/**************************************************************************** * * Copyright (C) 2012 PX4 Development Team. All rights reserved. * Author: @author Lorenz Meier * * 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.cpp * * Sensor readout process. */ #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #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 #ifdef CONFIG_HRT_PPM extern "C" { extern uint16_t ppm_buffer[]; extern unsigned ppm_decoded_channels; extern uint64_t ppm_last_valid_decode; } /* 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 #endif /** * Sensor app start / stop handling function * * @ingroup apps */ extern "C" __EXPORT int sensors_main(int argc, char *argv[]); class Sensors { public: /** * Constructor */ Sensors(); /** * Destructor, also kills the sensors task. */ ~Sensors(); /** * Start the sensors task. * * @return OK on success. */ int start(); private: static const unsigned _rc_max_chan_count = 8; /**< maximum number of r/c channels we handle */ /* legacy sensor descriptors */ int _fd_bma180; /**< old accel driver */ int _fd_gyro_l3gd20; /**< old gyro driver */ #if CONFIG_HRT_PPM hrt_abstime _ppm_last_valid; /**< last time we got a valid ppm signal */ /** * Gather and publish PPM input data. */ void ppm_poll(); #endif /* XXX should not be here - should be own driver */ int _fd_adc; /**< ADC driver handle */ hrt_abstime _last_adc; /**< last time we took input from the ADC */ bool _task_should_exit; /**< if true, sensor task should exit */ int _sensors_task; /**< task handle for sensor task */ bool _hil_enabled; /**< if true, HIL is active */ bool _publishing; /**< if true, we are publishing sensor data */ int _gyro_sub; /**< raw gyro data subscription */ int _accel_sub; /**< raw accel data subscription */ int _mag_sub; /**< raw mag data subscription */ int _baro_sub; /**< raw baro data subscription */ int _vstatus_sub; /**< vehicle status subscription */ int _params_sub; /**< notification of parameter updates */ orb_advert_t _sensor_pub; /**< combined sensor data topic */ orb_advert_t _manual_control_pub; /**< manual control signal topic */ orb_advert_t _rc_pub; /**< raw r/c control topic */ perf_counter_t _loop_perf; /**< loop performance counter */ struct rc_channels_s _rc; /**< r/c channel data */ struct { float min[_rc_max_chan_count]; float trim[_rc_max_chan_count]; float max[_rc_max_chan_count]; float rev[_rc_max_chan_count]; float dz[_rc_max_chan_count]; float ex[_rc_max_chan_count]; float gyro_offset[3]; float mag_offset[3]; float accel_offset[3]; float accel_scale[3]; int rc_type; int rc_map_roll; int rc_map_pitch; int rc_map_yaw; int rc_map_throttle; int rc_map_mode_sw; int rc_scale_roll; int rc_scale_pitch; int rc_scale_yaw; float battery_voltage_scaling; } _parameters; /**< local copies of interesting parameters */ struct { param_t min[_rc_max_chan_count]; param_t trim[_rc_max_chan_count]; param_t max[_rc_max_chan_count]; param_t rev[_rc_max_chan_count]; param_t dz[_rc_max_chan_count]; param_t ex[_rc_max_chan_count]; param_t rc_type; param_t gyro_offset[3]; param_t accel_offset[3]; param_t accel_scale[3]; param_t mag_offset[3]; param_t rc_map_roll; param_t rc_map_pitch; param_t rc_map_yaw; param_t rc_map_throttle; param_t rc_map_mode_sw; param_t rc_scale_roll; param_t rc_scale_pitch; param_t rc_scale_yaw; param_t