int
MPU9250::self_test()
{
if (perf_event_count(_sample_perf) == 0) {
measure();
}
/* return 0 on success, 1 else */
return (perf_event_count(_sample_perf) > 0) ? 0 : 1;
}
int
ETSAirspeed::collect()
{
int ret = -EIO;
/* read from the sensor */
uint8_t val[2] = {0, 0};
perf_begin(_sample_perf);
ret = transfer(nullptr, 0, &val[0], 2);
if (ret < 0) {
perf_count(_comms_errors);
return ret;
}
float diff_pres_pa_raw = (float)(val[1] << 8 | val[0]);
differential_pressure_s report;
report.timestamp = hrt_absolute_time();
if (diff_pres_pa_raw < FLT_EPSILON) {
// a zero value indicates no measurement
// since the noise floor has been arbitrarily killed
// it defeats our stuck sensor detection - the best we
// can do is to output some numerical noise to show
// that we are still correctly sampling.
diff_pres_pa_raw = 0.001f * (report.timestamp & 0x01);
}
// The raw value still should be compensated for the known offset
diff_pres_pa_raw -= _diff_pres_offset;
report.error_count = perf_event_count(_comms_errors);
// XXX we may want to smooth out the readings to remove noise.
report.differential_pressure_filtered_pa = diff_pres_pa_raw;
report.differential_pressure_raw_pa = diff_pres_pa_raw;
report.temperature = -1000.0f;
report.device_id = _device_id.devid;
if (_airspeed_pub != nullptr && !(_pub_blocked)) {
/* publish it */
orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &report);
}
new_report(report);
/* notify anyone waiting for data */
poll_notify(POLLIN);
ret = OK;
perf_end(_sample_perf);
return ret;
}
int
LL40LS::collect()
{
int ret = -EIO;
/* read from the sensor */
uint8_t val[2] = {0, 0};
perf_begin(_sample_perf);
// read the high and low byte distance registers
uint8_t distance_reg = LL40LS_DISTHIGH_REG;
ret = transfer(&distance_reg, 1, &val[0], sizeof(val));
if (ret < 0) {
log("error reading from sensor: %d", ret);
perf_count(_comms_errors);
perf_end(_sample_perf);
return ret;
}
uint16_t distance = (val[0] << 8) | val[1];
float si_units = distance * 0.01f; /* cm to m */
struct range_finder_report report;
/* this should be fairly close to the end of the measurement, so the best approximation of the time */
report.timestamp = hrt_absolute_time();
report.error_count = perf_event_count(_comms_errors);
report.distance = si_units;
if (si_units > get_minimum_distance() && si_units < get_maximum_distance()) {
report.valid = 1;
}
else {
report.valid = 0;
}
/* publish it, if we are the primary */
if (_range_finder_topic >= 0) {
orb_publish(ORB_ID(sensor_range_finder), _range_finder_topic, &report);
}
if (_reports->force(&report)) {
perf_count(_buffer_overflows);
}
/* notify anyone waiting for data */
poll_notify(POLLIN);
ret = OK;
perf_end(_sample_perf);
return ret;
}
int
TRONE::collect()
{
int ret = -EIO;
/* read from the sensor */
uint8_t val[3] = {0, 0, 0};
perf_begin(_sample_perf);
ret = transfer(nullptr, 0, &val[0], 3);
if (ret < 0) {
log("error reading from sensor: %d", ret);
perf_count(_comms_errors);
perf_end(_sample_perf);
return ret;
}
uint16_t distance = (val[0] << 8) | val[1];
float si_units = distance * 0.001f; /* mm to m */
struct range_finder_report report;
/* this should be fairly close to the end of the measurement, so the best approximation of the time */
report.timestamp = hrt_absolute_time();
report.error_count = perf_event_count(_comms_errors);
report.distance = si_units;
report.minimum_distance = get_minimum_distance();
report.maximum_distance = get_maximum_distance();
report.valid = crc8(val, 2) == val[2] && si_units > get_minimum_distance() && si_units < get_maximum_distance() ? 1 : 0;
/* publish it, if we are the primary */
if (_range_finder_topic >= 0) {
orb_publish(ORB_ID(sensor_range_finder), _range_finder_topic, &report);
}
if (_reports->force(&report)) {
perf_count(_buffer_overflows);
}
/* notify anyone waiting for data */
poll_notify(POLLIN);
ret = OK;
perf_end(_sample_perf);
return ret;
}
int LidarLiteI2C::measure()
{
int ret;
if (_pause_measurements) {
// we are in print_registers() and need to avoid
// acquisition to keep the I2C peripheral on the
// sensor active
return OK;
}
/*
* Send the command to begin a measurement.
*/
const uint8_t cmd[2] = { LL40LS_MEASURE_REG, LL40LS_MSRREG_ACQUIRE };
ret = lidar_transfer(cmd, sizeof(cmd), nullptr, 0);
if (OK != ret) {
perf_count(_comms_errors);
DEVICE_DEBUG("i2c::transfer returned %d", ret);
// if we are getting lots of I2C transfer errors try
// resetting the sensor
if (perf_event_count(_comms_errors) % 10 == 0) {
perf_count(_sensor_resets);
reset_sensor();
}
return ret;
}
// remember when we sent the acquire so we can know when the
// acquisition has timed out
_acquire_time_usec = hrt_absolute_time();
ret = OK;
return ret;
}
void
L3GD20::measure()
{
/* status register and data as read back from the device */
#pragma pack(push, 1)
struct {
uint8_t cmd;
int8_t temp;
uint8_t status;
int16_t x;
int16_t y;
int16_t z;
} raw_report;
#pragma pack(pop)
gyro_report report;
/* start the performance counter */
perf_begin(_sample_perf);
check_registers();
/* fetch data from the sensor */
memset(&raw_report, 0, sizeof(raw_report));
raw_report.cmd = ADDR_OUT_TEMP | DIR_READ | ADDR_INCREMENT;
transfer((uint8_t *)&raw_report, (uint8_t *)&raw_report, sizeof(raw_report));
if (!(raw_report.status & STATUS_ZYXDA)) {
perf_end(_sample_perf);
perf_count(_duplicates);
return;
}
/*
* 1) Scale raw value to SI units using scaling from datasheet.
* 2) Subtract static offset (in SI units)
* 3) Scale the statically calibrated values with a linear
* dynamically obtained factor
*
* Note: the static sensor offset is the number the sensor outputs
* at a nominally 'zero' input. Therefore the offset has to
* be subtracted.
*
* Example: A gyro outputs a value of 74 at zero angular rate
* the offset is 74 from the origin and subtracting
* 74 from all measurements centers them around zero.
*/
report.timestamp = hrt_absolute_time();
report.error_count = perf_event_count(_bad_registers);
switch (_orientation) {
case SENSOR_BOARD_ROTATION_000_DEG:
/* keep axes in place */
report.x_raw = raw_report.x;
report.y_raw = raw_report.y;
break;
case SENSOR_BOARD_ROTATION_090_DEG:
/* swap x and y */
report.x_raw = raw_report.y;
report.y_raw = raw_report.x;
break;
case SENSOR_BOARD_ROTATION_180_DEG:
/* swap x and y and negate both */
report.x_raw = ((raw_report.x == -32768) ? 32767 : -raw_report.x);
report.y_raw = ((raw_report.y == -32768) ? 32767 : -raw_report.y);
break;
case SENSOR_BOARD_ROTATION_270_DEG:
/* swap x and y and negate y */
report.x_raw = raw_report.y;
report.y_raw = ((raw_report.x == -32768) ? 32767 : -raw_report.x);
break;
}
report.z_raw = raw_report.z;
#if defined(CONFIG_ARCH_BOARD_MINDPX_V2)
int16_t tx = -report.y_raw;
int16_t ty = -report.x_raw;
int16_t tz = -report.z_raw;
report.x_raw = tx;
report.y_raw = ty;
report.z_raw = tz;
#endif
report.temperature_raw = raw_report.temp;
float xraw_f = report.x_raw;
float yraw_f = report.y_raw;
float zraw_f = report.z_raw;
// apply user specified rotation
rotate_3f(_rotation, xraw_f, yraw_f, zraw_f);
float xin = ((xraw_f * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale;
float yin = ((yraw_f * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale;
float zin = ((zraw_f * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale;
report.x = _gyro_filter_x.apply(xin);
report.y = _gyro_filter_y.apply(yin);
report.z = _gyro_filter_z.apply(zin);
math::Vector<3> gval(xin, yin, zin);
math::Vector<3> gval_integrated;
bool gyro_notify = _gyro_int.put(report.timestamp, gval, gval_integrated, report.integral_dt);
report.x_integral = gval_integrated(0);
report.y_integral = gval_integrated(1);
report.z_integral = gval_integrated(2);
report.temperature = L3GD20_TEMP_OFFSET_CELSIUS - raw_report.temp;
report.scaling = _gyro_range_scale;
report.range_rad_s = _gyro_range_rad_s;
_reports->force(&report);
if (gyro_notify) {
/* notify anyone waiting for data */
poll_notify(POLLIN);
/* publish for subscribers */
if (!(_pub_blocked)) {
/* publish it */
orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &report);
}
}
_read++;
/* stop the perf counter */
perf_end(_sample_perf);
}
int
SF0X::collect()
{
int ret;
perf_begin(_sample_perf);
/* clear buffer if last read was too long ago */
uint64_t read_elapsed = hrt_elapsed_time(&_last_read);
if (read_elapsed > (SF0X_CONVERSION_INTERVAL * 2)) {
_linebuf_index = 0;
} else if (_linebuf_index > 0) {
/* increment to next read position */
_linebuf_index++;
}
/* the buffer for read chars is buflen minus null termination */
unsigned readlen = sizeof(_linebuf) - 1;
/* read from the sensor (uart buffer) */
ret = ::read(_fd, &_linebuf[_linebuf_index], readlen - _linebuf_index);
