYRO_XOFFSET];
gyro_offset[1] = global_data_parameter_storage->pm.param_values[PARAM_SENSOR_GYRO_YOFFSET];
gyro_offset[2] = global_data_parameter_storage->pm.param_values[PARAM_SENSOR_GYRO_ZOFFSET];
mag_offset[0] = global_data_parameter_storage->pm.param_values[PARAM_SENSOR_MAG_XOFFSET];
mag_offset[1] = global_data_parameter_storage->pm.param_values[PARAM_SENSOR_MAG_YOFFSET];
mag_offset[2] = global_data_parameter_storage->pm.param_values[PARAM_SENSOR_MAG_ZOFFSET];
paramcounter = 0;
}
paramcounter++;
/* try reading gyro */
uint64_t start_gyro = hrt_absolute_time();
ret_gyro = read(fd_gyro, buf_gyro, sizeof(buf_gyro));
int gyrotime = hrt_absolute_time() - start_gyro;
if (gyrotime > 500) printf("GYRO (pure read): %d us\n", gyrotime);
/* GYROSCOPE */
if (ret_gyro != sizeof(buf_gyro)) {
gyro_fail_count++;
if ((((gyro_fail_count % 20) == 0) || (gyro_fail_count > 20 && gyro_fail_count < 100)) && (int)*get_errno_ptr() != EAGAIN) {
fprintf(stderr, "[sensors] L3GD20 ERROR #%d: %s\n", (int)*get_errno_ptr(), strerror((int)*get_errno_ptr()));
}
if (gyro_healthy && gyro_fail_count >= GYRO_HEALTH_COUNTER_LIMIT_ERROR) {
// global_data_send_subsystem_info(&gyro_present_enabled);
gyro_healthy = false;
gyro_success_count = 0;
}
} else {
gyro_success_count++;
if (!gyro_healthy && gyro_success_count >= GYRO_HEALTH_COUNTER_LIMIT_OK) {
// global_data_send_subsystem_info(&gyro_present_enabled_healthy);
gyro_healthy = true;
gyro_fail_count = 0;
}
gyro_updated = true;
}
gyrotime = hrt_absolute_time() - start_gyro;
if (gyrotime > 500) printf("GYRO (complete): %d us\n", gyrotime);
/* try reading acc */
uint64_t start_acc = hrt_absolute_time();
ret_accelerometer = read(fd_accelerometer, buf_accelerometer, sizeof(buf_accelerometer));
/* ACCELEROMETER */
if (ret_accelerometer != sizeof(buf_accelerometer)) {
acc_fail_count++;
if (acc_fail_count & 0b1000 || (acc_fail_count > 20 && acc_fail_count < 100)) {
fprintf(stderr, "[sensors] BMA180 ERROR #%d: %s\n", (int)*get_errno_ptr(), strerror((int)*get_errno_ptr()));
}
if (acc_healthy && acc_fail_count >= ACC_HEALTH_COUNTER_LIMIT_ERROR) {
// global_data_send_subsystem_info(&acc_present_enabled);
gyro_healthy = false;
acc_success_count = 0;
}
} else {
acc_success_count++;
if (!acc_healthy && acc_success_count >= ACC_HEALTH_COUNTER_LIMIT_OK) {
// global_data_send_subsystem_info(&acc_present_enabled_healthy);
acc_healthy = true;
acc_fail_count = 0;
}
acc_updated = true;
}
int acctime = hrt_absolute_time() - start_acc;
if (acctime > 500) printf("ACC: %d us\n", acctime);
/* MAGNETOMETER */
if (magcounter == 4) { /* 120 Hz */
uint64_t start_mag = hrt_absolute_time();
/* start calibration mode if requested */
if (!mag_calibration_enabled && vstatus.preflight_mag_calibration) {
ioctl(fd_magnetometer, HMC5883L_CALIBRATION_ON, 0);
printf("[sensors] enabling mag calibration mode\n");
mag_calibration_enabled = true;
} else if (mag_calibration_enabled && !vstatus.preflight_mag_calibration) {
ioctl(fd_magnetometer, HMC5883L_CALIBRATION_OFF, 0);
printf("[sensors] disabling mag calibration mode\n");
mag_calibration_enabled = false;
}
ret_magnetometer = read(fd_magnetometer, buf_magnetometer, sizeof(buf_magnetometer));
int errcode_mag = (int) * get_errno_ptr();
int magtime = hrt_absolute_time() - start_mag;
if (magtime > 2000) {
printf("MAG (pure read): %d us\n", magtime);
}
if (ret_magnetometer != sizeof(buf_magnetometer)) {
