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px4_autopilot/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 <fcntl.h>
#include <sys/prctl.h>
#include <poll.h>
#include <nuttx/analog/adc.h>
#include <unistd.h>
#include <stdlib.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_bma180.h>
#include <arch/board/drv_l3gd20.h>
#include <drivers/drv_accel.h>
#include <drivers/drv_gyro.h>
#include <drivers/drv_mag.h>
#include <drivers/drv_baro.h>
#include <arch/board/up_adc.h>
#include <systemlib/systemlib.h>
#include <systemlib/param/param.h>
#include <systemlib/err.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 int sensors_timer_loop_counter = 0;
/* File descriptors for all sensors */
static int fd_gyro = -1;
static int fd_gyro_l3gd20 = -1;
static bool thread_should_exit = false;
static bool thread_running = false;
static int sensors_task;
static int fd_bma180 = -1;
static int fd_magnetometer = -1;
static int fd_barometer = -1;
static int fd_adc = -1;
static int fd_accelerometer = -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
/* ORB topic publishing our results */
static orb_advert_t sensor_pub;
PARAM_DEFINE_FLOAT(SENSOR_GYRO_XOFF, 0.0f);
PARAM_DEFINE_FLOAT(SENSOR_GYRO_YOFF, 0.0f);
PARAM_DEFINE_FLOAT(SENSOR_GYRO_ZOFF, 0.0f);
PARAM_DEFINE_FLOAT(SENSOR_MAG_XOFF, 0.0f);
PARAM_DEFINE_FLOAT(SENSOR_MAG_YOFF, 0.0f);
PARAM_DEFINE_FLOAT(SENSOR_MAG_ZOFF, 0.0f);
PARAM_DEFINE_FLOAT(SENSOR_ACC_XOFF, 0.0f);
PARAM_DEFINE_FLOAT(SENSOR_ACC_YOFF, 0.0f);
PARAM_DEFINE_FLOAT(SENSOR_ACC_ZOFF, 0.0f);
PARAM_DEFINE_FLOAT(RC1_MIN, 1000.0f);
PARAM_DEFINE_FLOAT(RC1_TRIM, 1500.0f);
PARAM_DEFINE_FLOAT(RC1_MAX, 2000.0f);
PARAM_DEFINE_FLOAT(RC1_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC2_MIN, 1000);
PARAM_DEFINE_FLOAT(RC2_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC2_MAX, 2000);
PARAM_DEFINE_FLOAT(RC2_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC3_MIN, 1000);
PARAM_DEFINE_FLOAT(RC3_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC3_MAX, 2000);
PARAM_DEFINE_FLOAT(RC3_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC4_MIN, 1000);
PARAM_DEFINE_FLOAT(RC4_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC4_MAX, 2000);
PARAM_DEFINE_FLOAT(RC4_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC5_MIN, 1000);
PARAM_DEFINE_FLOAT(RC5_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC5_MAX, 2000);
PARAM_DEFINE_FLOAT(RC5_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC6_MIN, 1000);
PARAM_DEFINE_FLOAT(RC6_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC6_MAX, 2000);
PARAM_DEFINE_FLOAT(RC6_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC7_MIN, 1000);
PARAM_DEFINE_FLOAT(RC7_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC7_MAX, 2000);
PARAM_DEFINE_FLOAT(RC7_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC8_MIN, 1000);
PARAM_DEFINE_FLOAT(RC8_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC8_MAX, 2000);
PARAM_DEFINE_FLOAT(RC8_REV, 1.0f);
PARAM_DEFINE_INT32(RC_TYPE, 1); // 1 = FUTABA
PARAM_DEFINE_FLOAT(BAT_V_SCALING, -1.0f);
PARAM_DEFINE_INT32(RC_MAP_ROLL, 1);
PARAM_DEFINE_INT32(RC_MAP_PITCH, 2);
PARAM_DEFINE_INT32(RC_MAP_THROTTLE, 3);
PARAM_DEFINE_INT32(RC_MAP_YAW, 4);
PARAM_DEFINE_INT32(RC_MAP_MODE_SW, 5);
#define rc_max_chan_count 8
struct sensor_parameters {
int min[rc_max_chan_count];
int trim[rc_max_chan_count];
int max[rc_max_chan_count];
int rev[rc_max_chan_count];
float gyro_offset[3];
float mag_offset[3];
float acc_offset[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 battery_voltage_scaling;
};
struct sensor_parameter_handles {
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 rc_type;
param_t gyro_offset[3];
param_t mag_offset[3];
param_t acc_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 battery_voltage_scaling;
};
/**
* Sensor app start / stop handling function
*
* @ingroup apps
*/
__EXPORT int sensors_main(int argc, char *argv[]);
/**
* Sensor readout and publishing.