if (ret < 0) {
_linebuf[sizeof(_linebuf) - 1] = '\0';
debug("read err: %d lbi: %d buf: %s", ret, (int)_linebuf_index, _linebuf);
perf_count(_comms_errors);
perf_end(_sample_perf);
/* only throw an error if we time out */
if (read_elapsed > (SF0X_CONVERSION_INTERVAL * 2)) {
return ret;
} else {
return -EAGAIN;
}
} else if (ret == 0) {
return -EAGAIN;
}
/* we did increment the index to the next position already, so just add the additional fields */
_linebuf_index += (ret - 1);
_last_read = hrt_absolute_time();
if (_linebuf_index < 1) {
/* we need at least the two end bytes to make sense of this string */
return -EAGAIN;
} else if (_linebuf[_linebuf_index - 1] != '\r' || _linebuf[_linebuf_index] != '\n') {
if (_linebuf_index >= readlen - 1) {
/* we have a full buffer, but no line ending - abort */
_linebuf_index = 0;
perf_count(_comms_errors);
return -ENOMEM;
} else {
/* incomplete read, reschedule ourselves */
return -EAGAIN;
}
}
char *end;
float si_units;
bool valid;
/* enforce line ending */
unsigned lend = (_linebuf_index < (sizeof(_linebuf) - 1)) ? _linebuf_index : (sizeof(_linebuf) - 1);
_linebuf[lend] = '\0';
if (_linebuf[0] == '-' && _linebuf[1] == '-' && _linebuf[2] == '.') {
si_units = -1.0f;
valid = false;
} else {
/* we need to find a dot in the string, as we're missing the meters part else */
valid = false;
/* wipe out partially read content from last cycle(s), check for dot */
for (int i = 0; i < (lend - 2); i++) {
if (_linebuf[i] == '\n') {
char buf[sizeof(_linebuf)];
memcpy(buf, &_linebuf[i+1], (lend + 1) - (i + 1));
memcpy(_linebuf, buf, (lend + 1) - (i + 1));
}
if (_linebuf[i] == '.') {
valid = true;
}
}
if (valid) {
si_units = strtod(_linebuf, &end);
/* we require at least 3 characters for a valid number */
if (end > _linebuf + 3) {
valid = true;
} else {
si_units = -1.0f;
valid = false;
}
}
}
debug("val (float): %8.4f, raw: %s, valid: %s\n", si_units, _linebuf, ((valid) ? "OK" : "NO"));
/* done with this chunk, resetting - even if invalid */
_linebuf_index = 0;
/* if its invalid, there is no reason to forward the value */
if (!valid) {
perf_count(_comms_errors);
return -EINVAL;
}
struct range_finder_report report;
/* this should be fairly close to the end of the measurement, so the best approximation of the time */
report.timestamp = hrt_absolute_time();
report.error_count = perf_event_count(_comms_errors);
report.distance = si_units;
report.valid = valid && (si_units > get_minimum_distance() && si_units < get_maximum_distance() ? 1 : 0);
/* publish it */
orb_publish(ORB_ID(sensor_range_finder), _range_finder_topic, &report);
if (_reports->force(&report)) {
perf_count(_buffer_overflows);
}
/* notify anyone waiting for data */
poll_notify(POLLIN);
ret = OK;
perf_end(_sample_perf);
return ret;
}
void
FXAS21002C::measure()
{
/* status register and data as read back from the device */
#pragma pack(push, 1)
struct {
uint8_t cmd;
uint8_t status;
int16_t x;
int16_t y;
int16_t z;
} raw_gyro_report;
#pragma pack(pop)
struct gyro_report gyro_report;
/* start the performance counter */
perf_begin(_sample_perf);
check_registers();
if (_register_wait != 0) {
// we are waiting for some good transfers before using
// the sensor again.
_register_wait--;
perf_end(_sample_perf);
return;
}
/* fetch data from the sensor */
memset(&raw_gyro_report, 0, sizeof(raw_gyro_report));
raw_gyro_report.cmd = DIR_READ(FXAS21002C_STATUS);
transfer((uint8_t *)&raw_gyro_report, (uint8_t *)&raw_gyro_report, sizeof(raw_gyro_report));
if (!(raw_gyro_report.status & DR_STATUS_ZYXDR)) {
perf_end(_sample_perf);
perf_count(_duplicates);
return;
}
/*
* The TEMP register contains an 8-bit 2's complement temperature value with a range
* of –128 °C to +127 °C and a scaling of 1 °C/LSB. The temperature data is only
* compensated (factory trim values applied) when the device is operating in the Active
* mode and actively measuring the angular rate.
*/
if ((_read % _current_rate) == 0) {
_last_temperature = read_reg(FXAS21002C_TEMP) * 1.0f;
gyro_report.temperature = _last_temperature;
}
/*
* 1) Scale raw value to SI units using scaling from datasheet.
* 2) Subtract static offset (in SI units)
* 3) Scale the statically calibrated values with a linear
* dynamically obtained factor
*
* Note: the static sensor offset is the number the sensor outputs
* at a nominally 'zero' input. Therefore the offset has to
* be subtracted.
*
* Example: A gyro outputs a value of 74 at zero angular rate
* the offset is 74 from the origin and subtracting
* 74 from all measurements centers them around zero.
*/
gyro_report.timestamp = hrt_absolute_time();
// report the error count as the number of bad
// register reads. This allows the higher level
// code to decide if it should use this sensor based on
// whether it has had failures
gyro_report.error_count = perf_event_count(_bad_registers);
gyro_report.x_raw = swap16(raw_gyro_report.x);
gyro_report.y_raw = swap16(raw_gyro_report.y);
gyro_report.z_raw = swap16(raw_gyro_report.z);
float xraw_f = gyro_report.x_raw;
float yraw_f = gyro_report.y_raw;
float zraw_f = gyro_report.z_raw;
// apply user specified rotation
rotate_3f(_rotation, xraw_f, yraw_f, zraw_f);
float x_in_new = ((xraw_f * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale;
float y_in_new = ((yraw_f * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale;
float z_in_new = ((zraw_f * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale;
gyro_report.x = _gyro_filter_x.apply(x_in_new);
gyro_report.y = _gyro_filter_y.apply(y_in_new);
gyro_report.z = _gyro_filter_z.apply(z_in_new);
matrix::Vector3f gval(x_in_new, y_in_new, z_in_new);
matrix::Vector3f gval_integrated;
bool gyro_notify = _gyro_int.put(gyro_report.timestamp, gval, gval_integrated, gyro_report.integral_dt);
gyro_report.x_integral = gval_integrated(0);
gyro_report.y_integral = gval_integrated(1);
gyro_report.z_integral = gval_integrated(2);
gyro_report.scaling = _gyro_range_scale;
/* return device ID */
gyro_report.device_id = _device_id.devid;
_reports->force(&gyro_report);
/* notify anyone waiting for data */
if (gyro_notify) {
poll_notify(POLLIN);
if (!(_pub_blocked)) {
/* publish it */
orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &gyro_report);
}
}
_read++;
/* stop the perf counter */
perf_end(_sample_perf);
}
void
MPU9250_mag::measure(struct ak8963_regs data)
{
bool mag_notify = true;
if (check_duplicate((uint8_t *)&data.x) && !(data.st1 & 0x02)) {
perf_count(_mag_duplicates);
return;
}
/* monitor for if data overrun flag is ever set */
if (data.st1 & 0x02) {
perf_count(_mag_overruns);
}
/* monitor for if magnetic sensor overflow flag is ever set noting that st2
* is usually not even refreshed, but will always be in the same place in the
* mpu's buffers regardless, hence the actual count would be bogus
*/
if (data.st2 & 0x08) {
perf_count(_mag_overflows);
}
mag_report mrb;
mrb.timestamp = hrt_absolute_time();
/*
* Align axes - note the accel & gryo are also re-aligned so this
* doesn't look obvious with the datasheet
*/
mrb.x_raw = data.x;
mrb.y_raw = -data.y;
mrb.z_raw = -data.z;
float xraw_f = data.x;
float yraw_f = -data.y;
float zraw_f = -data.z;
/* apply user specified rotation */
rotate_3f(_parent->_rotation, xraw_f, yraw_f, zraw_f);
mrb.x = ((xraw_f * _mag_range_scale * _mag_asa_x) - _mag_scale.x_offset) * _mag_scale.x_scale;
mrb.y = ((yraw_f * _mag_range_scale * _mag_asa_y) - _mag_scale.y_offset) * _mag_scale.y_scale;
mrb.z = ((zraw_f * _mag_range_scale * _mag_asa_z) - _mag_scale.z_offset) * _mag_scale.z_scale;
mrb.range_ga = (float)48.0;
mrb.scaling = _mag_range_scale;
mrb.temperature = _parent->_last_temperature;
mrb.error_count = perf_event_count(_mag_errors);
_mag_reports->force(&mrb);
/* notify anyone waiting for data */
if (mag_notify) {
poll_notify(POLLIN);
}
if (mag_notify && !(_pub_blocked)) {
/* publish it */
orb_publish(ORB_ID(sensor_mag), _mag_topic, &mrb);
}
}
int
ETSAirspeed::collect()
{
int ret = -EIO;
/* read from the sensor */
uint8_t val[2] = {0, 0};
perf_begin(_sample_perf);
ret = transfer(nullptr, 0, &val[0], 2);
if (ret < 0) {
perf_count(_comms_errors);
return ret;
}
uint16_t diff_pres_pa_raw = val[1] << 8 | val[0];
if (diff_pres_pa_raw == 0) {
// a zero value means the pressure sensor cannot give us a
// value. We need to return, and not report a value or the
// caller could end up using this value as part of an
// average
perf_count(_comms_errors);
DEVICE_LOG("zero value from sensor");
return -1;
}
// The raw value still should be compensated for the known offset
diff_pres_pa_raw -= _diff_pres_offset;
// Track maximum differential pressure measured (so we can work out top speed).