battery_voltage_scaling; } _parameter_handles; /**< handles for interesting parameters */ /** * Update our local parameter cache. */ int parameters_update(); /** * Do accel-related initialisation. */ void accel_init(); /** * Do gyro-related initialisation. */ void gyro_init(); /** * Do mag-related initialisation. */ void mag_init(); /** * Do baro-related initialisation. */ void baro_init(); /** * Do adc-related initialisation. */ void adc_init(); /** * Poll the accelerometer for updated data. * * @param raw Combined sensor data structure into which * data should be returned. */ void accel_poll(struct sensor_combined_s &raw); /** * Poll the gyro for updated data. * * @param raw Combined sensor data structure into which * data should be returned. */ void gyro_poll(struct sensor_combined_s &raw); /** * Poll the magnetometer for updated data. * * @param raw Combined sensor data structure into which * data should be returned. */ void mag_poll(struct sensor_combined_s &raw); /** * Poll the barometer for updated data. * * @param raw Combined sensor data structure into which * data should be returned. */ void baro_poll(struct sensor_combined_s &raw); /** * Check for changes in vehicle status. */ void vehicle_status_poll(); /** * Check for changes in parameters. */ void parameter_update_poll(bool forced = false); /** * Poll the ADC and update readings to suit. * * @param raw Combined sensor data structure into which * data should be returned. */ void adc_poll(struct sensor_combined_s &raw); /** * Shim for calling task_main from task_create. */ static void task_main_trampoline(int argc, char *argv[]); /** * Main sensor collection task. */ void task_main() __attribute__((noreturn)); }; namespace sensors { /* oddly, ERROR is not defined for c++ */ #ifdef ERROR # undef ERROR #endif static const int ERROR = -1; Sensors *g_sensors; } Sensors::Sensors() : _fd_bma180(-1), _fd_gyro_l3gd20(-1), _ppm_last_valid(0), _fd_adc(-1), _last_adc(0), _task_should_exit(false), _sensors_task(-1), _hil_enabled(false), _publishing(true), /* subscriptions */ _gyro_sub(-1), _accel_sub(-1), _mag_sub(-1), _baro_sub(-1), _vstatus_sub(-1), _params_sub(-1), /* publications */ _sensor_pub(-1), _manual_control_pub(-1), _rc_pub(-1), /* performance counters */ _loop_perf(perf_alloc(PC_ELAPSED, "sensor task update")) { /* basic r/c parameters */ for (unsigned i = 1; i < _rc_max_chan_count; i++) { char nbuf[16]; /* min values */ sprintf(nbuf, "RC%d_MIN", i + 1); _parameter_handles.min[i] = param_find(nbuf); /* trim values */ sprintf(nbuf, "RC%d_TRIM", i + 1); _parameter_handles.trim[i] = param_find(nbuf); /* max values */ sprintf(nbuf, "RC%d_MAX", i + 1); _parameter_handles.max[i] = param_find(nbuf); /* channel reverse */ sprintf(nbuf, "RC%d_REV", i + 1); _parameter_handles.rev[i] = param_find(nbuf); /* channel deadzone */ sprintf(nbuf, "RC%d_DZ", i + 1); _parameter_handles.dz[i] = param_find(nbuf); /* channel exponential gain */ sprintf(nbuf, "RC%d_EXP", i + 1); _parameter_handles.ex[i] = param_find(nbuf); } _parameter_handles.rc_type = param_find("RC_TYPE"); _parameter_handles.rc_map_roll = param_find("RC_MAP_ROLL"); _parameter_handles.rc_map_pitch = param_find("RC_MAP_PITCH"); _parameter_handles.rc_map_yaw = param_find("RC_MAP_YAW"); _parameter_handles.rc_map_throttle = param_find("RC_MAP_THROTTLE"); _parameter_handles.rc_map_mode_sw = param_find("RC_MAP_MODE_SW"); _parameter_handles.rc_scale_roll = param_find("RC_SCALE_ROLL"); _parameter_handles.rc_scale_pitch = param_find("RC_SCALE_PITCH"); _parameter_handles.rc_scale_yaw = param_find("RC_SCALE_YAW"); /* gyro offsets */ _parameter_handles.gyro_offset[0] = param_find("SENS_GYRO_XOFF"); _parameter_handles.gyro_offset[1] = param_find("SENS_GYRO_YOFF"); _parameter_handles.gyro_offset[2] = param_find("SENS_GYRO_ZOFF"); /* accel offsets */ _parameter_handles.accel_offset[0] = param_find("SENS_ACC_XOFF"); _parameter_handles.accel_offset[1] = param_find("SENS_ACC_YOFF"); _parameter_handles.accel_offset[2] = param_find("SENS_ACC_ZOFF"); _parameter_handles.accel_scale[0] = param_find("SENS_ACC_XSCALE"); _parameter_handles.accel_scale[1] = param_find("SENS_ACC_YSCALE"); _parameter_handles.accel_scale[2] = param_find("SENS_ACC_ZSCALE"); /* mag offsets */ _parameter_handles.mag_offset[0] = param_find("SENS_MAG_XOFF"); _parameter_handles.mag_offset[1] = param_find("SENS_MAG_YOFF"); _parameter_handles.mag_offset[2] = param_find("SENS_MAG_ZOFF"); _parameter_handles.battery_voltage_scaling = param_find("BAT_V_SCALING"); /* fetch initial parameter values */ parameters_update(); } Sensors::~Sensors() { if (_sensors_task != -1) { /* task wakes up every 100ms or so at the longest */ _task_should_exit = true; /* wait for a second for the task to quit at our request */ unsigned i = 0; do { /* wait 20ms */ usleep(20000); /* if we have given up, kill it */ if (++i > 50) { task_delete(_sensors_task); break; } } while (_sensors_task != -1); } sensors::g_sensors = nullptr; } int Sensors::parameters_update() { const unsigned int nchans = 8; /* rc values */ for (unsigned int i = 0; i < nchans; i++) { if (param_get(_parameter_handles.min[i], &(_parameters.min[i])) != OK) { warnx("Failed getting min for chan %d", i); } if (param_get(_parameter_handles.trim[i], &(_parameters.trim[i])) != OK) { warnx("Failed getting trim for chan %d", i); } if (param_get(_parameter_handles.max[i], &(_parameters.max[i])) != OK) { warnx("Failed getting max for chan %d", i); } if (param_get(_parameter_handles.rev[i], &(_parameters.rev[i])) != OK) { warnx("Failed getting rev for chan %d", i); } if (param_get(_parameter_handles.dz[i], &(_parameters.dz[i])) != OK) { warnx("Failed getting dead zone for chan %d", i); } if (param_get(_parameter_handles.ex[i], &(_parameters.ex[i])) != OK) { warnx("Failed getting exponential gain for chan %d", i); } _rc.chan[i].scaling_factor = (1.0f / ((_parameters.max[i] - _parameters.min[i]) / 2.0f) * _parameters.rev[i]); /* handle blowup in the scaling factor calculation */ if (isnan(_rc.chan[i].scaling_factor) || isinf(_rc.chan[i].scaling_factor)) { _rc.chan[i].scaling_factor = 0; } _rc.chan[i].mid = _parameters.trim[i]; } /* update RC function mappings */ _rc.function[0] = _parameters.rc_map_throttle - 1; _rc.function[1] = _parameters.rc_map_roll - 1; _rc.function[2] = _parameters.rc_map_pitch - 1; _rc.function[3] = _parameters.rc_map_yaw - 1; _rc.function[4] = _parameters.rc_map_mode_sw - 1; /* remote control type */ if (param_get(_parameter_handles.rc_type, &(_parameters.rc_type)) != OK) { warnx("Failed getting remote control type"); } /* channel mapping */ if (param_get(_parameter_handles.rc_map_roll, &(_parameters.rc_map_roll)) != OK) { warnx("Failed getting roll chan index"); } if (param_get(_parameter_handles.rc_map_pitch, &(_parameters.rc_map_pitch)) != OK) { warnx("Failed getting pitch chan index"); } if (param_get(_parameter_handles.rc_map_yaw, &(_parameters.rc_map_yaw)) != OK) { warnx("Failed getting yaw chan index"); } if (param_get(_parameter_handles.rc_map_throttle, &(_parameters.rc_map_throttle)) != OK) { warnx("Failed getting throttle chan index"); } if (param_get(_parameter_handles.rc_map_mode_sw, &(_parameters.rc_map_mode_sw)) != OK) { warnx("Failed getting mode sw chan index"); } if (param_get(_parameter_handles.rc_scale_roll, &(_parameters.rc_scale_roll)) != OK) { warnx("Failed getting rc scaling for roll"); } if (param_get(_parameter_handles.rc_scale_pitch, &(_parameters.rc_scale_pitch)) != OK) { warnx("Failed getting rc scaling for pitch"); } if (param_get(_parameter_handles.rc_scale_yaw, &(_parameters.rc_scale_yaw)) != OK) { warnx("Failed getting rc scaling for yaw"); } /* gyro offsets */ param_get(_parameter_handles.gyro_offset[0], &(_parameters.gyro_offset[0])); param_get(_parameter_handles.gyro_offset[1], &(_parameters.gyro_offset[1])); param_get(_parameter_handles.gyro_offset[2], &(_parameters.gyro_offset[2])); /* accel offsets */ param_get(_parameter_handles.accel_offset[0], &(_parameters.accel_offset[0])); param_get(_parameter_handles.accel_offset[1], &(_parameters.accel_offset[1])); param_get(_parameter_handles.accel_offset[2], &(_parameters.accel_offset[2])); param_get(_parameter_handles.accel_scale[0], &(_parameters.accel_scale[0])); param_get(_parameter_handles.accel_scale[1], &(_parameters.accel_scale[1])); param_get(_parameter_handles.accel_scale[2], &(_parameters.accel_scale[2])); /* mag offsets */ param_get(_parameter_handles.mag_offset[0], &(_parameters.mag_offset[0])); param_get(_parameter_handles.mag_offset[1], &(_parameters.mag_offset[1])); param_get(_parameter_handles.mag_offset[2], &(_parameters.mag_offset[2])); /* scaling of ADC ticks to battery voltage */ if (param_get(_parameter_handles.battery_voltage_scaling, &(_parameters.battery_voltage_scaling)) != OK) { warnx("Failed updating voltage scaling param"); } return OK; } void Sensors::accel_init() { int fd; fd = open(ACCEL_DEVICE_PATH, 0); if (fd < 0) { warn("%s", ACCEL_DEVICE_PATH); /* fall back to bma180 here (new driver would be better...) */ _fd_bma180 = open("/dev/bma180", O_RDONLY); if (_fd_bma180 < 0) { warn("/dev/bma180"); errx(1, "FATAL: no accelerometer found"); } /* discard first (junk) reading */ int16_t junk_buf[3]; read(_fd_bma180, junk_buf, sizeof(junk_buf)); warnx("using BMA180"); } else { /* set the accel internal sampling rate up to at leat 500Hz */ ioctl(fd, ACCELIOCSSAMPLERATE, 500); /* set the driver to poll at 500Hz */ ioctl(fd, SENSORIOCSPOLLRATE, 500); warnx("using system accel"); close(fd); } } void Sensors::gyro_init() { int fd; fd = open(GYRO_DEVICE_PATH, 0); if (fd < 0) { warn("%s", GYRO_DEVICE_PATH); /* fall back to bma180 here (new driver would be better...) */ _fd_gyro_l3gd20 = open("/dev/l3gd20", O_RDONLY); if (_fd_gyro_l3gd20 < 0) { warn("/dev/l3gd20"); errx(1, "FATAL: no gyro found"); } /* discard first (junk) reading */ int16_t junk_buf[3]; read(_fd_gyro_l3gd20, junk_buf, sizeof(junk_buf)); warn("using L3GD20"); } else { /* set the gyro internal sampling rate up to at leat 500Hz */ ioctl(fd, GYROIOCSSAMPLERATE, 500); /* set the driver to