*
* This function reads all onboard sensors and publishes the sensor_combined topic.
*
* @see sensor_combined_s
*/
int sensors_thread_main(int argc, char *argv[]);
/**
* Print the usage
*/
static void usage(const char *reason);
/**
* Initialize all parameter handles and values
*
*/
static int parameters_init(struct sensor_parameter_handles *h);
/**
* Update all parameters
*
*/
static int parameters_update(const struct sensor_parameter_handles *h, struct sensor_parameters *p);
static int parameters_init(struct sensor_parameter_handles *h)
{
/* min values */
h->min[0] = param_find("RC1_MIN");
h->min[1] = param_find("RC2_MIN");
h->min[2] = param_find("RC3_MIN");
h->min[3] = param_find("RC4_MIN");
h->min[4] = param_find("RC5_MIN");
h->min[5] = param_find("RC6_MIN");
h->min[6] = param_find("RC7_MIN");
h->min[7] = param_find("RC8_MIN");
/* trim values */
h->trim[0] = param_find("RC1_TRIM");
h->trim[1] = param_find("RC2_TRIM");
h->trim[2] = param_find("RC3_TRIM");
h->trim[3] = param_find("RC4_TRIM");
h->trim[4] = param_find("RC5_TRIM");
h->trim[5] = param_find("RC6_TRIM");
h->trim[6] = param_find("RC7_TRIM");
h->trim[7] = param_find("RC8_TRIM");
/* max values */
h->max[0] = param_find("RC1_MAX");
h->max[1] = param_find("RC2_MAX");
h->max[2] = param_find("RC3_MAX");
h->max[3] = param_find("RC4_MAX");
h->max[4] = param_find("RC5_MAX");
h->max[5] = param_find("RC6_MAX");
h->max[6] = param_find("RC7_MAX");
h->max[7] = param_find("RC8_MAX");
/* channel reverse */
h->rev[0] = param_find("RC1_REV");
h->rev[1] = param_find("RC2_REV");
h->rev[2] = param_find("RC3_REV");
h->rev[3] = param_find("RC4_REV");
h->rev[4] = param_find("RC5_REV");
h->rev[5] = param_find("RC6_REV");
h->rev[6] = param_find("RC7_REV");
h->rev[7] = param_find("RC8_REV");
h->rc_type = param_find("RC_TYPE");
h->rc_map_roll = param_find("RC_MAP_ROLL");
h->rc_map_pitch = param_find("RC_MAP_PITCH");
h->rc_map_yaw = param_find("RC_MAP_YAW");
h->rc_map_throttle = param_find("RC_MAP_THROTTLE");
h->rc_map_mode_sw = param_find("RC_MAP_MODE_SW");
/* gyro offsets */
h->gyro_offset[0] = param_find("SENSOR_GYRO_XOFF");
h->gyro_offset[1] = param_find("SENSOR_GYRO_YOFF");
h->gyro_offset[2] = param_find("SENSOR_GYRO_ZOFF");
/* accel offsets */
h->acc_offset[0] = param_find("SENSOR_ACC_XOFF");
h->acc_offset[1] = param_find("SENSOR_ACC_YOFF");
h->acc_offset[2] = param_find("SENSOR_ACC_ZOFF");
/* mag offsets */
h->mag_offset[0] = param_find("SENSOR_MAG_XOFF");
h->mag_offset[1] = param_find("SENSOR_MAG_YOFF");
h->mag_offset[2] = param_find("SENSOR_MAG_ZOFF");
h->battery_voltage_scaling = param_find("BAT_V_SCALING");
return OK;
}
static int parameters_update(const struct sensor_parameter_handles *h, struct sensor_parameters *p)
{
const unsigned int nchans = 8;
/* min values */
for (unsigned int i = 0; i < nchans; i++) {
param_get(h->min[i], &(p->min[i]));
}
/* trim values */
for (unsigned int i = 0; i < nchans; i++) {
param_get(h->trim[i], &(p->trim[i]));
}
/* max values */
for (unsigned int i = 0; i < nchans; i++) {