if (diff_pres_pa_raw > _max_differential_pressure_pa) {
_max_differential_pressure_pa = diff_pres_pa_raw;
}
differential_pressure_s report;
report.timestamp = hrt_absolute_time();
report.error_count = perf_event_count(_comms_errors);
// XXX we may want to smooth out the readings to remove noise.
report.differential_pressure_filtered_pa = diff_pres_pa_raw;
report.differential_pressure_raw_pa = diff_pres_pa_raw;
report.temperature = -1000.0f;
report.max_differential_pressure_pa = _max_differential_pressure_pa;
if (_airspeed_pub != nullptr && !(_pub_blocked)) {
/* publish it */
orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &report);
}
new_report(report);
/* notify anyone waiting for data */
poll_notify(POLLIN);
ret = OK;
perf_end(_sample_perf);
return ret;
}
int
LL40LS::collect()
{
int ret = -EIO;
/* read from the sensor */
uint8_t val[2] = {0, 0};
perf_begin(_sample_perf);
// read the high and low byte distance registers
uint8_t distance_reg = LL40LS_DISTHIGH_REG;
ret = transfer(&distance_reg, 1, &val[0], sizeof(val));
if (ret < 0) {
if (hrt_absolute_time() - _acquire_time_usec > LL40LS_CONVERSION_TIMEOUT) {
/*
NACKs from the sensor are expected when we
read before it is ready, so only consider it
an error if more than 100ms has elapsed.
*/
debug("error reading from sensor: %d", ret);
perf_count(_comms_errors);
if (perf_event_count(_comms_errors) % 10 == 0) {
perf_count(_sensor_resets);
reset_sensor();
}
}
perf_end(_sample_perf);
// if we are getting lots of I2C transfer errors try
// resetting the sensor
return ret;
}
uint16_t distance = (val[0] << 8) | val[1];
float si_units = distance * 0.01f; /* cm to m */
struct range_finder_report report;
if (distance == 0) {
_zero_counter++;
if (_zero_counter == 20) {
/* we have had 20 zeros in a row - reset the
sensor. This is a known bad state of the
sensor where it returns 16 bits of zero for
the distance with a trailing NACK, and
keeps doing that even when the target comes
into a valid range.
*/
_zero_counter = 0;
perf_end(_sample_perf);
perf_count(_sensor_zero_resets);
return reset_sensor();
}
} else {
_zero_counter = 0;
}
_last_distance = distance;
/* this should be fairly close to the end of the measurement, so the best approximation of the time */
report.timestamp = hrt_absolute_time();
report.error_count = perf_event_count(_comms_errors);
report.distance = si_units;
report.minimum_distance = get_minimum_distance();
report.maximum_distance = get_maximum_distance();
if (si_units > get_minimum_distance() && si_units < get_maximum_distance()) {
report.valid = 1;
}
else {
report.valid = 0;
}
/* publish it, if we are the primary */
if (_range_finder_topic >= 0) {
orb_publish(ORB_ID(sensor_range_finder), _range_finder_topic, &report);
}
if (_reports->force(&report)) {
perf_count(_buffer_overflows);
}
/* notify anyone waiting for data */
poll_notify(POLLIN);
ret = OK;
perf_end(_sample_perf);
return ret;
}
int
HMC5883::collect()
{
#pragma pack(push, 1)
struct { /* status register and data as read back from the device */
uint8_t x[2];
uint8_t z[2];
uint8_t y[2];
} hmc_report;
#pragma pack(pop)
struct {
int16_t x, y, z;
} report;
int ret = -EIO;
uint8_t cmd;
perf_begin(_sample_perf);
struct mag_report new_report;
/* this should be fairly close to the end of the measurement, so the best approximation of the time */
new_report.timestamp = hrt_absolute_time();
new_report.error_count = perf_event_count(_comms_errors);
/*
* @note We could read the status register here, which could tell us that
* we were too early and that the output registers are still being
* written. In the common case that would just slow us down, and
* we're better off just never being early.
*/
/* get measurements from the device */
cmd = ADDR_DATA_OUT_X_MSB;
ret = transfer(&cmd, 1, (uint8_t *)&hmc_report, sizeof(hmc_report));
if (ret != OK) {
perf_count(_comms_errors);
debug("data/status read error");
goto out;
}
/* swap the data we just received */
report.x = (((int16_t)hmc_report.x[0]) << 8) + hmc_report.x[1];
report.y = (((int16_t)hmc_report.y[0]) << 8) + hmc_report.y[1];
report.z = (((int16_t)hmc_report.z[0]) << 8) + hmc_report.z[1];
/*
* If any of the values are -4096, there was an internal math error in the sensor.
* Generalise this to a simple range check that will also catch some bit errors.
*/
if ((abs(report.x) > 2048) ||
(abs(report.y) > 2048) ||
(abs(report.z) > 2048)) {
perf_count(_comms_errors);
goto out;
}
/*
* RAW outputs
*
* to align the sensor axes with the board, x and y need to be flipped
* and y needs to be negated
*/
new_report.x_raw = report.y;
new_report.y_raw = -report.x;
/* z remains z */
new_report.z_raw = report.z;
/* scale values for output */
/*
* 1) Scale raw value to SI units using scaling from datasheet.
* 2) Subtract static offset (in SI units)
* 3) Scale the statically calibrated values with a linear
* dynamically obtained factor
*
* Note: the static sensor offset is the number the sensor outputs
* at a nominally 'zero' input. Therefore the offset has to
* be subtracted.
*
* Example: A gyro outputs a value of 74 at zero angular rate
* the offset is 74 from the origin and subtracting
* 74 from all measurements centers them around zero.
*/
#ifdef PX4_I2C_BUS_ONBOARD
if (_bus == PX4_I2C_BUS_ONBOARD) {
/* to align the sensor axes with the board, x and y need to be flipped */
new_report.x = ((report.y * _range_scale) - _scale.x_offset) * _scale.x_scale;
/* flip axes and negate value for y */
new_report.y = ((-report.x * _range_scale) - _scale.y_offset) * _scale.y_scale;
/* z remains z */
new_report.z = ((report.z * _range_scale) - _scale.z_offset) * _scale.z_scale;
} else {
#endif
/* the standard external mag by 3DR has x pointing to the right, y pointing backwards, and z down,
* therefore switch x and y and invert y */
new_report.x = ((-report.y * _range_scale) - _scale.x_offset) * _scale.x_scale;
/* flip axes and negate value for y */
new_report.y = ((report.x * _range_scale) - _scale.y_offset) * _scale.y_scale;
/* z remains z */
new_report.z = ((report.z * _range_scale) - _scale.z_offset) * _scale.z_scale;
#ifdef PX4_I2C_BUS_ONBOARD
}
#endif
/* publish it */
orb_publish(ORB_ID(sensor_mag), _mag_topic, &new_report);
/* post a report to the ring */
if (_reports->force(&new_report)) {
perf_count(_buffer_overflows);
}
/* notify anyone waiting for data */
poll_notify(POLLIN);
ret = OK;
out:
perf_end(_sample_perf);
return ret;
}
int
MEASAirspeed::collect()
{
int ret = -EIO;
/* read from the sensor */
uint8_t val[4] = {0, 0, 0, 0};
perf_begin(_sample_perf);
ret = transfer(nullptr, 0, &val[0], 4);
if (ret < 0) {
perf_count(_comms_errors);
perf_end(_sample_perf);
return ret;
}
uint8_t status = val[0] & 0xC0;
if (status == 2) {
log("err: stale data");
perf_count(_comms_errors);
perf_end(_sample_perf);
return ret;
} else if (status == 3) {
log("err: fault");
perf_count(_comms_errors);
perf_end(_sample_perf);
return ret;
}
int16_t dp_raw = 0, dT_raw = 0;
dp_raw = (val[0] << 8) + val[1];
/* mask the used bits */
dp_raw = 0x3FFF & dp_raw;
dT_raw = (val[2] << 8) + val[3];
dT_raw = (0xFFE0 & dT_raw) >> 5;
float temperature = ((200 * dT_raw) / 2047) - 50;
/* calculate differential pressure. As its centered around 8000
* and can go positive or negative, enforce absolute value
*/
const float P_min = -1.0f;
const float P_max = 1.0f;
float diff_press_pa = fabsf( ( ((float)dp_raw - 0.1f*16383.0f) * (P_max-P_min)/(0.8f*16383.0f) + P_min) * 6894.8f) - _diff_pres_offset;
if (diff_press_pa < 0.0f)
diff_press_pa = 0.0f;
struct differential_pressure_s report;
/* track maximum differential pressure measured (so we can work out top speed). */
if (diff_press_pa > _max_differential_pressure_pa) {
_max_differential_pressure_pa = diff_press_pa;
}
report.timestamp = hrt_absolute_time();
report.error_count = perf_event_count(_comms_errors);
report.temperature = temperature;
report.differential_pressure_pa = diff_press_pa;
report.voltage = 0;
report.max_differential_pressure_pa = _max_differential_pressure_pa;
/* announce the airspeed if needed, just publish else */
orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &report);
new_report(report);
/* notify anyone waiting for data */
poll_notify(POLLIN);
ret = OK;
perf_end(_sample_perf);
return ret;
}
int
LPS25H::collect()
{
#pragma pack(push, 1)
struct {
uint8_t status;
uint8_t p_xl, p_l, p_h;
int16_t t;
} report;
#pragma pack(pop)
int ret;
perf_begin(_sample_perf);
struct baro_report new_report;
bool sensor_is_onboard = false;
/* this should be fairly close to the end of the measurement, so the best approximation of the time */
new_report.timestamp = hrt_absolute_time();
new_report.error_count = perf_event_count(_comms_errors);
/*
* @note We could read the status register 1 here, which could tell us that
* we were too early and that the output registers are still being
* written. In the common case that would just slow us down, and
* we're better off just never being early.