poll at 500Hz */ ioctl(fd, SENSORIOCSPOLLRATE, 500); warnx("using system gyro"); close(fd); } } void Sensors::mag_init() { int fd; fd = open(MAG_DEVICE_PATH, 0); if (fd < 0) { warn("%s", MAG_DEVICE_PATH); errx(1, "FATAL: no magnetometer found"); } /* set the mag internal poll rate to at least 150Hz */ ioctl(fd, MAGIOCSSAMPLERATE, 150); /* set the driver to poll at 150Hz */ ioctl(fd, SENSORIOCSPOLLRATE, 150); close(fd); } void Sensors::baro_init() { int fd; fd = open(BARO_DEVICE_PATH, 0); if (fd < 0) { warn("%s", BARO_DEVICE_PATH); errx(1, "FATAL: no barometer found"); } /* set the driver to poll at 150Hz */ ioctl(fd, SENSORIOCSPOLLRATE, 150); close(fd); } void Sensors::adc_init() { _fd_adc = open("/dev/adc0", O_RDONLY | O_NONBLOCK); if (_fd_adc < 0) { warn("/dev/adc0"); errx(1, "FATAL: no ADC found"); } } void Sensors::accel_poll(struct sensor_combined_s &raw) { struct accel_report accel_report; if (_fd_bma180 >= 0) { /* do ORB emulation for BMA180 */ int16_t buf[3]; read(_fd_bma180, buf, sizeof(buf)); accel_report.timestamp = hrt_absolute_time(); accel_report.x_raw = (buf[1] == -32768) ? 32767 : -buf[1]; accel_report.y_raw = buf[0]; accel_report.z_raw = buf[2]; const float range_g = 4.0f; /* scale from 14 bit to m/s2 */ accel_report.x = (((accel_report.x_raw - _parameters.accel_offset[0]) * range_g) / 8192.0f) / 9.81f; accel_report.y = (((accel_report.y_raw - _parameters.accel_offset[0]) * range_g) / 8192.0f) / 9.81f; accel_report.z = (((accel_report.z_raw - _parameters.accel_offset[0]) * range_g) / 8192.0f) / 9.81f; raw.accelerometer_counter++; } else { bool accel_updated; orb_check(_accel_sub, &accel_updated); if (accel_updated) { orb_copy(ORB_ID(sensor_accel), _accel_sub, &accel_report); raw.accelerometer_counter++; } } raw.accelerometer_m_s2[0] = accel_report.x; raw.accelerometer_m_s2[1] = accel_report.y; raw.accelerometer_m_s2[2] = accel_report.z; raw.accelerometer_raw[0] = accel_report.x_raw; raw.accelerometer_raw[1] = accel_report.y_raw; raw.accelerometer_raw[2] = accel_report.z_raw; } void Sensors::gyro_poll(struct sensor_combined_s &raw) { struct gyro_report gyro_report; if (_fd_gyro_l3gd20 >= 0) { /* do ORB emulation for L3GD20 */ int16_t buf[3]; read(_fd_gyro_l3gd20, buf, sizeof(buf)); gyro_report.timestamp = hrt_absolute_time(); gyro_report.x_raw = buf[1]; gyro_report.y_raw = ((buf[0] == -32768) ? 32767 : -buf[0]); gyro_report.z_raw = buf[2]; /* scaling calculated as: raw * (1/(32768*(500/180*PI))) */ gyro_report.x = (gyro_report.x_raw - _parameters.gyro_offset[0]) * 0.000266316109f; gyro_report.y = (gyro_report.y_raw - _parameters.gyro_offset[1]) * 0.000266316109f; gyro_report.z = (gyro_report.z_raw - _parameters.gyro_offset[2]) * 0.000266316109f; raw.gyro_rad_s[0] = gyro_report.x; raw.gyro_rad_s[1] = gyro_report.y; raw.gyro_rad_s[2] = gyro_report.z; raw.gyro_raw[0] = gyro_report.x_raw; raw.gyro_raw[1] = gyro_report.y_raw; raw.gyro_raw[2] = gyro_report.z_raw; raw.gyro_counter++; } else { bool gyro_updated; orb_check(_gyro_sub, &gyro_updated); if (gyro_updated) { orb_copy(ORB_ID(sensor_gyro), _gyro_sub, &gyro_report); raw.gyro_rad_s[0] = gyro_report.x; raw.gyro_rad_s[1] = gyro_report.y; raw.gyro_rad_s[2] = gyro_report.z; raw.gyro_raw[0] = gyro_report.x_raw; raw.gyro_raw[1] = gyro_report.y_raw; raw.gyro_raw[2] = gyro_report.z_raw; raw.gyro_counter++; } } } void