param_get(h->max[i], &(p->max[i]));
}
/* channel reverse */
for (unsigned int i = 0; i < nchans; i++) {
param_get(h->rev[i], &(p->rev[i]));
}
/* remote control type */
param_get(h->rc_type, &(p->rc_type));
/* channel mapping */
param_get(h->rc_map_roll, &(p->rc_map_roll));
param_get(h->rc_map_pitch, &(p->rc_map_pitch));
param_get(h->rc_map_yaw, &(p->rc_map_yaw));
param_get(h->rc_map_throttle, &(p->rc_map_throttle));
param_get(h->rc_map_mode_sw, &(p->rc_map_mode_sw));
/* gyro offsets */
param_get(h->gyro_offset[0], &(p->gyro_offset[0]));
param_get(h->gyro_offset[1], &(p->gyro_offset[1]));
param_get(h->gyro_offset[2], &(p->gyro_offset[2]));
/* accel offsets */
param_get(h->acc_offset[0], &(p->acc_offset[0]));
param_get(h->acc_offset[1], &(p->acc_offset[1]));
param_get(h->acc_offset[2], &(p->acc_offset[2]));
/* mag offsets */
param_get(h->mag_offset[0], &(p->mag_offset[0]));
param_get(h->mag_offset[1], &(p->mag_offset[1]));
param_get(h->mag_offset[2], &(p->mag_offset[2]));
/* scaling of ADC ticks to battery voltage */
param_get(h->battery_voltage_scaling, &(p->battery_voltage_scaling));
return OK;
}
/**
* 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/mag", O_RDONLY);
if (fd_magnetometer < 0) {
fprintf(stderr, "[sensors] MAG 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] MAG open ok\n");
// /* set the queue depth to 1 */
// if (OK != ioctl(fd_magnetometer, MAGIOCSQUEUEDEPTH, 1))
// warn("failed to set queue depth for mag");
/* start the sensor polling at 150Hz */
if (OK != ioctl(fd_magnetometer, MAGIOCSSAMPLERATE, 150))
warn("failed to set minimum 150Hz sample rate for mag");
}
/* open barometer */
fd_barometer = open("/dev/baro", O_RDONLY);
if (fd_barometer < 0) {
fprintf(stderr, "[sensors] BARO open fail (err #%d): %s\n", (int)*get_errno_ptr(), strerror((int)*get_errno_ptr()));
fflush(stderr);
} else {
printf("[sensors] BARO open ok\n");
// /* set the queue depth to 1 */
// if (OK != ioctl(fd_barometer, BAROIOCSQUEUEDEPTH, 1))
// warn("failed to set queue depth for baro");
// start the sensor polling at 100Hz
// if (OK != ioctl(fd_barometer, BAROIOCSPOLLRATE, 100))
// warn("failed to set 100Hz poll rate for baro");
}
/* open gyro */
fd_gyro = open("/dev/gyro", O_RDONLY);
int errno_gyro = (int)*get_errno_ptr();
if (!(fd_gyro < 0)) {
printf("[sensors] GYRO open ok\n");
// /* set the queue depth to 1 */
// if (OK != ioctl(fd_gyro, GYROIOCSQUEUEDEPTH, 1))
// warn("failed to set queue depth for gyro");
/* start the sensor polling at 500Hz */
if (OK != ioctl(fd_gyro, GYROIOCSSAMPLERATE, 500))
warn("failed to set minimum 500Hz sample rate for gyro");
}
/* open accelerometer */
fd_accelerometer = open("/dev/accel", O_RDONLY);
int errno_accelerometer = (int)*get_errno_ptr();
if (!(fd_accelerometer < 0)) {
printf("[sensors] ACCEL open ok\n");
// /* set the queue depth to 1 */
// if (OK != ioctl(fd_accelerometer, ACCELIOCSQUEUEDEPTH, 1))
// warn("failed to set queue depth for accel");
/* start the sensor polling at 500Hz */