*/
/* get measurements from the device : MSB enables register address auto-increment */
ret = _interface->read(ADDR_STATUS_REG | (1 << 7), (uint8_t *)&report, sizeof(report));
if (ret != OK) {
perf_count(_comms_errors);
perf_end(_sample_perf);
return ret;
}
/* get measurements from the device */
new_report.temperature = 42.5 + (report.t / 480);
/* raw pressure */
uint32_t raw = report.p_xl + (report.p_l << 8) + (report.p_h << 16);
/* Pressure and MSL in mBar */
double p = raw / 4096.0;
double msl = _msl_pressure / 100.0;
double alt = (1.0 - pow(p / msl, 0.190263)) * 44330.8;
new_report.pressure = p;
new_report.altitude = alt;
/* get device ID */
new_report.device_id = _device_id.devid;
if (!(_pub_blocked)) {
if (_baro_topic != nullptr) {
/* publish it */
orb_publish(ORB_ID(sensor_baro), _baro_topic, &new_report);
} else {
_baro_topic = orb_advertise_multi(ORB_ID(sensor_baro), &new_report,
&_orb_class_instance, (sensor_is_onboard) ? ORB_PRIO_HIGH : ORB_PRIO_MAX);
if (_baro_topic == nullptr) {
DEVICE_DEBUG("ADVERT FAIL");
}
}
}
_last_report = new_report;
/* post a report to the ring */
if (_reports->force(&new_report)) {
perf_count(_buffer_overflows);
}
/* notify anyone waiting for data */
poll_notify(POLLIN);
ret = OK;
perf_end(_sample_perf);
return ret;
}
/**
check for extreme accelerometer values and log to a file on the SD card
*/
void
LSM303D::check_extremes(const accel_report *arb)
{
const float extreme_threshold = 30;
static bool boot_ok = false;
bool is_extreme = (fabsf(arb->x) > extreme_threshold &&
fabsf(arb->y) > extreme_threshold &&
fabsf(arb->z) > extreme_threshold);
if (is_extreme) {
perf_count(_extreme_values);
// force accel logging on if we see extreme values
_accel_logging_enabled = true;
} else {
boot_ok = true;
}
if (! _accel_logging_enabled) {
// logging has been disabled by user, close
if (_accel_log_fd != -1) {
::close(_accel_log_fd);
_accel_log_fd = -1;
}
return;
}
if (_accel_log_fd == -1) {
// keep last 10 logs
::unlink(ACCEL_LOGFILE ".9");
for (uint8_t i=8; i>0; i--) {
uint8_t len = strlen(ACCEL_LOGFILE)+3;
char log1[len], log2[len];
snprintf(log1, sizeof(log1), "%s.%u", ACCEL_LOGFILE, (unsigned)i);
snprintf(log2, sizeof(log2), "%s.%u", ACCEL_LOGFILE, (unsigned)(i+1));
::rename(log1, log2);
}
::rename(ACCEL_LOGFILE, ACCEL_LOGFILE ".1");
// open the new logfile
_accel_log_fd = ::open(ACCEL_LOGFILE, O_WRONLY|O_CREAT|O_TRUNC, 0666);
if (_accel_log_fd == -1) {
return;
}
}
uint64_t now = hrt_absolute_time();
// log accels at 1Hz
if (_last_log_us == 0 ||
now - _last_log_us > 1000*1000) {
_last_log_us = now;
::dprintf(_accel_log_fd, "ARB %llu %.3f %.3f %.3f %d %d %d boot_ok=%u\r\n",
(unsigned long long)arb->timestamp,
(double)arb->x, (double)arb->y, (double)arb->z,
(int)arb->x_raw,
(int)arb->y_raw,
(int)arb->z_raw,
(unsigned)boot_ok);
}
const uint8_t reglist[] = { ADDR_WHO_AM_I, 0x02, 0x15, ADDR_STATUS_A, ADDR_STATUS_M, ADDR_CTRL_REG0, ADDR_CTRL_REG1,
ADDR_CTRL_REG2, ADDR_CTRL_REG3, ADDR_CTRL_REG4, ADDR_CTRL_REG5, ADDR_CTRL_REG6,
ADDR_CTRL_REG7, ADDR_OUT_TEMP_L, ADDR_OUT_TEMP_H, ADDR_INT_CTRL_M, ADDR_INT_SRC_M,
ADDR_REFERENCE_X, ADDR_REFERENCE_Y, ADDR_REFERENCE_Z, ADDR_OUT_X_L_A, ADDR_OUT_X_H_A,
ADDR_OUT_Y_L_A, ADDR_OUT_Y_H_A, ADDR_OUT_Z_L_A, ADDR_OUT_Z_H_A, ADDR_FIFO_CTRL,
ADDR_FIFO_SRC, ADDR_IG_CFG1, ADDR_IG_SRC1, ADDR_IG_THS1, ADDR_IG_DUR1, ADDR_IG_CFG2,
ADDR_IG_SRC2, ADDR_IG_THS2, ADDR_IG_DUR2, ADDR_CLICK_CFG, ADDR_CLICK_SRC,
ADDR_CLICK_THS, ADDR_TIME_LIMIT, ADDR_TIME_LATENCY, ADDR_TIME_WINDOW,
ADDR_ACT_THS, ADDR_ACT_DUR,
ADDR_OUT_X_L_M, ADDR_OUT_X_H_M,
ADDR_OUT_Y_L_M, ADDR_OUT_Y_H_M, ADDR_OUT_Z_L_M, ADDR_OUT_Z_H_M, 0x02, 0x15, ADDR_WHO_AM_I};
uint8_t regval[sizeof(reglist)];
for (uint8_t i=0; i<sizeof(reglist); i++) {
regval[i] = read_reg(reglist[i]);
}
// log registers at 10Hz when we have extreme values, or 0.5 Hz without
if (_last_log_reg_us == 0 ||
(is_extreme && (now - _last_log_reg_us > 250*1000)) ||
(now - _last_log_reg_us > 10*1000*1000)) {
_last_log_reg_us = now;
::dprintf(_accel_log_fd, "XREG %llu", (unsigned long long)hrt_absolute_time());
for (uint8_t i=0; i<sizeof(reglist); i++) {
::dprintf(_accel_log_fd, " %02x:%02x", (unsigned)reglist[i], (unsigned)regval[i]);
}
::dprintf(_accel_log_fd, "\n");
}
// fsync at 0.1Hz
if (now - _last_log_sync_us > 10*1000*1000) {
_last_log_sync_us = now;
::fsync(_accel_log_fd);
}
// play alarm every 10s if we have had an extreme value
if (perf_event_count(_extreme_values) != 0 &&
(now - _last_log_alarm_us > 10*1000*1000)) {
_last_log_alarm_us = now;
int tfd = ::open(TONEALARM_DEVICE_PATH, 0);
if (tfd != -1) {
uint8_t tone = 3;
if (!is_extreme) {
tone = 3;
} else if (boot_ok) {
tone = 4;
} else {
tone = 5;
}
::ioctl(tfd, TONE_SET_ALARM, tone);
::close(tfd);
}
}
}
int
MB12XX::collect()
{
int ret = -EIO;
/* read from the sensor */
uint8_t val[2] = {0, 0};
perf_begin(_sample_perf);
ret = transfer(nullptr, 0, &val[0], 2);
if (ret < 0) {
debug("error reading from sensor: %d", ret);
perf_count(_comms_errors);
perf_end(_sample_perf);
return ret;
}
uint16_t distance = val[0] << 8 | val[1];
float si_units = (distance * 1.0f) / 100.0f; /* cm to m */
struct range_finder_report report;
/* this should be fairly close to the end of the measurement, so the best approximation of the time */
report.timestamp = hrt_absolute_time();
report.error_count = perf_event_count(_comms_errors);
/* if only one sonar, write it to the original distance parameter so that it's still used as altitude sonar */
if (addr_ind.size() == 1) {
report.distance = si_units;
for (unsigned i = 0; i < (MB12XX_MAX_RANGEFINDERS); i++) {
report.distance_vector[i] = 0;
}
report.just_updated = 0;
} else {
/* for multiple sonars connected */
/* don't use the orginial single sonar variable */
report.distance = 0;
/* intermediate vector _latest_sonar_measurements is used to store the measurements as every cycle the other sonar values of the report are thrown away and/or filled in with garbage. We don't want this. We want the report to give the latest value for each connected sonar */
_latest_sonar_measurements[_cycle_counter] = si_units;
for (unsigned i = 0; i < (_latest_sonar_measurements.size()); i++) {
report.distance_vector[i] = _latest_sonar_measurements[i];
}
/* a just_updated variable is added to indicate to autopilot (ardupilot or whatever) which sonar has most recently been collected as this could be of use for Kalman filters */
report.just_updated = _index_counter;
/* Make sure all elements of the distance vector for which no sonar is connected are zero to prevent strange numbers */
for (unsigned i = 0; i < (MB12XX_MAX_RANGEFINDERS - addr_ind.size()); i++) {
report.distance_vector[addr_ind.size() + i] = 0;
}
}
report.minimum_distance = get_minimum_distance();
report.maximum_distance = get_maximum_distance();
report.valid = si_units > get_minimum_distance() && si_units < get_maximum_distance() ? 1 : 0;
/* publish it, if we are the primary */
if (_range_finder_topic >= 0) {
orb_publish(ORB_ID(sensor_range_finder), _range_finder_topic, &report);
}
if (_reports->force(&report)) {
perf_count(_buffer_overflows);
}
/* notify anyone waiting for data */
poll_notify(POLLIN);
ret = OK;
perf_end(_sample_perf);
return ret;
}
void
FXOS8700CQ::mag_measure()
{
/* status register and data as read back from the device */
mag_report mag_report {};
/* start the performance counter */
perf_begin(_mag_sample_perf);
/*
* 1) Scale raw value to SI units using scaling from datasheet.
