Emile Castelnuovo
11 years ago
committed by
Andrew Tridgell
4 changed files with 192 additions and 0 deletions
@ -0,0 +1,155 @@
@@ -0,0 +1,155 @@
|
||||
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
||||
/*
|
||||
This program is free software: you can redistribute it and/or modify |
||||
it under the terms of the GNU General Public License as published by |
||||
the Free Software Foundation, either version 3 of the License, or |
||||
(at your option) any later version. |
||||
|
||||
This program is distributed in the hope that it will be useful, |
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of |
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
||||
GNU General Public License for more details. |
||||
|
||||
You should have received a copy of the GNU General Public License |
||||
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/ |
||||
|
||||
/*
|
||||
* AP_Compass_VRBRAIN.cpp - Arduino Library for VRBRAIN magnetometer |
||||
* |
||||
*/ |
||||
|
||||
|
||||
#include <AP_HAL.h> |
||||
|
||||
#if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN |
||||
#include "AP_Compass_VRBRAIN.h" |
||||
|
||||
#include <sys/types.h> |
||||
#include <sys/stat.h> |
||||
#include <fcntl.h> |
||||
#include <unistd.h> |
||||
|
||||
#include <drivers/drv_mag.h> |
||||
#include <drivers/drv_hrt.h> |
||||
#include <stdio.h> |
||||
#include <errno.h> |
||||
|
||||
extern const AP_HAL::HAL& hal; |
||||
|
||||
|
||||
// Public Methods //////////////////////////////////////////////////////////////
|
||||
|
||||
bool AP_Compass_VRBRAIN::init(void) |
||||
{ |
||||
_mag_fd[0] = open(MAG_DEVICE_PATH, O_RDONLY); |
||||
if (_mag_fd[0] < 0) { |
||||
hal.console->printf("Unable to open " MAG_DEVICE_PATH "\n"); |
||||
return false; |
||||
} |
||||
|
||||
_mag_fd[1] = open(MAG_DEVICE_PATH "1", O_RDONLY); |
||||
if (_mag_fd[1] >= 0) { |
||||
_num_instances = 2; |
||||
} else { |
||||
_num_instances = 1; |
||||
} |
||||
|
||||
for (uint8_t i=0; i<_num_instances; i++) { |
||||
// average over up to 20 samples
|
||||
if (ioctl(_mag_fd[i], SENSORIOCSQUEUEDEPTH, 20) != 0) { |
||||
hal.console->printf("Failed to setup compass queue\n"); |
||||
return false;
|
||||
} |
||||
|
||||
// remember if the compass is external
|
||||
_is_external[i] = (ioctl(_mag_fd[i], MAGIOCGEXTERNAL, 0) > 0); |
||||
if (_is_external[i]) { |
||||
hal.console->printf("Using external compass[%u]\n", (unsigned)i); |
||||
} |
||||
_count[0] = 0; |
||||
_sum[i].zero(); |
||||
_healthy[i] = false; |
||||
} |
||||
|
||||
// give the driver a chance to run, and gather one sample
|
||||
hal.scheduler->delay(40); |
||||
accumulate(); |
||||
if (_count[0] == 0) { |
||||
hal.console->printf("Failed initial compass accumulate\n");
|
||||
} |
||||
return true; |
||||
} |
||||
|
||||
bool AP_Compass_VRBRAIN::read(void) |
||||
{ |
||||
// try to accumulate one more sample, so we have the latest data
|
||||
accumulate(); |
||||
|
||||
// consider the compass healthy if we got a reading in the last 0.2s
|
||||