if (OK != ioctl(fd_accelerometer, ACCELIOCSSAMPLERATE, 500))
warn("failed to set minimum 500Hz poll rate for accel");
}
/* only attempt to use BMA180 if main accel is not available */
int errno_bma180 = 0;
if (fd_accelerometer < 0) {
fd_bma180 = open("/dev/bma180", O_RDONLY);
errno_bma180 = (int)*get_errno_ptr();
if (!(fd_bma180 < 0)) {
printf("[sensors] ACCEL (BMA180) open ok\n");
}
} else {
fd_bma180 = -1;
}
/* only attempt to use L3GD20 is main gyro is not available */
int errno_gyro_l3gd20 = 0;
if (fd_gyro < 0) {
fd_gyro_l3gd20 = open("/dev/l3gd20", O_RDONLY);
int errno_gyro_l3gd20 = (int)*get_errno_ptr();
if (!(fd_gyro_l3gd20 < 0)) {
printf("[sensors] GYRO (L3GD20) open ok\n");
}
if (ioctl(fd_gyro_l3gd20 , L3GD20_SETRATE, L3GD20_RATE_760HZ_LP_30HZ) ||
ioctl(fd_gyro_l3gd20 , 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");
}
} else {
fd_gyro_l3gd20 = -1;
}
/* fail if no accelerometer is available */
if (fd_accelerometer < 0 && fd_bma180 < 0) {
/* print error message only if both failed, discard message else at all to not confuse users */
if (fd_accelerometer < 0) {
fprintf(stderr, "[sensors] ACCEL: open fail (err #%d): %s\n", errno_accelerometer, strerror(errno_accelerometer));
fflush(stderr);
/* this sensor is redundant with BMA180 */
}
if (fd_bma180 < 0) {
fprintf(stderr, "[sensors] BMA180: open fail (err #%d): %s\n", errno_bma180, strerror(errno_bma180));
fflush(stderr);
/* this sensor is redundant with MPU-6000 */
}
errno = ENOSYS;
return ERROR;
}
/* fail if no gyro is available */
if (fd_gyro < 0 && fd_gyro_l3gd20 < 0) {
/* print error message only if both failed, discard message else at all to not confuse users */
if (fd_gyro < 0) {
fprintf(stderr, "[sensors] GYRO: open fail (err #%d): %s\n", errno_gyro, strerror(errno_gyro));
fflush(stderr);
/* this sensor is redundant with BMA180 */
}
if (fd_gyro_l3gd20 < 0) {
fprintf(stderr, "[sensors] L3GD20 open fail (err #%d): %s\n", errno_gyro_l3gd20, strerror(errno_gyro_l3gd20));
fflush(stderr);
/* this sensor is critical, exit on failed init */
}
errno = ENOSYS;
return ERROR;
}
/* 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");
}
printf("[sensors] All sensors configured\n");
return OK;
}
int sensors_thread_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, exiting.\n");
/* Clean up */
close(fd_gyro);
close(fd_bma180);
close(fd_gyro_l3gd20);
close(fd_magnetometer);
close(fd_barometer);
close(fd_adc);
exit(1);
} else {
/* flush stdout from init routine */
fflush(stdout);
}
/* initialize parameters */
struct sensor_parameters rcp;
struct sensor_parameter_handles rch;
parameters_init(&rch);
parameters_update(&rch, &rcp);
// 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 */
// 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;
/* for PX4FMU 1.5 compatibility */
int16_t buf_accelerometer[3];
int16_t buf_gyro[3];
// 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 = rcp.battery_voltage_scaling;
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;
}
/* initialize to 100 to execute immediately */
