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author | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-04 23:50:41 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-04 23:50:41 +0200 |
commit | e95861e9df4d4236b07d29c3f086bfa4730e8634 (patch) | |
tree | b0c20608652d482bb476d54e2a265d945867811d | |
parent | b6ceba4c0af5201e6b27c9c4b839bd67429abd49 (diff) | |
parent | cac4a6f5789ce4fff8ba0f697777b6d59e0fb068 (diff) | |
download | px4-firmware-e95861e9df4d4236b07d29c3f086bfa4730e8634.tar.gz px4-firmware-e95861e9df4d4236b07d29c3f086bfa4730e8634.tar.bz2 px4-firmware-e95861e9df4d4236b07d29c3f086bfa4730e8634.zip |
Merge branch 'mpu6k_queue' of github.com:PX4/Firmware into fmuv2_bringup
-rw-r--r-- | src/drivers/device/ringbuffer.h | 21 | ||||
-rw-r--r-- | src/drivers/mpu6000/mpu6000.cpp | 316 |
2 files changed, 239 insertions, 98 deletions
diff --git a/src/drivers/device/ringbuffer.h b/src/drivers/device/ringbuffer.h index 37686fdbe..dc0c84052 100644 --- a/src/drivers/device/ringbuffer.h +++ b/src/drivers/device/ringbuffer.h @@ -104,6 +104,17 @@ public: */ bool full() { return _next(_head) == _tail; } + /* + * Returns the capacity of the buffer, or zero if the buffer could + * not be allocated. + */ + unsigned size() { return (_buf != nullptr) ? _size : 0; } + + /* + * Empties the buffer. + */ + void flush() { _head = _tail = _size; } + private: T *const _buf; const unsigned _size; @@ -114,11 +125,11 @@ private: }; template <typename T> -RingBuffer<T>::RingBuffer(unsigned size) : - _buf(new T[size + 1]), - _size(size), - _head(size), - _tail(size) +RingBuffer<T>::RingBuffer(unsigned with_size) : + _buf(new T[with_size + 1]), + _size(with_size), + _head(with_size), + _tail(with_size) {} template <typename T> diff --git a/src/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp index 0e27a382a..bf18e73c0 100644 --- a/src/drivers/mpu6000/mpu6000.cpp +++ b/src/drivers/mpu6000/mpu6000.cpp @@ -67,6 +67,7 @@ #include <drivers/drv_hrt.h> #include <drivers/device/spi.h> +#include <drivers/device/ringbuffer.h> #include <drivers/drv_accel.h> #include <drivers/drv_gyro.h> @@ -181,13 +182,17 @@ private: struct hrt_call _call; unsigned _call_interval; - struct accel_report _accel_report; + typedef RingBuffer<accel_report> AccelReportBuffer; + AccelReportBuffer *_accel_reports; + struct accel_scale _accel_scale; float _accel_range_scale; float _accel_range_m_s2; orb_advert_t _accel_topic; - struct gyro_report _gyro_report; + typedef RingBuffer<gyro_report> GyroReportBuffer; + GyroReportBuffer *_gyro_reports; + struct gyro_scale _gyro_scale; float _gyro_range_scale; float _gyro_range_rad_s; @@ -208,6 +213,13 @@ private: void stop(); /** + * Reset chip. + * + * Resets the chip and measurements ranges, but not scale and offset. + */ + void reset(); + + /** * Static trampoline from the hrt_call context; because we don't have a * generic hrt wrapper yet. * @@ -219,7 +231,7 @@ private: static void measure_trampoline(void *arg); /** - * Fetch measurements from the sensor and update the report ring. + * Fetch measurements from the sensor and update the report buffers. */ void measure(); @@ -311,9 +323,11 @@ MPU6000::MPU6000(int bus, spi_dev_e device) : _gyro(new