for (uint8_t i=0; i<_num_instances; i++) { |
||||
_healthy[i] = (hrt_absolute_time() - _last_timestamp[i] < 200000); |
||||
} |
||||
|
||||
for (uint8_t i=0; i<_num_instances; i++) { |
||||
_sum[i] /= _count[i]; |
||||
_sum[i] *= 1000; |
||||
|
||||
// apply default board orientation for this compass type. This is
|
||||
// a noop on most boards
|
||||
_sum[i].rotate(MAG_BOARD_ORIENTATION); |
||||
|
||||
// override any user setting of COMPASS_EXTERNAL
|
||||
_external.set(_is_external[0]); |
||||
|
||||
if (_is_external[i]) { |
||||
// add user selectable orientation
|
||||
_sum[i].rotate((enum Rotation)_orientation.get()); |
||||
} else { |
||||
// add in board orientation from AHRS
|
||||
_sum[i].rotate(_board_orientation); |
||||
} |
||||
|
||||
_sum[i] += _offset[i].get(); |
||||
|
||||
// apply motor compensation
|
||||
if (_motor_comp_type != AP_COMPASS_MOT_COMP_DISABLED && _thr_or_curr != 0.0f) { |
||||
_motor_offset[i] = _motor_compensation[i].get() * _thr_or_curr; |
||||
_sum[i] += _motor_offset[i]; |
||||
} else { |
||||
_motor_offset[i].zero(); |
||||
} |
||||
|
||||
_field[i] = _sum[i]; |
||||
|
||||
_sum[i].zero(); |
||||
_count[i] = 0; |
||||
} |
||||
|
||||
last_update = _last_timestamp[0]; |
||||
|
||||
return _healthy[0]; |
||||
} |
||||
|
||||
void AP_Compass_VRBRAIN::accumulate(void) |
||||
{ |
||||
struct mag_report mag_report; |
||||
for (uint8_t i=0; i<_num_instances; i++) { |
||||
while (::read(_mag_fd[i], &mag_report, sizeof(mag_report)) == sizeof(mag_report) && |
||||
mag_report.timestamp != _last_timestamp[i]) { |
||||
_sum[i] += Vector3f(mag_report.x, mag_report.y, mag_report.z); |
||||
_count[i]++; |
||||
_last_timestamp[i] = mag_report.timestamp; |
||||
} |
||||
} |
||||
} |
||||
|
||||
uint8_t AP_Compass_VRBRAIN::_get_primary(void) const |
||||
{ |
||||
for (uint8_t i=0; i<_num_instances; i++) { |
||||
if (_healthy[i]) return i; |
||||
}
|
||||
return 0; |
||||
} |
||||
|
||||
#endif // CONFIG_HAL_BOARD
|
||||
@ -0,0 +1,33 @@
@@ -0,0 +1,33 @@
|
||||
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
||||
|
||||
#ifndef AP_Compass_VRBRAIN_H |
||||
#define AP_Compass_VRBRAIN_H |
||||
|
||||
#include "Compass.h" |
||||
|
||||
class AP_Compass_VRBRAIN : public Compass |
||||
{ |
||||
public: |
||||
AP_Compass_VRBRAIN() : Compass() { |
||||
product_id = AP_COMPASS_TYPE_VRBRAIN; |
||||
_num_instances = 0; |
||||
} |
||||
bool init(void); |
||||
bool read(void); |
||||
void accumulate(void); |
||||
|
||||
// return the number of compass instances
|
||||
uint8_t get_count(void) const { return _num_instances; } |
||||
|
||||
private: |
||||
uint8_t _get_primary(void) const; |
||||
uint8_t _num_instances; |
||||
int _mag_fd[COMPASS_MAX_INSTANCES]; |
||||
Vector3f _sum[COMPASS_MAX_INSTANCES]; |
||||
uint32_t _count[COMPASS_MAX_INSTANCES]; |
||||
uint64_t _last_timestamp[COMPASS_MAX_INSTANCES]; |
||||
bool _is_external[COMPASS_MAX_INSTANCES]; |
||||
}; |
||||
|
||||
#endif // AP_Compass_VRBRAIN_H
|
||||
|
||||
Loading…
Reference in new issue