int paramcounter = 100;
int read_loop_counter = 0;
/* Empty sensor buffers, avoid junk values */
/* Read first two values of each sensor into void */
if (fd_bma180 > 0)(void)read(fd_bma180, buf_accelerometer, sizeof(buf_accelerometer));
if (fd_gyro_l3gd20 > 0)(void)read(fd_gyro_l3gd20, &buf_gyro, sizeof(buf_gyro));
/* ORB sensor subscriptions */
int gyro_sub = orb_subscribe(ORB_ID(sensor_gyro));
int accel_sub = orb_subscribe(ORB_ID(sensor_accel));
int mag_sub = orb_subscribe(ORB_ID(sensor_mag));
int baro_sub = orb_subscribe(ORB_ID(sensor_baro));
struct gyro_report gyro_report;
struct accel_report accel_report;
struct mag_report mag_report;
struct baro_report baro_report;
struct sensor_combined_s raw = {
.timestamp = hrt_absolute_time(),
.gyro_raw = {gyro_report.x_raw, gyro_report.y_raw, gyro_report.z_raw},
.gyro_raw_counter = 0,
.gyro_rad_s = {gyro_report.x, gyro_report.y, gyro_report.z},
.accelerometer_raw = {accel_report.x_raw, accel_report.y_raw, accel_report.z_raw},
.accelerometer_raw_counter = 0,
.accelerometer_m_s2 = {accel_report.x, accel_report.y, accel_report.z},
.magnetometer_raw = {mag_report.x_raw, mag_report.y_raw, mag_report.z_raw},
.magnetometer_ga = {mag_report.x, mag_report.y, mag_report.z},
.magnetometer_raw_counter = 0,
.baro_pres_mbar = baro_report.pressure,
.baro_alt_meter = baro_report.altitude,
.baro_temp_celcius = baro_report.temperature,
.baro_raw_counter = 0,
.battery_voltage_v = BAT_VOL_INITIAL,
.adc_voltage_v = {0.9f , 0.0f , 0.0f},
.battery_voltage_counter = 0,
.battery_voltage_valid = false,
};
/* advertise the sensor_combined topic and make the initial publication */
sensor_pub = orb_advertise(ORB_ID(sensor_combined), &raw);
if (sensor_pub < 0) {
fprintf(stderr, "[sensors] ERROR: orb_advertise for topic sensor_combined failed.\n");
} else {
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 };
orb_advert_t 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));
orb_advert_t 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));
thread_running = true;
while (!thread_should_exit) {
bool gyro_updated = false;
struct pollfd fds[4];
/* wait for data to be ready */
fds[0].fd = gyro_sub;
fds[0].events = POLLIN;
fds[1].fd = accel_sub;
fds[1].events = POLLIN;
fds[2].fd = mag_sub;
fds[2].events = POLLIN;
fds[3].fd = baro_sub;
fds[3].events = POLLIN;
int pret = poll(fds, 4, 500);
if (pret <= 0) {
/* do silently nothing */
} else {
/* store the time closest to all measurements */
uint64_t current_time = hrt_absolute_time();
raw.timestamp = current_time;
/* Update at 5 Hz */
if (paramcounter == ((unsigned int)(1000000 / SENSOR_INTERVAL_MICROSEC)/5)) {
/* 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 sens_ret = close(sensor_pub);
if (sens_ret == OK) {
printf("[sensors] Closing sensor pub OK\n");
} else {
printf("[sensors] FAILED Closing sensor pub, result: %i \n", sens_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 parameters */
parameters_update(&rch, &rcp);
/* Update RC scalings and function mappings */