mag_fail_count++;
if (mag_fail_count & 0b1000 || (mag_fail_count > 20 && mag_fail_count < 100)) {
fprintf(stderr, "[sensors] HMC5883L ERROR #%d: %s\n", (int)*get_errno_ptr(), strerror((int)*get_errno_ptr()));
}
if (magn_healthy && mag_fail_count >= MAGN_HEALTH_COUNTER_LIMIT_ERROR) {
// global_data_send_subsystem_info(&magn_present_enabled);
magn_healthy = false;
mag_success_count = 0;
}
} else {
mag_success_count++;
if (!magn_healthy && mag_success_count >= MAGN_HEALTH_COUNTER_LIMIT_OK) {
// global_data_send_subsystem_info(&magn_present_enabled_healthy);
magn_healthy = true;
mag_fail_count = 0;
}
magn_updated = true;
}
magtime = hrt_absolute_time() - start_mag;
if (magtime > 2000) {
printf("MAG (overall time): %d us\n", magtime);
fprintf(stderr, "[sensors] TIMEOUT HMC5883L ERROR #%d: %s\n", errcode_mag, strerror(errcode_mag));
}
magcounter = 0;
}
magcounter++;
/* BAROMETER */
if (barocounter == 5 && (fd_barometer > 0)) { /* 100 Hz */
uint64_t start_baro = hrt_absolute_time();
*get_errno_ptr() = 0;
ret_barometer = read(fd_barometer, buf_barometer, sizeof(buf_barometer));
if (ret_barometer != sizeof(buf_barometer)) {
baro_fail_count++;
if ((baro_fail_count & 0b1000 || (baro_fail_count > 20 && baro_fail_count < 100)) && (int)*get_errno_ptr() != EAGAIN) {
fprintf(stderr, "[sensors] MS5611 ERROR #%d: %s\n", (int)*get_errno_ptr(), strerror((int)*get_errno_ptr()));
}
if (baro_healthy && baro_fail_count >= BARO_HEALTH_COUNTER_LIMIT_ERROR) {
/* switched from healthy to unhealthy */
baro_healthy = false;
baro_success_count = 0;
// global_data_send_subsystem_info(&baro_present_enabled);
}
} else {
baro_success_count++;
if (!baro_healthy && baro_success_count >= MAGN_HEALTH_COUNTER_LIMIT_OK) {
/* switched from unhealthy to healthy */
baro_healthy = true;
baro_fail_count = 0;
// global_data_send_subsystem_info(&baro_present_enabled_healthy);
}
baro_updated = true;
}
barocounter = 0;
int barotime = hrt_absolute_time() - start_baro;
if (barotime > 2000) printf("BARO: %d us\n", barotime);
}
barocounter++;
/* ADC */
if (adccounter == 5) {
ret_adc = read(fd_adc, &buf_adc, adc_readsize);
nsamples_adc = ret_adc / sizeof(struct adc_msg_s);
if (ret_adc < 0 || nsamples_adc * sizeof(struct adc_msg_s) != ret_adc) {
adc_fail_count++;
if ((adc_fail_count & 0b1000 || adc_fail_count < 10) && (int)*get_errno_ptr() != EAGAIN) {
fprintf(stderr, "[sensors] ADC ERROR #%d: %s\n", (int)*get_errno_ptr(), strerror((int)*get_errno_ptr()));
}
if (adc_healthy && adc_fail_count >= ADC_HEALTH_COUNTER_LIMIT_ERROR) {
adc_healthy = false;
adc_success_count = 0;
}
} else {
adc_success_count++;
if (!adc_healthy && adc_success_count >= ADC_HEALTH_COUNTER_LIMIT_OK) {
adc_healthy = true;
adc_fail_count = 0;
}
adc_updated = true;
}
adccounter = 0;
}
adccounter++;
#ifdef CONFIG_HRT_PPM
bool ppm_updated = false;
/* PPM */
if (ppmcounter == 5) {
/* require at least two channels
* to consider the signal valid
* check that decoded measurement is up to date
*/
if (ppm_decoded_channels > 1 && (hrt_absolute_time() - ppm_last_valid_decode) < 45000) {
/* Read out values from HRT */
for (int i = 0; i < ppm_decoded_channels; i++) {
rc.chan[i].raw = ppm_buffer[i];
/* Set the range to +-, then scale up */
rc.chan[i].scale = (ppm_buffer[i] - rc.chan[i].mid) * rc.chan[i].scaling_factor * 10000;
rc.chan[i].scaled = (ppm_buffer[i] - rc.chan[i].mid) * rc.chan[i].scaling_factor;
}