* 2) Subtract static offset (in SI units)
* 3) Scale the statically calibrated values with a linear
* dynamically obtained factor
*
* Note: the static sensor offset is the number the sensor outputs
* at a nominally 'zero' input. Therefore the offset has to
* be subtracted.
*
* Example: A gyro outputs a value of 74 at zero angular rate
* the offset is 74 from the origin and subtracting
* 74 from all measurements centers them around zero.
*/
mag_report.timestamp = hrt_absolute_time();
mag_report.is_external = is_external();
mag_report.x_raw = _last_raw_mag_x;
mag_report.y_raw = _last_raw_mag_y;
mag_report.z_raw = _last_raw_mag_z;
float xraw_f = mag_report.x_raw;
float yraw_f = mag_report.y_raw;
float zraw_f = mag_report.z_raw;
/* apply user specified rotation */
rotate_3f(_rotation, xraw_f, yraw_f, zraw_f);
mag_report.x = ((xraw_f * _mag_range_scale) - _mag_scale.x_offset) * _mag_scale.x_scale;
mag_report.y = ((yraw_f * _mag_range_scale) - _mag_scale.y_offset) * _mag_scale.y_scale;
mag_report.z = ((zraw_f * _mag_range_scale) - _mag_scale.z_offset) * _mag_scale.z_scale;
mag_report.scaling = _mag_range_scale;
mag_report.range_ga = (float)_mag_range_ga;
mag_report.error_count = perf_event_count(_bad_registers) + perf_event_count(_bad_values);
mag_report.temperature = _last_temperature;
mag_report.device_id = _mag->_device_id.devid;
_mag_reports->force(&mag_report);
/* notify anyone waiting for data */
poll_notify(POLLIN);
if (!(_pub_blocked)) {
/* publish it */
orb_publish(ORB_ID(sensor_mag), _mag->_mag_topic, &mag_report);
}
_mag_read++;
/* stop the perf counter */
perf_end(_mag_sample_perf);
}
int
SF0X::collect()
{
int ret;
perf_begin(_sample_perf);
/* clear buffer if last read was too long ago */
uint64_t read_elapsed = hrt_elapsed_time(&_last_read);
/* the buffer for read chars is buflen minus null termination */
char readbuf[sizeof(_linebuf)];
unsigned readlen = sizeof(readbuf) - 1;
/* read from the sensor (uart buffer) */
ret = ::read(_fd, &readbuf[0], readlen);
if (ret < 0) {
debug("read err: %d", ret);
perf_count(_comms_errors);
perf_end(_sample_perf);
/* only throw an error if we time out */
if (read_elapsed > (SF0X_CONVERSION_INTERVAL * 2)) {
return ret;
} else {
return -EAGAIN;
}
} else if (ret == 0) {
return -EAGAIN;
}
_last_read = hrt_absolute_time();
float si_units;
bool valid = false;
for (int i = 0; i < ret; i++) {
if (OK == sf0x_parser(readbuf[i], _linebuf, &_linebuf_index, &_parse_state, &si_units)) {
valid = true;
}
}
if (!valid) {
return -EAGAIN;
}
debug("val (float): %8.4f, raw: %s, valid: %s", (double)si_units, _linebuf, ((valid) ? "OK" : "NO"));
struct range_finder_report report;
/* this should be fairly close to the end of the measurement, so the best approximation of the time */
report.timestamp = hrt_absolute_time();
report.error_count = perf_event_count(_comms_errors);
report.distance = si_units;
report.minimum_distance = get_minimum_distance();
report.maximum_distance = get_maximum_distance();
report.valid = valid && (si_units > get_minimum_distance() && si_units < get_maximum_distance() ? 1 : 0);
/* publish it */
orb_publish(ORB_ID(sensor_range_finder), _range_finder_topic, &report);
if (_reports->force(&report)) {
perf_count(_buffer_overflows);
}
/* notify anyone waiting for data */
poll_notify(POLLIN);
ret = OK;
perf_end(_sample_perf);
return ret;
}
int
BAROSIM::collect()
{
int ret;
#pragma pack(push, 1)
struct {
float pressure;
float altitude;
float temperature;
} baro_report;
#pragma pack(pop)
perf_begin(_sample_perf);
struct baro_report report;
/* this should be fairly close to the end of the conversion, so the best approximation of the time */
report.timestamp = hrt_absolute_time();
report.error_count = perf_event_count(_comms_errors);
/* read the most recent measurement - read offset/size are hardcoded in the interface */
ret = _interface->dev_read(0, (void *)&baro_report, sizeof(baro_report));
if (ret < 0) {
perf_count(_comms_errors);
perf_end(_sample_perf);
return ret;
}
/* handle a measurement */
if (_measure_phase == 0) {
report.pressure = baro_report.pressure;
report.altitude = baro_report.altitude;
report.temperature = baro_report.temperature;
report.timestamp = hrt_absolute_time();
} else {
report.pressure = baro_report.pressure;
report.altitude = baro_report.altitude;
report.temperature = baro_report.temperature;
report.timestamp = hrt_absolute_time();
/* publish it */
if (!(_pub_blocked)) {
if (_baro_topic != nullptr) {
/* publish it */
orb_publish(ORB_ID(sensor_baro), _baro_topic, &report);
} else {
PX4_WARN("BAROSIM::collect _baro_topic not initialized");
}
}
if (_reports->force(&report)) {
perf_count(_buffer_overflows);
}
/* notify anyone waiting for data */
poll_notify(POLLIN);
}
/* update the measurement state machine */
INCREMENT(_measure_phase, BAROSIM_MEASUREMENT_RATIO + 1);
perf_end(_sample_perf);
return OK;
}
void
BMI160::measure()
{
if (hrt_absolute_time() < _reset_wait) {
// we're waiting for a reset to complete
return;
}
struct BMIReport bmi_report;
struct Report {
int16_t accel_x;
int16_t accel_y;
int16_t accel_z;
int16_t temp;
int16_t gyro_x;
int16_t gyro_y;
int16_t gyro_z;
} report;
/* start measuring */
perf_begin(_sample_perf);
/*
* Fetch the full set of measurements from the BMI160 in one pass.
*/
bmi_report.cmd = BMIREG_GYR_X_L | DIR_READ;
uint8_t status = read_reg(BMIREG_STATUS);
if (OK != transfer((uint8_t *)&bmi_report, ((uint8_t *)&bmi_report), sizeof(bmi_report))) {
return;
}
check_registers();
if ((!(status & (0x80))) && (!(status & (0x04)))) {
perf_end(_sample_perf);
perf_count(_duplicates);
_got_duplicate = true;
return;
}
_last_accel[0] = bmi_report.accel_x;
_last_accel[1] = bmi_report.accel_y;
_last_accel[2] = bmi_report.accel_z;
_got_duplicate = false;
uint8_t temp_l = read_reg(BMIREG_TEMP_0);
uint8_t temp_h = read_reg(BMIREG_TEMP_1);
report.temp = ((temp_h << 8) + temp_l);
report.accel_x = bmi_report.accel_x;
report.accel_y = bmi_report.accel_y;
report.accel_z = bmi_report.accel_z;
report.gyro_x = bmi_report.gyro_x;
report.gyro_y = bmi_report.gyro_y;
report.gyro_z = bmi_report.gyro_z;
if (report.accel_x == 0 &&
report.accel_y == 0 &&
report.accel_z == 0 &&
report.temp == 0 &&
report.gyro_x == 0 &&
report.gyro_y == 0 &&
report.gyro_z == 0) {
// all zero data - probably a SPI bus error
perf_count(_bad_transfers);
perf_end(_sample_perf);
// note that we don't call reset() here as a reset()
// costs 20ms with interrupts disabled. That means if
// the bmi160 does go bad it would cause a FMU failure,
// regardless of whether another sensor is available,
return;
}
perf_count(_good_transfers);
if (_register_wait != 0) {
// we are waiting for some good transfers before using
// the sensor again. We still increment
// _good_transfers, but don't return any data yet
_register_wait--;
return;
}
/*
* Report buffers.
*/
accel_report arb;
gyro_report grb;
/*
* Adjust and scale results to m/s^2.
*/
grb.timestamp = arb.timestamp = hrt_absolute_time();
// report the error count as the sum of the number of bad
// transfers and bad register reads. This allows the higher
// level code to decide if it should use this sensor based on
// whether it has had failures
grb.error_count = arb.error_count = perf_event_count(_bad_transfers) + perf_event_count(_bad_registers);
/*
* 1) Scale raw value to SI units using scaling from datasheet.
* 2) Subtract static offset (in SI units)
* 3) Scale the statically calibrated values with a linear
* dynamically obtained factor
*
* Note: the static sensor offset is the number the sensor outputs
* at a nominally 'zero' input. Therefore the offset has to
* be subtracted.
*
* Example: A gyro outputs a value of 74 at zero angular rate
* the offset is 74 from the origin and subtracting
* 74 from all measurements centers them around zero.