rc.chan[0].scaling_factor = (1.0f / ((rcp.max[0] - rcp.min[0]) / 2.0f) * rcp.rev[0]);
rc.chan[0].mid = rcp.trim[0];
rc.chan[1].scaling_factor = (1.0f / ((rcp.max[1] - rcp.min[1]) / 2.0f) * rcp.rev[1]);
rc.chan[1].mid = rcp.trim[1];
rc.chan[2].scaling_factor = (1.0f / ((rcp.max[2] - rcp.min[2]) / 2.0f) * rcp.rev[2]);
rc.chan[2].mid = rcp.trim[2];
rc.chan[3].scaling_factor = (1.0f / ((rcp.max[3] - rcp.min[3]) / 2.0f) * rcp.rev[3]);
rc.chan[3].mid = rcp.trim[3];
rc.chan[4].scaling_factor = (1.0f / ((rcp.max[4] - rcp.min[4]) / 2.0f) * rcp.rev[4]);
rc.chan[4].mid = rcp.trim[4];
rc.chan[5].scaling_factor = (1.0f / ((rcp.max[5] - rcp.min[5]) / 2.0f) * rcp.rev[5]);
rc.chan[5].mid = rcp.trim[5];
rc.chan[6].scaling_factor = (1.0f / ((rcp.max[6] - rcp.min[6]) / 2.0f) * rcp.rev[6]);
rc.chan[6].mid = rcp.trim[6];
rc.chan[7].scaling_factor = (1.0f / ((rcp.max[7] - rcp.min[7]) / 2.0f) * rcp.rev[7]);
rc.chan[7].mid = rcp.trim[7];
rc.function[0] = rcp.rc_map_throttle - 1;
rc.function[1] = rcp.rc_map_roll - 1;
rc.function[2] = rcp.rc_map_pitch - 1;
rc.function[3] = rcp.rc_map_yaw - 1;
rc.function[4] = rcp.rc_map_mode_sw - 1;
paramcounter = 0;
}
paramcounter++;
/* --- GYRO --- */
if (fds[0].revents & POLLIN) {
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_raw_counter++;
/* gyro is clocking synchronous data output */
gyro_updated = true;
}
/* --- ACCEL --- */
if (fds[1].revents & POLLIN) {
orb_copy(ORB_ID(sensor_accel), accel_sub, &accel_report);
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;
raw.accelerometer_raw_counter++;
}
/* --- MAG --- */
if (fds[2].revents & POLLIN) {
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_raw_counter++;
}
/* --- BARO --- */
if (fds[3].revents & POLLIN) {
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_raw_counter++;
}
// /* read BMA180. If the MPU-6000 is present, the BMA180 file descriptor won't be open */
// if (fd_bma180 > 0) {
// /* try reading acc */
// uint64_t start_acc = hrt_absolute_time();
// ret_accelerometer = read(fd_bma180, buf_accelerometer, 6);
// /* ACCELEROMETER */
// if (ret_accelerometer != 6) {
// acc_fail_count++;
// if ((acc_fail_count % 500) == 0 || (acc_fail_count > 20 && acc_fail_count < 40)) {
// 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);
// }
// /* ACCELEROMETER */
// if (acc_updated) {
// /* copy sensor readings to global data and transform coordinates into px4fmu board frame */
// if (fd_bma180 > 0) {
// /* 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) ? -32767 : buf_accelerometer[0]; // y on the board is x of the sensor
// raw.accelerometer_raw[2] = (buf_accelerometer[2] == -32768) ? -32767 : 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] - rcp.acc_offset[0]) * range_g) / 8192.0f) / 9.81f;
// raw.accelerometer_m_s2[1] = (((raw.accelerometer_raw[1] - rcp.acc_offset[1]) * range_g) / 8192.0f) / 9.81f;
// raw.accelerometer_m_s2[2] = (((raw.accelerometer_raw[2] - rcp.acc_offset[2]) * range_g) / 8192.0f) / 9.81f;
// raw.accelerometer_raw_counter++;
// }