rc.chan_count = ppm_decoded_channels;
rc.timestamp = ppm_last_valid_decode;
/* publish a few lines of code later if set to true */
ppm_updated = true;
/* roll input */
manual_control.roll = rc.chan[rc.function[ROLL]].scaled;
if (manual_control.roll < -1.0f) manual_control.roll = -1.0f;
if (manual_control.roll > 1.0f) manual_control.roll = 1.0f;
/* pitch input */
manual_control.pitch = rc.chan[rc.function[PITCH]].scaled;
if (manual_control.pitch < -1.0f) manual_control.pitch = -1.0f;
if (manual_control.pitch > 1.0f) manual_control.pitch = 1.0f;
/* yaw input */
manual_control.yaw = rc.chan[rc.function[YAW]].scaled;
if (manual_control.yaw < -1.0f) manual_control.yaw = -1.0f;
if (manual_control.yaw > 1.0f) manual_control.yaw = 1.0f;
/* throttle input */
manual_control.throttle = rc.chan[rc.function[THROTTLE]].scaled/2.0f;
if (manual_control.throttle < 0.0f) manual_control.throttle = 0.0f;
if (manual_control.throttle > 1.0f) manual_control.throttle = 1.0f;
/* mode switch input */
manual_control.override_mode_switch = rc.chan[rc.function[OVERRIDE]].scaled;
if (manual_control.override_mode_switch < -1.0f) manual_control.override_mode_switch = -1.0f;
if (manual_control.override_mode_switch > 1.0f) manual_control.override_mode_switch = 1.0f;
}
ppmcounter = 0;
}
ppmcounter++;
#endif
/* Copy values of gyro, acc, magnetometer & barometer */
/* GYROSCOPE */
if (gyro_updated) {
/* copy sensor readings to global data and transform coordinates into px4fmu board frame */
raw.gyro_raw[0] = ((buf_gyro[1] == -32768) ? -32768 : buf_gyro[1]); // x of the board is y of the sensor
/* assign negated value, except for -SHORT_MAX, as it would wrap there */
raw.gyro_raw[1] = ((buf_gyro[0] == -32768) ? 32767 : -buf_gyro[0]); // y on the board is -x of the sensor
raw.gyro_raw[2] = ((buf_gyro[2] == -32768) ? -32768 : buf_gyro[2]); // z of the board is z of the sensor
/* scale measurements */
// XXX request scaling from driver instead of hardcoding it
/* scaling calculated as: raw * (1/(32768*(500/180*PI))) */
raw.gyro_rad_s[0] = (raw.gyro_raw[0] - gyro_offset[0]) * 0.000266316109f;
raw.gyro_rad_s[1] = (raw.gyro_raw[1] - gyro_offset[1]) * 0.000266316109f;
raw.gyro_rad_s[2] = (raw.gyro_raw[2] - gyro_offset[2]) * 0.000266316109f;
raw.gyro_raw_counter++;
}
/* ACCELEROMETER */
if (acc_updated) {
/* copy sensor readings to global data and transform coordinates into px4fmu board frame */
/* assign negated value, except for -SHORT_MAX, as it would wrap there */
raw.accelerometer_raw[0] = (buf_accelerometer[1] == -32768) ? 32767 : -buf_accelerometer[1]; // x of the board is -y of the sensor
raw.accelerometer_raw[1] = (buf_accelerometer[0] == -32768) ? -32768 : buf_accelerometer[0]; // y on the board is x of the sensor
raw.accelerometer_raw[2] = (buf_accelerometer[2] == -32768) ? -32768 : buf_accelerometer[2]; // z of the board is z of the sensor
// XXX read range from sensor
float range_g = 4.0f;
/* scale from 14 bit to m/s2 */
raw.accelerometer_m_s2[0] = (((raw.accelerometer_raw[0] - acc_offset[0]) * range_g) / 8192.0f) / 9.81f;
raw.accelerometer_m_s2[1] = (((raw.accelerometer_raw[1] - acc_offset[1]) * range_g) / 8192.0f) / 9.81f;
raw.accelerometer_m_s2[2] = (((raw.accelerometer_raw[2] - acc_offset[2]) * range_g) / 8192.0f) / 9.81f;
raw.accelerometer_raw_counter++;
}
/* MAGNETOMETER */
if (magn_updated) {
/* copy sensor readings to global data and transform coordinates into px4fmu board frame */