Sensors::mag_poll(struct sensor_combined_s &raw) { bool mag_updated; orb_check(_mag_sub, &mag_updated); if (mag_updated) { struct mag_report mag_report; orb_copy(ORB_ID(sensor_mag), _mag_sub, &mag_report); raw.magnetometer_ga[0] = mag_report.x; raw.magnetometer_ga[1] = mag_report.y; raw.magnetometer_ga[2] = mag_report.z; raw.magnetometer_raw[0] = mag_report.x_raw; raw.magnetometer_raw[1] = mag_report.y_raw; raw.magnetometer_raw[2] = mag_report.z_raw; raw.magnetometer_counter++; } } void Sensors::baro_poll(struct sensor_combined_s &raw) { bool baro_updated; orb_check(_baro_sub, &baro_updated); if (baro_updated) { struct baro_report baro_report; orb_copy(ORB_ID(sensor_baro), _baro_sub, &baro_report); raw.baro_pres_mbar = baro_report.pressure; // Pressure in mbar raw.baro_alt_meter = baro_report.altitude; // Altitude in meters raw.baro_temp_celcius = baro_report.temperature; // Temperature in degrees celcius raw.baro_counter++; } } void Sensors::vehicle_status_poll() { struct vehicle_status_s vstatus; bool vstatus_updated; /* Check HIL state if vehicle status has changed */ orb_check(_vstatus_sub, &vstatus_updated); if (vstatus_updated) { 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; /* switching from HIL to non-HIL mode */ } else if (!_publishing && !_hil_enabled) { _hil_enabled = false; _publishing = true; } } } void Sensors::parameter_update_poll(bool forced) { bool param_updated; /* Check if any parameter has changed */ orb_check(_params_sub, ¶m_updated); if (param_updated || forced) { /* read from param to clear updated flag */ struct parameter_update_s update; orb_copy(ORB_ID(parameter_update), _params_sub, &update); /* update parameters */ parameters_update(); /* update sensor offsets */ int fd = open(GYRO_DEVICE_PATH, 0); struct gyro_scale gscale = { _parameters.gyro_offset[0], 1.0f, _parameters.gyro_offset[1], 1.0f, _parameters.gyro_offset[2], 1.0f, }; if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale)) warn("WARNING: failed to set scale / offsets for gyro"); close(fd); fd = open(ACCEL_DEVICE_PATH, 0); struct accel_scale ascale = { _parameters.accel_offset[0], _parameters.accel_scale[0], _parameters.accel_offset[1], _parameters.accel_scale[1], _parameters.accel_offset[2], _parameters.accel_scale[2], }; if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale)) warn("WARNING: failed to set scale / offsets for accel"); close(fd); fd = open(MAG_DEVICE_PATH, 0); struct mag_scale mscale = { _parameters.mag_offset[0], 1.0f, _parameters.mag_offset[1], 1.0f, _parameters.mag_offset[2], 1.0f, }; if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale)) warn("WARNING: failed to set scale / offsets for mag"); close(fd); #if 0 printf("CH0: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[0], (int)_parameters.min[0], (int)(_rc.chan[0].scaling_factor*10000), (int)(_rc.chan[0].mid), (int)_rc.function[0]); printf("CH1: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[1], (int)_parameters.min[1], (int)(_rc.chan[1].scaling_factor*10000), (int)(_rc.chan[1].mid), (int)_rc.function[1]); printf("MAN: %d %d\n", (int)(_rc.chan[0].scaled*100), (int)(_rc.chan[1].scaled*100)); fflush(stdout); usleep(5000); #endif } } void Sensors::adc_poll(struct sensor_combined_s &raw) { #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) */ } buf_adc; #pragma pack(pop) if (hrt_absolute_time() - _last_adc >= 10000) { read(_fd_adc, &buf_adc, sizeof(buf_adc)); 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 * _parameters.battery_voltage_scaling))); if ((raw.battery_voltage_v) < 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++; } _last_adc = hrt_absolute_time(); } } #if CONFIG_HRT_PPM void Sensors::ppm_poll() { struct manual_control_setpoint_s manual_control; /* check to see whether a new frame has been decoded */ if (_ppm_last_valid == ppm_last_valid_decode) return; /* require at least two chanels to consider the signal valid */ if (ppm_decoded_channels < 4) return; /* we are accepting this decode */ _ppm_last_valid = ppm_last_valid_decode; /* Read out values from HRT */ for (unsigned int i = 0; (i < ppm_decoded_channels && i < 8); 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; /* scale around the mid point differently for lower and upper range */ if (ppm_buffer[i] > _rc.chan[i].mid + _parameters.dz[i]) { _rc.chan[i].scaled = ((ppm_buffer[i] - _parameters.trim[i]) / (_parameters.max[i] - _parameters.trim[i])); } else if ((ppm_buffer[i] < _rc_chan[i].mid - _parameters.dz[i])) { _rc.chan[i].scaled = -1.0 + ((ppm_buffer[i] - _parameters.min[i]) / (_parameters.trim[i] - _parameters.min[i])); } else { /* in the configured dead zone, output zero */ _rc.chan[i].scaled = 0.0f; } /* reverse channel if required */ _rc.chan[i] *= _parameters.rev[i]; /* handle any parameter-induced blowups */ if (isnan(_rc.chan[i].scaled) || isinf(_rc.chan[i].scaled)) _rc.chan[i].scaled = 0.0f; //_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; /* roll input - rolling right is stick-wise and rotation-wise positive */ manual_control.roll = _rc.chan[_rc.function[ROLL]].scaled * _parameters.rc_scale_roll; if (manual_control.roll < -1.0f) manual_control.roll = -1.0f; if (manual_control.roll > 1.0f) manual_control.roll = 1.0f; /* * pitch input - stick down is negative, but stick down is pitching up (pos) in NED, * so reverse sign. */ manual_control.pitch = -1.0f * _rc.chan[_rc.function[PITCH]].scaled * _parameters.rc_scale_pitch; if (manual_control.pitch < -1.0f) manual_control.pitch = -1.0f; if (manual_control.pitch > 1.0f) manual_control.pitch = 1.0f; /* yaw input - stick right is positive and positive rotation */ manual_control.yaw = _rc.chan[_rc.function[YAW]].scaled * _parameters.rc_scale_yaw; 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; orb_publish(ORB_ID(rc_channels), _rc_pub, &_rc); orb_publish(ORB_ID(manual_control_setpoint), _manual_control_pub, &manual_control); } #endif void Sensors::task_main_trampoline(int argc, char *argv[]) { sensors::g_sensors->task_main(); } void Sensors::task_main() { /* inform about start */ printf("[sensors] Initializing..\n"); fflush(stdout); /* start individual sensors */ accel_init(); gyro_init(); mag_init(); baro_init(); adc_init(); /* * do subscriptions */ _gyro_sub = orb_subscribe(ORB_ID(sensor_gyro)); _accel_sub = orb_subscribe(ORB_ID(sensor_accel)); _mag_sub = orb_subscribe(ORB_ID(sensor_mag)); _baro_sub = orb_subscribe(ORB_ID(sensor_baro)); _vstatus_sub = orb_subscribe(ORB_ID(vehicle_status)); _params_sub = orb_subscribe(ORB_ID(parameter_update)); /* rate limit vehicle status updates to 5Hz */ orb_set_interval(_vstatus_sub, 200); /* * do advertisements */ struct sensor_combined_s raw; raw.timestamp = hrt_absolute_time(); raw.battery_voltage_v = BAT_VOL_INITIAL; raw.adc_voltage_v[0] = 0.9f; raw.adc_voltage_v[1] = 0.0f; raw.adc_voltage_v[2] = 0.0f; raw.battery_voltage_counter = 0; raw.battery_voltage_valid = false; /* get a set of initial values */ accel_poll(raw); gyro_poll(raw); mag_poll(raw); baro_poll(raw); parameter_update_poll(true /* forced */); /* advertise the SENS_combined topic and make the initial publication */ _sensor_pub = orb_advertise(ORB_ID(sensor_combined), &raw); /* advertise the manual_control topic */ { struct manual_control_setpoint_s manual_control; manual_control.mode = ROLLPOS_PITCHPOS_YAWRATE_THROTTLE; manual_control.roll = 0.0f; manual_control.pitch = 0.0f; manual_control.yaw = 0.0f; manual_control.throttle = 0.0f; _manual_control_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual_control); } /* advertise the rc topic */ { struct rc_channels_s rc; memset(&rc, 0, sizeof(rc)); _rc_pub = orb_advertise(ORB_ID(rc_channels), &rc); } /* wakeup source(s) */ struct pollfd fds[1]; /* use the gyro to pace output - XXX BROKEN if we are using the L3GD20 */ fds[0].fd = _gyro_sub; fds[0].events = POLLIN; while (!_task_should_exit) { /* wait for up to 500ms for data */ int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100); /* timed out - periodic check for _task_should_exit, etc. */ if (pret == 0) continue; /* this is undesirable but not much we can do - might want to flag unhappy status */ if (pret < 0) { warn("poll error %d, %d", pret, errno); continue; } perf_begin(_loop_perf); /* check vehicle status for changes to publication state */ vehicle_status_poll(); /* check parameters for updates */ parameter_update_poll(); /* store the time closest to all measurements (this is bogus, sensor timestamps should be propagated...) */ raw.timestamp = hrt_absolute_time(); /* copy most recent sensor data */ accel_poll(raw); gyro_poll(raw); mag_poll(raw); baro_poll(raw); /* check battery voltage */ adc_poll(raw); /* Inform other processes that new data is available to copy */ if (_publishing) orb_publish(ORB_ID(sensor_combined), _sensor_pub, &raw); #ifdef CONFIG_HRT_PPM /* Look for new r/c input data */ ppm_poll(); #endif perf_end(_loop_perf); } printf("[sensors] exiting.\n"); _sensors_task = -1; _exit(0); } int Sensors::start() { ASSERT(_sensors_task == -1); /* start the task */ _sensors_task = task_create("SENS_task", SCHED_PRIORITY_MAX - 5, 4096, /* XXX may be excesssive */ (main_t)&Sensors::task_main_trampoline, nullptr); if (_sensors_task < 0) { warn("task start failed"); return -errno; } return OK; } int sensors_main(int argc, char *argv[]) { if (argc < 1) errx(1, "usage: sensors {start|stop|status}"); if (!strcmp(argv[1], "start")) { if (sensors::g_sensors != nullptr) errx(1, "sensors task already running"); sensors::g_sensors = new Sensors; if (sensors::g_sensors == nullptr) errx(1, "sensors task alloc failed"); if (OK != sensors::g_sensors->start()) { delete sensors::g_sensors; sensors::g_sensors = nullptr; err(1, "sensors task start failed"); } exit(0); } if (!strcmp(argv[1], "stop")) { if (sensors::g_sensors == nullptr) errx(1, "sensors task not running"); delete sensors::g_sensors; sensors::g_sensors = nullptr; exit(0); } if (!strcmp(argv[1], "status")) { if (sensors::g_sensors) { errx(0, "task is running"); } else { errx(1, "task is not running"); } } errx(1, "unrecognized command"); }