// }
// if (fd_gyro_l3gd20 > 0) {
// /* try reading gyro */
// uint64_t start_gyro = hrt_absolute_time();
// ret_gyro = read(fd_gyro, buf_gyro_l3gd20, sizeof(buf_gyro_l3gd20));
// int gyrotime = hrt_absolute_time() - start_gyro;
// if (gyrotime > 500) printf("L3GD20 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("L3GD20 GYRO (complete): %d us\n", gyrotime);
// }
/* 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] - rcp.gyro_offset[0]) * 0.000266316109f;
// raw.gyro_rad_s[1] = (raw.gyro_raw[1] - rcp.gyro_offset[1]) * 0.000266316109f;
// raw.gyro_rad_s[2] = (raw.gyro_raw[2] - rcp.gyro_offset[2]) * 0.000266316109f;
// raw.gyro_raw_counter++;
// }
static uint64_t last_adc = 0;
/* ADC */
if (hrt_absolute_time() - last_adc >= 10000) {
int ret_adc = read(fd_adc, &buf_adc, adc_readsize);
int nsamples_adc = ret_adc / sizeof(struct adc_msg_s);
// if (ret_adc < 0 || ((int)(nsamples_adc * sizeof(struct adc_msg_s))) != ret_adc) {
// adc_fail_count++;
// if (((adc_fail_count % 20) == 0 || 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;
// }
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++;
}
last_adc = hrt_absolute_time();
}
/* Inform other processes that new data is available to copy */
if (gyro_updated && publishing) {
/* Values changed, publish */
orb_publish(ORB_ID(sensor_combined), sensor_pub, &raw);
}
#ifdef CONFIG_HRT_PPM
static uint64_t last_ppm = 0;
/* PPM */
if (hrt_absolute_time() - last_ppm >= 10000) {
/* 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 (unsigned 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;
/* 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+1.0f)/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);
}
last_ppm = hrt_absolute_time();
}
#endif
read_loop_counter++;
}
}
printf("[sensors] sensor readout stopped\n");
close(fd_gyro);
close(fd_magnetometer);
close(fd_barometer);
close(fd_adc);
/* maintained for backwards-compatibility with v1.5 */
close(fd_gyro_l3gd20);
close(fd_bma180);
close(gyro_sub);
close(accel_sub);
close(mag_sub);
close(baro_sub);
printf("[sensors] exiting.\n");
thread_running = false;
return ret;
}
static void
usage(const char *reason)
{
if (reason)
fprintf(stderr, "%s\n", reason);
fprintf(stderr, "usage: sensors {start|stop|status}\n");
exit(1);
}
int sensors_main(int argc, char *argv[])
{
if (argc < 1)
usage("missing command");
if (!strcmp(argv[1], "start")) {
if (thread_running) {
printf("sensors app already running\n");
} else {
thread_should_exit = false;
sensors_task = task_create("sensors", SCHED_PRIORITY_MAX - 5, 4096, sensors_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL);
}
exit(0);
}
if (!strcmp(argv[1], "stop")) {
if (!thread_running) {
printf("sensors app not started\n");
} else {
printf("stopping sensors app\n");
thread_should_exit = true;
}
exit(0);
}
if (!strcmp(argv[1], "status")) {
if (thread_running) {
printf("\tsensors app is running\n");
} else {
printf("\tsensors app not started\n");
}
exit(0);
}
usage("unrecognized command");
exit(1);
}