/* assign negated value, except for -SHORT_MAX, as it would wrap there */
raw.magnetometer_raw[0] = (buf_magnetometer[1] == -32768) ? 32767 : buf_magnetometer[1]; // x of the board is y of the sensor
raw.magnetometer_raw[1] = (buf_magnetometer[0] == -32768) ? 32767 : -buf_magnetometer[0]; // y on the board is -x of the sensor
raw.magnetometer_raw[2] = (buf_magnetometer[2] == -32768) ? -32768 : buf_magnetometer[2]; // z of the board is z of the sensor
// XXX Read out mag range via I2C on init, assuming 0.88 Ga and 12 bit res here
raw.magnetometer_ga[0] = ((raw.magnetometer_raw[0] - mag_offset[0]) / 4096.0f) * 0.88f;
raw.magnetometer_ga[1] = ((raw.magnetometer_raw[1] - mag_offset[1]) / 4096.0f) * 0.88f;
raw.magnetometer_ga[2] = ((raw.magnetometer_raw[2] - mag_offset[2]) / 4096.0f) * 0.88f;
/* store mode */
raw.magnetometer_mode = buf_magnetometer[3];
raw.magnetometer_raw_counter++;
}
/* BAROMETER */
if (baro_updated) {
/* copy sensor readings to global data and transform coordinates into px4fmu board frame */
raw.baro_pres_mbar = buf_barometer[0]; // Pressure in mbar
raw.baro_alt_meter = buf_barometer[1]; // Altitude in meters
raw.baro_temp_celcius = buf_barometer[2]; // Temperature in degrees celcius
raw.baro_raw_counter++;
}
/* ADC */
if (adc_updated) {
/* copy sensor readings to global data*/
if (ADC_BATTERY_VOLATGE_CHANNEL == buf_adc.am_channel1) {
/* Voltage in volts */
raw.battery_voltage_v = (BAT_VOL_LOWPASS_1 * (raw.battery_voltage_v + BAT_VOL_LOWPASS_2 * (buf_adc.am_data1 * battery_voltage_conversion)));
if ((buf_adc.am_data1 * battery_voltage_conversion) < VOLTAGE_BATTERY_IGNORE_THRESHOLD_VOLTS) {
raw.battery_voltage_valid = false;
raw.battery_voltage_v = 0.f;
} else {
raw.battery_voltage_valid = true;
}
raw.battery_voltage_counter++;
}
}
uint64_t total_time = hrt_absolute_time() - current_time;
/* Inform other processes that new data is available to copy */
if ((gyro_updated || acc_updated || magn_updated || baro_updated) && publishing) {
/* Values changed, publish */
orb_publish(ORB_ID(sensor_combined), sensor_pub, &raw);
}
#ifdef CONFIG_HRT_PPM
if (ppm_updated) {
orb_publish(ORB_ID(rc_channels), rc_pub, &rc);
orb_publish(ORB_ID(manual_control_setpoint), manual_control_pub, &manual_control);
}
#endif
if (total_time > 2600) {
excessive_readout_time_counter++;
}
if (total_time > 2600 && excessive_readout_time_counter > 100 && excessive_readout_time_counter % 100 == 0) {
fprintf(stderr, "[sensors] slow update (>2600 us): %d us (#%d)\n", (int)total_time, excessive_readout_time_counter);
} else if (total_time > 6000) {
if (excessive_readout_time_counter < 100 || excessive_readout_time_counter % 100 == 0) fprintf(stderr, "[sensors] WARNING: Slow update (>6000 us): %d us (#%d)\n", (int)total_time, excessive_readout_time_counter);
}
read_loop_counter++;
#ifdef CONFIG_SENSORS_DEBUG_ENABLED
if (read_loop_counter % 1000 == 0) printf("[sensors] read loop counter: %d\n", read_loop_counter);
fflush(stdout);
if (sensors_timer_loop_counter % 1000 == 0) printf("[sensors] timer/trigger loop counter: %d\n", sensors_timer_loop_counter);
#endif
}
}
/* Never really getting here */
printf("[sensors] sensor readout stopped\n");
close(fd_gyro);
close(fd_accelerometer);
close(fd_magnetometer);
close(fd_barometer);
close(fd_adc);
printf("[sensors] exiting.\n");
return ret;
}
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