*/
/* NOTE: Axes have been swapped to match the board a few lines above. */
arb.x_raw = report.accel_x;
arb.y_raw = report.accel_y;
arb.z_raw = report.accel_z;
float xraw_f = report.accel_x;
float yraw_f = report.accel_y;
float zraw_f = report.accel_z;
// apply user specified rotation
rotate_3f(_rotation, xraw_f, yraw_f, zraw_f);
float x_in_new = ((xraw_f * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale;
float y_in_new = ((yraw_f * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale;
float z_in_new = ((zraw_f * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale;
arb.x = _accel_filter_x.apply(x_in_new);
arb.y = _accel_filter_y.apply(y_in_new);
arb.z = _accel_filter_z.apply(z_in_new);
math::Vector<3> aval(x_in_new, y_in_new, z_in_new);
math::Vector<3> aval_integrated;
bool accel_notify = _accel_int.put(arb.timestamp, aval, aval_integrated, arb.integral_dt);
arb.x_integral = aval_integrated(0);
arb.y_integral = aval_integrated(1);
arb.z_integral = aval_integrated(2);
arb.scaling = _accel_range_scale;
arb.range_m_s2 = _accel_range_m_s2;
_last_temperature = 23 + report.temp * 1.0f / 512.0f;
arb.temperature_raw = report.temp;
arb.temperature = _last_temperature;
/* return device ID */
arb.device_id = _device_id.devid;
grb.x_raw = report.gyro_x;
grb.y_raw = report.gyro_y;
grb.z_raw = report.gyro_z;
xraw_f = report.gyro_x;
yraw_f = report.gyro_y;
zraw_f = report.gyro_z;
// apply user specified rotation
rotate_3f(_rotation, xraw_f, yraw_f, zraw_f);
float x_gyro_in_new = ((xraw_f * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale;
float y_gyro_in_new = ((yraw_f * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale;
float z_gyro_in_new = ((zraw_f * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale;
grb.x = _gyro_filter_x.apply(x_gyro_in_new);
grb.y = _gyro_filter_y.apply(y_gyro_in_new);
grb.z = _gyro_filter_z.apply(z_gyro_in_new);
math::Vector<3> gval(x_gyro_in_new, y_gyro_in_new, z_gyro_in_new);
math::Vector<3> gval_integrated;
bool gyro_notify = _gyro_int.put(arb.timestamp, gval, gval_integrated, grb.integral_dt);
grb.x_integral = gval_integrated(0);
grb.y_integral = gval_integrated(1);
grb.z_integral = gval_integrated(2);
grb.scaling = _gyro_range_scale;
grb.range_rad_s = _gyro_range_rad_s;
grb.temperature_raw = report.temp;
grb.temperature = _last_temperature;
/* return device ID */
grb.device_id = _gyro->_device_id.devid;
_accel_reports->force(&arb);
_gyro_reports->force(&grb);
/* notify anyone waiting for data */
if (accel_notify) {
poll_notify(POLLIN);
}
if (gyro_notify) {
_gyro->parent_poll_notify();
}
if (accel_notify && !(_pub_blocked)) {
/* log the time of this report */
perf_begin(_controller_latency_perf);
/* publish it */
orb_publish(ORB_ID(sensor_accel), _accel_topic, &arb);
}
if (gyro_notify && !(_pub_blocked)) {
/* publish it */
orb_publish(ORB_ID(sensor_gyro), _gyro->_gyro_topic, &grb);
}
/* stop measuring */
perf_end(_sample_perf);
}
int
MEASAirspeed::collect()
{
int ret = -EIO;
/* read from the sensor */
uint8_t val[4] = {0, 0, 0, 0};
perf_begin(_sample_perf);
ret = transfer(nullptr, 0, &val[0], 4);
if (ret < 0) {
perf_count(_comms_errors);
perf_end(_sample_perf);
return ret;
}
uint8_t status = (val[0] & 0xC0) >> 6;
switch (status) {
case 0:
break;
case 1:
/* fallthrough */
case 2:
/* fallthrough */
case 3:
perf_count(_comms_errors);
perf_end(_sample_perf);
return -EAGAIN;
}
int16_t dp_raw = 0, dT_raw = 0;
dp_raw = (val[0] << 8) + val[1];
/* mask the used bits */
dp_raw = 0x3FFF & dp_raw;
dT_raw = (val[2] << 8) + val[3];
dT_raw = (0xFFE0 & dT_raw) >> 5;
float temperature = ((200.0f * dT_raw) / 2047) - 50;
// Calculate differential pressure. As its centered around 8000
// and can go positive or negative
const float P_min = -1.0f;
const float P_max = 1.0f;
const float PSI_to_Pa = 6894.757f;
/*
this equation is an inversion of the equation in the
pressure transfer function figure on page 4 of the datasheet
We negate the result so that positive differential pressures
are generated when the bottom port is used as the static
port on the pitot and top port is used as the dynamic port
*/
float diff_press_PSI = -((dp_raw - 0.1f*16383) * (P_max-P_min)/(0.8f*16383) + P_min);
float diff_press_pa_raw = diff_press_PSI * PSI_to_Pa;
// correct for 5V rail voltage if possible
voltage_correction(diff_press_pa_raw, temperature);
// the raw value still should be compensated for the known offset
diff_press_pa_raw -= _diff_pres_offset;
float diff_press_pa = fabsf(diff_press_pa_raw);
/*
note that we return both the absolute value with offset
applied and a raw value without the offset applied. This
makes it possible for higher level code to detect if the
user has the tubes connected backwards, and also makes it
possible to correctly use offsets calculated by a higher
level airspeed driver.
With the above calculation the MS4525 sensor will produce a
positive number when the top port is used as a dynamic port
and bottom port is used as the static port
Also note that the _diff_pres_offset is applied before the
fabsf() not afterwards. It needs to be done this way to
prevent a bias at low speeds, but this also means that when
setting a offset you must set it based on the raw value, not
the offset value
*/
struct differential_pressure_s report;
/* track maximum differential pressure measured (so we can work out top speed). */
if (diff_press_pa > _max_differential_pressure_pa) {
_max_differential_pressure_pa = diff_press_pa;
}
report.timestamp = hrt_absolute_time();
report.error_count = perf_event_count(_comms_errors);
report.temperature = temperature;
report.differential_pressure_pa = diff_press_pa;
report.differential_pressure_filtered_pa = _filter.apply(diff_press_pa);
/* the dynamics of the filter can make it overshoot into the negative range */
if (report.differential_pressure_filtered_pa < 0.0f) {
report.differential_pressure_filtered_pa = _filter.reset(diff_press_pa);
}
report.differential_pressure_raw_pa = diff_press_pa_raw;
report.max_differential_pressure_pa = _max_differential_pressure_pa;
if (_airspeed_pub > 0 && !(_pub_blocked)) {
/* publish it */
orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &report);
}
new_report(report);
/* notify anyone waiting for data */
poll_notify(POLLIN);
ret = OK;
perf_end(_sample_perf);
return ret;
}
int
IST8310::collect()
{
#pragma pack(push, 1)
struct { /* status register and data as read back from the device */
uint8_t x[2];
uint8_t y[2];
uint8_t z[2];
} report_buffer;
#pragma pack(pop)
struct {
int16_t x, y, z;
} report;
int ret;
uint8_t check_counter;
perf_begin(_sample_perf);
struct mag_report new_report;
const bool sensor_is_external = external();
float xraw_f;
float yraw_f;
float zraw_f;
/* this should be fairly close to the end of the measurement, so the best approximation of the time */
new_report.timestamp = hrt_absolute_time();
new_report.is_external = sensor_is_external;
new_report.error_count = perf_event_count(_comms_errors);
new_report.scaling = _range_scale;
new_report.device_id = _device_id.devid;
/*
* @note We could read the status register here, which could tell us that
* we were too early and that the output registers are still being
* written. In the common case that would just slow us down, and
* we're better off just never being early.
*/
/* get measurements from the device */
ret = read(ADDR_DATA_OUT_X_LSB, (uint8_t *)&report_buffer, sizeof(report_buffer));
if (ret != OK) {
perf_count(_comms_errors);
DEVICE_DEBUG("I2C read error");
goto out;
}
/* swap the data we just received */
report.x = (((int16_t)report_buffer.x[1]) << 8) | (int16_t)report_buffer.x[0];
report.y = (((int16_t)report_buffer.y[1]) << 8) | (int16_t)report_buffer.y[0];
report.z = (((int16_t)report_buffer.z[1]) << 8) | (int16_t)report_buffer.z[0];
/*
* Check if value makes sense according to the FSR and Resolution of
* this sensor, discarding outliers
*/
if (report.x > IST8310_MAX_VAL_XY || report.x < IST8310_MIN_VAL_XY ||
report.y > IST8310_MAX_VAL_XY || report.y < IST8310_MIN_VAL_XY ||
report.z > IST8310_MAX_VAL_Z || report.z < IST8310_MIN_VAL_Z) {
perf_count(_range_errors);
DEVICE_DEBUG("data/status read error");
goto out;
}
/* temperature measurement is not available on IST8310 */
new_report.temperature = 0;
/*
* raw outputs
*
* Sensor doesn't follow right hand rule, swap x and y to make it obey
* it.
*/
new_report.x_raw = report.y;
new_report.y_raw = report.x;
new_report.z_raw = report.z;
/* scale values for output */
xraw_f = report.y;
yraw_f = report.x;
zraw_f = report.z;
/* apply user specified rotation */
rotate_3f(_rotation, xraw_f, yraw_f, zraw_f);
new_report.x = ((xraw_f * _range_scale) - _scale.x_offset) * _scale.x_scale;
new_report.y = ((yraw_f * _range_scale) - _scale.y_offset) * _scale.y_scale;
new_report.z = ((zraw_f * _range_scale) - _scale.z_offset) * _scale.z_scale;
if (!(_pub_blocked)) {
if (_mag_topic != nullptr) {
/* publish it */
orb_publish(ORB_ID(sensor_mag), _mag_topic, &new_report);
} else {
_mag_topic = orb_advertise_multi(ORB_ID(sensor_mag), &new_report,
&_orb_class_instance, sensor_is_external ? ORB_PRIO_MAX : ORB_PRIO_HIGH);
if (_mag_topic == nullptr) {
DEVICE_DEBUG("ADVERT FAIL");
}
}
}
_last_report = new_report;
/* post a report to the ring */
_reports->force(&new_report);
/* notify anyone waiting for data */
poll_notify(POLLIN);
/*
periodically check the range register and configuration
registers. With a bad I2C cable it is possible for the
registers to become corrupt, leading to bad readings. It
doesn't happen often, but given the poor cables some
vehicles have it is worth checking for.