MPU6000_gyro(this)), _product(0), _call_interval(0), + _accel_reports(nullptr), _accel_range_scale(0.0f), _accel_range_m_s2(0.0f), _accel_topic(-1), + _gyro_reports(nullptr), _gyro_range_scale(0.0f), _gyro_range_rad_s(0.0f), _gyro_topic(-1), @@ -340,8 +354,6 @@ MPU6000::MPU6000(int bus, spi_dev_e device) : _gyro_scale.z_offset = 0; _gyro_scale.z_scale = 1.0f; - memset(&_accel_report, 0, sizeof(_accel_report)); - memset(&_gyro_report, 0, sizeof(_gyro_report)); memset(&_call, 0, sizeof(_call)); } @@ -353,6 +365,12 @@ MPU6000::~MPU6000() /* delete the gyro subdriver */ delete _gyro; + /* free any existing reports */ + if (_accel_reports != nullptr) + delete _accel_reports; + if (_gyro_reports != nullptr) + delete _gyro_reports; + /* delete the perf counter */ perf_free(_sample_perf); } @@ -361,6 +379,7 @@ int MPU6000::init() { int ret; + int gyro_ret; /* do SPI init (and probe) first */ ret = SPI::init(); @@ -371,6 +390,59 @@ MPU6000::init() return ret; } + /* allocate basic report buffers */ + _accel_reports = new AccelReportBuffer(2); + if (_accel_reports == nullptr) + goto out; + + _gyro_reports = new GyroReportBuffer(2); + if (_gyro_reports == nullptr) + goto out; + + reset(); + + /* Initialize offsets and scales */ + _accel_scale.x_offset = 0; + _accel_scale.x_scale = 1.0f; + _accel_scale.y_offset = 0; + _accel_scale.y_scale = 1.0f; + _accel_scale.z_offset = 0; + _accel_scale.z_scale = 1.0f; + + _gyro_scale.x_offset = 0; + _gyro_scale.x_scale = 1.0f; + _gyro_scale.y_offset = 0; + _gyro_scale.y_scale = 1.0f; + _gyro_scale.z_offset = 0; + _gyro_scale.z_scale = 1.0f; + + /* do CDev init for the gyro device node, keep it optional */ + gyro_ret = _gyro->init(); + + /* fetch an initial set of measurements for advertisement */ + measure(); + + if (gyro_ret != OK) { + _gyro_topic = -1; + } else { + gyro_report gr; + _gyro_reports->get(gr); + + _gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &gr); + } + + /* advertise accel topic */ + accel_report ar; + _accel_reports->get(ar); + _accel_topic = orb_advertise(ORB_ID(sensor_accel), &ar); + +out: + return ret; +} + +void MPU6000::reset() +{ + // Chip reset write_reg(MPUREG_PWR_MGMT_1, BIT_H_RESET); up_udelay(10000); @@ -402,12 +474,6 @@ MPU6000::init() // 2000 deg/s = (2000/180)*PI = 34.906585 rad/s // scaling factor: // 1/(2^15)*(2000/180)*PI - _gyro_scale.x_offset = 0; - _gyro_scale.x_scale = 1.0f; - _gyro_scale.y_offset = 0; - _gyro_scale.y_scale = 1.0f; - _gyro_scale.z_offset = 0; - _gyro_scale.z_scale = 1.0f; _gyro_range_scale = (0.0174532 / 16.4);//1.0f / (32768.0f * (2000.0f / 180.0f) * M_PI_F); _gyro_range_rad_s = (2000.0f / 180.0f) * M_PI_F; @@ -440,12 +506,6 @@ MPU6000::init() // Correct accel scale factors of 4096 LSB/g // scale to m/s^2 ( 1g = 9.81 m/s^2) - _accel_scale.x_offset = 0; - _accel_scale.x_scale = 1.0f; - _accel_scale.y_offset = 0; - _accel_scale.y_scale = 1.0f; - _accel_scale.z_offset = 0; - _accel_scale.z_scale = 1.0f; _accel_range_scale = (9.81f / 4096.0f); _accel_range_m_s2 = 8.0f * 9.81f; @@ -461,22 +521,6 @@ MPU6000::init() // write_reg(MPUREG_PWR_MGMT_1,MPU_CLK_SEL_PLLGYROZ); usleep(1000); - /* do CDev init for the gyro device node, keep it optional */ - int gyro_ret = _gyro->init(); - - /* ensure we got real values to share */ - measure(); - - if (gyro_ret != OK) { - _gyro_topic = -1; - } else { - _gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &_gyro_report); - } - - /* advertise sensor topics */ - _accel_topic = orb_advertise(ORB_ID(sensor_accel), &_accel_report); - - return ret; } int @@ -555,21 +599,33 @@ MPU6000::_set_dlpf_filter(uint16_t frequency_hz) ssize_t MPU6000::read(struct file *filp, char *buffer, size_t buflen) { - int ret = 0; + unsigned count = buflen / sizeof(accel_report); /* buffer must be large enough */ - if (buflen < sizeof(_accel_report)) + if (count < 1) return -ENOSPC; - /* if automatic measurement is not enabled */ - if (_call_interval == 0) + /* if automatic measurement is not enabled, get a fresh measurement into the buffer */ + if (_call_interval == 0) { + _accel_reports->flush(); measure(); + } - /* copy out the latest reports */ - memcpy(buffer, &_accel_report, sizeof(_accel_report)); - ret = sizeof(_accel_report); + /* if no data, error (we could block here) */ + if (_accel_reports->empty()) + return -EAGAIN; + + /* copy reports out of our buffer to the caller */ + accel_report *arp = reinterpret_cast<accel_report *>(buffer); + int transferred = 0; + while (count--) { + if (!_accel_reports->get(*arp++)) + break; + transferred++; + } - return ret; + /* return the number of bytes transferred */ + return (transferred * sizeof(accel_report)); } int @@ -586,21 +642,33 @@ MPU6000::self_test() ssize_t MPU6000::gyro_read(struct file *filp, char *buffer, size_t buflen) { - int ret = 0; + unsigned count = buflen / sizeof(gyro_report); /* buffer must be large enough */ - if (buflen < sizeof(_gyro_report)) + if (count < 1) return -ENOSPC; - /* if automatic measurement is not enabled */ - if (_call_interval == 0) + /* if automatic measurement is not enabled, get a fresh measurement into the buffer */ + if (_call_interval == 0) { + _gyro_reports->flush(); measure(); + } - /* copy out the latest report */ - memcpy(buffer, &_gyro_report, sizeof(_gyro_report)); - ret = sizeof(_gyro_report); + /* if no data, error (we could block here) */ + if (_gyro_reports->empty()) + return -EAGAIN; + + /* copy reports out of our buffer to the caller */ + gyro_report *arp = reinterpret_cast<gyro_report *>(buffer); + int transferred = 0; + while (count--) { + if (!_gyro_reports->get(*arp++)) + break; + transferred++; + } - return ret; + /* return the number of bytes transferred */ + return (transferred * sizeof(gyro_report)); } int @@ -608,6 +676,10 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg) { switch (cmd) { + case SENSORIOCRESET: + reset(); + return OK; + case SENSORIOCSPOLLRATE: { switch (arg) { @@ -627,8 +699,8 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg) /* set default/max polling rate */ case SENSOR_POLLRATE_MAX: case SENSOR_POLLRATE_DEFAULT: - /* XXX 500Hz is just a wild guess */ - return ioctl(filp, SENSORIOCSPOLLRATE, 500); + /* set to same as sample rate per default */ + return ioctl(filp, SENSORIOCSPOLLRATE, _sample_rate); /* adjust to a legal polling interval in Hz */ default: { @@ -661,21 +733,39 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg) return 1000000 / _call_interval; - case SENSORIOCSQUEUEDEPTH: - /* XXX not implemented */ - return -EINVAL; + case SENSORIOCSQUEUEDEPTH: { + /* lower bound is mandatory, upper bound is a sanity check */ + if ((arg < 1) || (arg > 100)) + return -EINVAL; - case SENSORIOCGQUEUEDEPTH: - /* XXX not implemented */ - return -EINVAL; + /* allocate new buffer */ + AccelReportBuffer *buf = new AccelReportBuffer(arg); + + if (nullptr == buf) + return -ENOMEM; + if (buf->size() == 0) { + delete buf; + return -ENOMEM; + } + /* reset the measurement state machine with the new buffer, free the old */ + stop(); + delete _accel_reports; + _accel_reports = buf; + start(); + + return OK; + } + + case SENSORIOCGQUEUEDEPTH: + return _accel_reports->size(); case ACCELIOCGSAMPLERATE: return _sample_rate; case ACCELIOCSSAMPLERATE: - _set_sample_rate(arg); - return OK; + _set_sample_rate(arg); + return OK; case ACCELIOCSLOWPASS: case ACCELIOCGLOWPASS: @@ -726,11 +816,36 @@ MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg) /* these are shared with the accel side */ case SENSORIOCSPOLLRATE: case SENSORIOCGPOLLRATE: - case SENSORIOCSQUEUEDEPTH: - case SENSORIOCGQUEUEDEPTH: case SENSORIOCRESET: return ioctl(filp, cmd, arg); + case SENSORIOCSQUEUEDEPTH: { + /* lower bound is mandatory, upper bound is a sanity check */ + if ((arg < 1) || (arg > 100)) + return -EINVAL; + + /* allocate new buffer */ + GyroReportBuffer *buf = new GyroReportBuffer(arg); + + if (nullptr == buf) + return -ENOMEM; + if (buf->size() == 0) { + delete buf; + return -ENOMEM; + } + + /* reset the measurement state machine with the new buffer, free the old */ + stop(); + delete _gyro_reports; + _gyro_reports = buf; + start(); + + return OK; + } + + case SENSORIOCGQUEUEDEPTH: + return _gyro_reports->size(); + case GYROIOCGSAMPLERATE: return _sample_rate; @@ -865,6 +980,10 @@ MPU6000::start() /* make sure we are stopped first */ stop(); + /* discard any stale data in the buffers */ + _accel_reports->flush(); + _gyro_reports->flush(); + /* start polling at the specified rate */ hrt_call_every(&_call, 1000, _call_interval, (hrt_callout)&MPU6000::measure_trampoline, this); } @@ -878,7 +997,7 @@ MPU6000::stop() void MPU6000::measure_trampoline(void *arg) { - MPU6000 *dev = (MPU6000 *)arg; + MPU6000 *dev = reinterpret_cast<MPU6000 *>(arg); /* make another measurement */ dev->measure(); @@ -960,9 +1079,15 @@ MPU6000::measure() report.gyro_y = gyro_yt; /* + * Report buffers. + */ + accel_report arb; + gyro_report grb; + + /* * Adjust and scale results to m/s^2. */ - _gyro_report.timestamp = _accel_report.timestamp = hrt_absolute_time(); + grb.timestamp = arb.timestamp = hrt_absolute_time(); /* @@ -983,40 +1108,43 @@ MPU6000::measure() /* NOTE: Axes have been swapped to match the board a few lines above. */ - _accel_report.x_raw = report.accel_x; - _accel_report.y_raw = report.accel_y; - _accel_report.z_raw = report.accel_z; + arb.x_raw = report.accel_x; + arb.y_raw = report.accel_y; + arb.z_raw = report.accel_z; + + arb.x = ((report.accel_x * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale; + arb.y = ((report.accel_y * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale; + arb.z = ((report.accel_z * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale; + arb.scaling = _accel_range_scale; + arb.range_m_s2 = _accel_range_m_s2; - _accel_report.x = ((report.accel_x * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale; - _accel_report.y = ((report.accel_y * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale; - _accel_report.z = ((report.accel_z * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale; - _accel_report.scaling = _accel_range_scale; - _accel_report.range_m_s2 = _accel_range_m_s2; + arb.temperature_raw = report.temp; + arb.temperature = (report.temp) / 361.0f + 35.0f; - _accel_report.temperature_raw = report.temp; - _accel_report.temperature = (report.temp) / 361.0f + 35.0f; + grb.x_raw = report.gyro_x; + grb.y_raw = report.gyro_y; + grb.z_raw = report.gyro_z; - _gyro_report.x_raw = report.gyro_x; - _gyro_report.y_raw = report.gyro_y; - _gyro_report.z_raw = report.gyro_z; + grb.x = ((report.gyro_x * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale; + grb.y = ((report.gyro_y * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale; + grb.z = ((report.gyro_z * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale; + grb.scaling = _gyro_range_scale; + grb.range_rad_s = _gyro_range_rad_s; - _gyro_report.x = ((report.gyro_x * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale; - _gyro_report.y = ((report.gyro_y * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale; - _gyro_report.z = ((report.gyro_z * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale; - _gyro_report.scaling = _gyro_range_scale; - _gyro_report.range_rad_s = _gyro_range_rad_s; + grb.temperature_raw = report.temp; + grb.temperature = (report.temp) / 361.0f + 35.0f; - _gyro_report.temperature_raw = report.temp; - _gyro_report.temperature = (report.temp) / 361.0f + 35.0f; + _accel_reports->put(arb); + _gyro_reports->put(grb); /* notify anyone waiting for data */ poll_notify(POLLIN); _gyro->parent_poll_notify(); /* and publish for subscribers */ - orb_publish(ORB_ID(sensor_accel), _accel_topic, &_accel_report); + orb_publish(ORB_ID(sensor_accel), _accel_topic, &arb); if (_gyro_topic != -1) { - orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &_gyro_report); + orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &grb); } /* stop measuring */ @@ -1119,21 +1247,19 @@ fail: void test() { - int fd = -1; - int fd_gyro = -1; - struct accel_report a_report; - struct gyro_report g_report; + accel_report a_report; + gyro_report g_report; ssize_t sz; /* get the driver */ - fd = open(ACCEL_DEVICE_PATH, O_RDONLY); + int fd = open(ACCEL_DEVICE_PATH, O_RDONLY); if (fd < 0) err(1, "%s open failed (try 'mpu6000 start' if the driver is not running)", ACCEL_DEVICE_PATH); /* get the driver */ - fd_gyro = open(GYRO_DEVICE_PATH, O_RDONLY); + int fd_gyro = open(GYRO_DEVICE_PATH, O_RDONLY); if (fd_gyro < 0) err(1, "%s open failed", GYRO_DEVICE_PATH); @@ -1145,8 +1271,10 @@ test() /* do a simple demand read */ sz = read(fd, &a_report, sizeof(a_report)); - if (sz != sizeof(a_report)) + if (sz != sizeof(a_report)) { + warnx("ret: %d, expected: %d", sz, sizeof(a_report)); err(1, "immediate acc read failed"); + } warnx("single read"); warnx("time: %lld", a_report.timestamp); @@ -1162,8 +1290,10 @@ test() /* do a simple demand read */ sz = read(fd_gyro, &g_report, sizeof(g_report)); - if (sz != sizeof(g_report)) + if (sz != sizeof(g_report)) { + warnx("ret: %d, expected: %d", sz, sizeof(g_report)); err(1, "immediate gyro read failed"); + } warnx("gyro x: \t% 9.5f\trad/s", (double)g_report.x); warnx("gyro y: \t% 9.5f\trad/s", (double)g_report.y); |