*/
check_counter = perf_event_count(_sample_perf) % 256;
if (check_counter == 128) {
check_conf();
}
ret = OK;
out:
perf_end(_sample_perf);
return ret;
}
void
MPU9250::measure()
{
if (hrt_absolute_time() < _reset_wait) {
// we're waiting for a reset to complete
return;
}
struct MPUReport mpu_report;
struct Report {
int16_t accel_x;
int16_t accel_y;
int16_t accel_z;
int16_t temp;
int16_t gyro_x;
int16_t gyro_y;
int16_t gyro_z;
} report;
/* start measuring */
perf_begin(_sample_perf);
/*
* Fetch the full set of measurements from the MPU9250 in one pass.
*/
if (OK != _interface->read(MPU9250_SET_SPEED(MPUREG_INT_STATUS, MPU9250_HIGH_BUS_SPEED),
(uint8_t *)&mpu_report,
sizeof(mpu_report))) {
return;
}
check_registers();
if (check_duplicate(&mpu_report.accel_x[0])) {
return;
}
#ifdef USE_I2C
if (_mag->is_passthrough()) {
#endif
_mag->_measure(mpu_report.mag);
#ifdef USE_I2C
} else {
_mag->measure();
}
#endif
/*
* Convert from big to little endian
*/
report.accel_x = int16_t_from_bytes(mpu_report.accel_x);
report.accel_y = int16_t_from_bytes(mpu_report.accel_y);
report.accel_z = int16_t_from_bytes(mpu_report.accel_z);
report.temp = int16_t_from_bytes(mpu_report.temp);
report.gyro_x = int16_t_from_bytes(mpu_report.gyro_x);
report.gyro_y = int16_t_from_bytes(mpu_report.gyro_y);
report.gyro_z = int16_t_from_bytes(mpu_report.gyro_z);
if (check_null_data((uint32_t *)&report, sizeof(report) / 4)) {
return;
}
if (_register_wait != 0) {
// we are waiting for some good transfers before using the sensor again
// We still increment _good_transfers, but don't return any data yet
_register_wait--;
return;
}
/*
* Swap axes and negate y
*/
int16_t accel_xt = report.accel_y;
int16_t accel_yt = ((report.accel_x == -32768) ? 32767 : -report.accel_x);
int16_t gyro_xt = report.gyro_y;
int16_t gyro_yt = ((report.gyro_x == -32768) ? 32767 : -report.gyro_x);
/*
* Apply the swap
*/
report.accel_x = accel_xt;
report.accel_y = accel_yt;
report.gyro_x = gyro_xt;
report.gyro_y = gyro_yt;
/*
* Report buffers.
*/
accel_report arb;
gyro_report grb;
/*
* Adjust and scale results to m/s^2.
*/
grb.timestamp = arb.timestamp = hrt_absolute_time();
// report the error count as the sum of the number of bad
// transfers and bad register reads. This allows the higher
// level code to decide if it should use this sensor based on
// whether it has had failures
grb.error_count = arb.error_count = perf_event_count(_bad_transfers) + perf_event_count(_bad_registers);
/*
* 1) Scale raw value to SI units using scaling from datasheet.
* 2) Subtract static offset (in SI units)
* 3) Scale the statically calibrated values with a linear
* dynamically obtained factor
*
* Note: the static sensor offset is the number the sensor outputs
* at a nominally 'zero' input. Therefore the offset has to
* be subtracted.
*
* Example: A gyro outputs a value of 74 at zero angular rate
* the offset is 74 from the origin and subtracting
* 74 from all measurements centers them around zero.
*/
/* NOTE: Axes have been swapped to match the board a few lines above. */
arb.x_raw = report.accel_x;
arb.y_raw = report.accel_y;
arb.z_raw = report.accel_z;
float xraw_f = report.accel_x;
float yraw_f = report.accel_y;
float zraw_f = report.accel_z;
// apply user specified rotation
rotate_3f(_rotation, xraw_f, yraw_f, zraw_f);
float x_in_new = ((xraw_f * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale;
float y_in_new = ((yraw_f * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale;
float z_in_new = ((zraw_f * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale;
arb.x = _accel_filter_x.apply(x_in_new);
arb.y = _accel_filter_y.apply(y_in_new);
arb.z = _accel_filter_z.apply(z_in_new);
math::Vector<3> aval(x_in_new, y_in_new, z_in_new);
math::Vector<3> aval_integrated;
bool accel_notify = _accel_int.put(arb.timestamp, aval, aval_integrated, arb.integral_dt);
arb.x_integral = aval_integrated(0);
arb.y_integral = aval_integrated(1);
arb.z_integral = aval_integrated(2);
arb.scaling = _accel_range_scale;
arb.range_m_s2 = _accel_range_m_s2;
_last_temperature = (report.temp) / 361.0f + 35.0f;
arb.temperature_raw = report.temp;
arb.temperature = _last_temperature;
grb.x_raw = report.gyro_x;
grb.y_raw = report.gyro_y;
grb.z_raw = report.gyro_z;
xraw_f = report.gyro_x;
yraw_f = report.gyro_y;
zraw_f = report.gyro_z;
// apply user specified rotation
rotate_3f(_rotation, xraw_f, yraw_f, zraw_f);
float x_gyro_in_new = ((xraw_f * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale;
float y_gyro_in_new = ((yraw_f * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale;
float z_gyro_in_new = ((zraw_f * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale;
grb.x = _gyro_filter_x.apply(x_gyro_in_new);
grb.y = _gyro_filter_y.apply(y_gyro_in_new);
grb.z = _gyro_filter_z.apply(z_gyro_in_new);
math::Vector<3> gval(x_gyro_in_new, y_gyro_in_new, z_gyro_in_new);
math::Vector<3> gval_integrated;
bool gyro_notify = _gyro_int.put(arb.timestamp, gval, gval_integrated, grb.integral_dt);
grb.x_integral = gval_integrated(0);
grb.y_integral = gval_integrated(1);
grb.z_integral = gval_integrated(2);
grb.scaling = _gyro_range_scale;
grb.range_rad_s = _gyro_range_rad_s;
grb.temperature_raw = report.temp;
grb.temperature = _last_temperature;
_accel_reports->force(&arb);
_gyro_reports->force(&grb);
/* notify anyone waiting for data */
if (accel_notify) {
poll_notify(POLLIN);
}
if (gyro_notify) {
_gyro->parent_poll_notify();
}
if (accel_notify && !(_pub_blocked)) {
/* log the time of this report */
perf_begin(_controller_latency_perf);
/* publish it */
orb_publish(ORB_ID(sensor_accel), _accel_topic, &arb);
}
if (gyro_notify && !(_pub_blocked)) {
/* publish it */
orb_publish(ORB_ID(sensor_gyro), _gyro->_gyro_topic, &grb);
}
/* stop measuring */
perf_end(_sample_perf);
}
void
FXOS8700CQ::measure()
{
/* status register and data as read back from the device */
#pragma pack(push, 1)
struct {
uint8_t cmd[2];
uint8_t status;
int16_t x;
int16_t y;
int16_t z;
int16_t mx;
int16_t my;
int16_t mz;
} raw_accel_mag_report;
#pragma pack(pop)
accel_report accel_report;
/* start the performance counter */
perf_begin(_accel_sample_perf);
check_registers();
if (_register_wait != 0) {
// we are waiting for some good transfers before using
// the sensor again.
_register_wait--;
perf_end(_accel_sample_perf);
return;
}
/* fetch data from the sensor */
memset(&raw_accel_mag_report, 0, sizeof(raw_accel_mag_report));
raw_accel_mag_report.cmd[0] = DIR_READ(FXOS8700CQ_DR_STATUS);
raw_accel_mag_report.cmd[1] = ADDR_7(FXOS8700CQ_DR_STATUS);
transfer((uint8_t *)&raw_accel_mag_report, (uint8_t *)&raw_accel_mag_report, sizeof(raw_accel_mag_report));
if (!(raw_accel_mag_report.status & DR_STATUS_ZYXDR)) {
perf_end(_accel_sample_perf);
perf_count(_accel_duplicates);
return;
}
/*
* 1) Scale raw value to SI units using scaling from datasheet.
* 2) Subtract static offset (in SI units)
* 3) Scale the statically calibrated values with a linear
* dynamically obtained factor
*
* Note: the static sensor offset is the number the sensor outputs
* at a nominally 'zero' input. Therefore the offset has to
* be subtracted.
*
* Example: A gyro outputs a value of 74 at zero angular rate
* the offset is 74 from the origin and subtracting
* 74 from all measurements centers them around zero.
*/
accel_report.timestamp = hrt_absolute_time();
/*
* Eight-bit 2’s complement sensor temperature value with 0.96 °C/LSB sensitivity.
* Temperature data is only valid between –40 °C and 125 °C. The temperature sensor
* output is only valid when M_CTRL_REG1[m_hms] > 0b00. Please note that the
* temperature sensor is uncalibrated and its output for a given temperature will vary from
* one device to the next
*/
write_checked_reg(FXOS8700CQ_M_CTRL_REG1, M_CTRL_REG1_HMS_A | M_CTRL_REG1_OS(7));
_last_temperature = (read_reg(FXOS8700CQ_TEMP)) * 0.96f;
write_checked_reg(FXOS8700CQ_M_CTRL_REG1, M_CTRL_REG1_HMS_AM | M_CTRL_REG1_OS(7));
accel_report.temperature = _last_temperature;
// report the error count as the sum of the number of bad
// register reads and bad values. This allows the higher level
// code to decide if it should use this sensor based on
// whether it has had failures
accel_report.error_count = perf_event_count(_bad_registers) + perf_event_count(_bad_values);
accel_report.x_raw = swap16RightJustify14(raw_accel_mag_report.x);
accel_report.y_raw = swap16RightJustify14(raw_accel_mag_report.y);
accel_report.z_raw = swap16RightJustify14(raw_accel_mag_report.z);
/* Save off the Mag readings todo: revist integrating theses */
_last_raw_mag_x = swap16(raw_accel_mag_report.mx);
_last_raw_mag_y = swap16(raw_accel_mag_report.my);
_last_raw_mag_z = swap16(raw_accel_mag_report.mz);
float xraw_f = accel_report.x_raw;
float yraw_f = accel_report.y_raw;
float zraw_f = accel_report.z_raw;
// apply user specified rotation
rotate_3f(_rotation, xraw_f, yraw_f, zraw_f);
float x_in_new = ((xraw_f * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale;
float y_in_new = ((yraw_f * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale;
float z_in_new = ((zraw_f * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale;
/*
we have logs where the accelerometers get stuck at a fixed
large value. We want to detect this and mark the sensor as
being faulty
*/
if (fabsf(_last_accel[0] - x_in_new) < 0.001f &&
fabsf(_last_accel[1] - y_in_new) < 0.001f &&
fabsf(_last_accel[2] - z_in_new) < 0.001f &&
fabsf(x_in_new) > 20 &&
fabsf(y_in_new) > 20 &&
fabsf(z_in_new) > 20) {
_constant_accel_count += 1;
} else {
_constant_accel_count = 0;
}
if (_constant_accel_count > 100) {
// we've had 100 constant accel readings with large
// values. The sensor is almost certainly dead. We
// will raise the error_count so that the top level
// flight code will know to avoid this sensor, but
// we'll still give the data so that it can be logged
// and viewed
perf_count(_bad_values);
_constant_accel_count = 0;
}
_last_accel[0] = x_in_new;
_last_accel[1] = y_in_new;
_last_accel[2] = z_in_new;
accel_report.x = _accel_filter_x.apply(x_in_new);
accel_report.y = _accel_filter_y.apply(y_in_new);
accel_report.z = _accel_filter_z.apply(z_in_new);
math::Vector<3> aval(x_in_new, y_in_new, z_in_new);
math::Vector<3> aval_integrated;
bool accel_notify = _accel_int.put(accel_report.timestamp, aval, aval_integrated, accel_report.integral_dt);
accel_report.x_integral = aval_integrated(0);
accel_report.y_integral = aval_integrated(1);
accel_report.z_integral = aval_integrated(2);
accel_report.scaling = _accel_range_scale;
accel_report.range_m_s2 = _accel_range_m_s2;
/* return device ID */
accel_report.device_id = _device_id.devid;
_accel_reports->force(&accel_report);
/* notify anyone waiting for data */
if (accel_notify) {
poll_notify(POLLIN);
if (!(_pub_blocked)) {
/* publish it */
orb_publish(ORB_ID(sensor_accel), _accel_topic, &accel_report);
}
}
_accel_read++;
/* stop the perf counter */
perf_end(_accel_sample_perf);
}
int
LIS3MDL::collect()
{
#pragma pack(push, 1)
struct { /* status register and data as read back from the device */
uint8_t x[2];
uint8_t y[2];
uint8_t z[2];
uint8_t t[2];
} lis_report;
struct {
int16_t x;
int16_t y;
int16_t z;
int16_t t;
} report;
#pragma pack(pop)
int ret;
// uint8_t check_counter;
perf_begin(_sample_perf);
struct mag_report new_report;
bool sensor_is_onboard = false;
float xraw_f;
float yraw_f;
float zraw_f;
/* this should be fairly close to the end of the measurement, so the best approximation of the time */
new_report.timestamp = hrt_absolute_time();
new_report.error_count = perf_event_count(_comms_errors);
new_report.range_ga = _range_ga;
new_report.scaling = _range_scale;
new_report.device_id = _device_id.devid;
/*
* @note We could read the status register here, which could tell us that
* we were too early and that the output registers are still being
* written. In the common case that would just slow us down, and
* we're better off just never being early.
*/
/* get measurements from the device */
ret = _interface->read(ADDR_OUT_X_L, (uint8_t *)&lis_report, sizeof(lis_report));
if (ret != OK) {
perf_count(_comms_errors);
DEVICE_DEBUG("data/status read error");
goto out;
}
/* convert the data we just received */
report.x = (((int16_t)lis_report.x[1]) << 8) + lis_report.x[0];
report.y = (((int16_t)lis_report.y[1]) << 8) + lis_report.y[0];
report.z = (((int16_t)lis_report.z[1]) << 8) + lis_report.z[0];
report.t = (((int16_t)lis_report.t[1]) << 8) + lis_report.t[0];
/* get measurements from the device */
new_report.temperature = report.t;
new_report.temperature = 25 + (report.t / (16 * 8.0f));
// XXX revisit for SPI part, might require a bus type IOCTL
unsigned dummy;
sensor_is_onboard = !_interface->ioctl(MAGIOCGEXTERNAL, dummy);
new_report.is_external = !sensor_is_onboard;
/*
* RAW outputs
*
*/
new_report.x_raw = report.x;
new_report.y_raw = report.y;
new_report.z_raw = report.z;
/* the LIS3MDL mag on Pixhawk Pro by Drotek has x pointing towards,
* y pointing to the right, and z down, therefore no switch needed,
* it is better to have no artificial rotation inside the
* driver and then use the startup script with -R command with the
* real rotation between the sensor and body frame */
xraw_f = report.x;
yraw_f = report.y;
zraw_f = report.z;
// apply user specified rotation
rotate_3f(_rotation, xraw_f, yraw_f, zraw_f);
new_report.x = ((xraw_f * _range_scale) - _scale.x_offset) * _scale.x_scale;
/* flip axes and negate value for y */
new_report.y = ((yraw_f * _range_scale) - _scale.y_offset) * _scale.y_scale;
/* z remains z */
new_report.z = ((zraw_f * _range_scale) - _scale.z_offset) * _scale.z_scale;
if (!(_pub_blocked)) {
if (_mag_topic != nullptr) {
/* publish it */
orb_publish(ORB_ID(sensor_mag), _mag_topic, &new_report);
} else {
_mag_topic = orb_advertise_multi(ORB_ID(sensor_mag), &new_report,
&_orb_class_instance, (sensor_is_onboard) ? ORB_PRIO_HIGH : ORB_PRIO_MAX);
if (_mag_topic == nullptr) {
DEVICE_DEBUG("ADVERT FAIL");
}
}
}
_last_report = new_report;
/* post a report to the ring */
_reports->force(&new_report);
/* notify anyone waiting for data */
poll_notify(POLLIN);
check_conf();
ret = OK;
out:
perf_end(_sample_perf);
return ret;
}
int LidarLiteI2C::collect()
{
int ret = -EIO;
/* read from the sensor */
uint8_t val[2] = {0, 0};
perf_begin(_sample_perf);
// read the high and low byte distance registers
uint8_t distance_reg = LL40LS_DISTHIGH_REG | LL40LS_AUTO_INCREMENT;
ret = lidar_transfer(&distance_reg, 1, &val[0], sizeof(val));
// if the transfer failed or if the high bit of distance is
// set then the distance is invalid
if (ret < 0 || (val[0] & 0x80)) {
if (hrt_absolute_time() - _acquire_time_usec > LL40LS_CONVERSION_TIMEOUT) {
/*
NACKs from the sensor are expected when we
read before it is ready, so only consider it
an error if more than 100ms has elapsed.
*/
DEVICE_DEBUG("error reading from sensor: %d", ret);
perf_count(_comms_errors);
if (perf_event_count(_comms_errors) % 10 == 0) {
perf_count(_sensor_resets);
reset_sensor();
}
}
perf_end(_sample_perf);
// if we are getting lots of I2C transfer errors try
// resetting the sensor
return ret;
}
uint16_t distance_cm = (val[0] << 8) | val[1];
float distance_m = float(distance_cm) * 1e-2f;
struct distance_sensor_s report;
if (distance_cm == 0) {
_zero_counter++;
if (_zero_counter == 20) {
/* we have had 20 zeros in a row - reset the
sensor. This is a known bad state of the
sensor where it returns 16 bits of zero for
the distance with a trailing NACK, and
keeps doing that even when the target comes
into a valid range.
*/
_zero_counter = 0;
perf_end(_sample_perf);
perf_count(_sensor_zero_resets);
return reset_sensor();
}
} else {
_zero_counter = 0;
}
_last_distance = distance_cm;
/* this should be fairly close to the end of the measurement, so the best approximation of the time */
report.timestamp = hrt_absolute_time();
report.current_distance = distance_m;
report.min_distance = get_minimum_distance();
report.max_distance = get_maximum_distance();
report.covariance = 0.0f;
/* the sensor is in fact a laser + sonar but there is no enum for this */
report.type = distance_sensor_s::MAV_DISTANCE_SENSOR_LASER;
report.orientation = _rotation;
/* TODO: set proper ID */
report.id = 0;
/* publish it, if we are the primary */
if (_distance_sensor_topic != nullptr) {
orb_publish(ORB_ID(distance_sensor), _distance_sensor_topic, &report);
}
_reports->force(&report);
/* notify anyone waiting for data */
poll_notify(POLLIN);
ret = OK;
perf_end(_sample_perf);
return ret;
}
int
QMC5883::collect()
{
#pragma pack(push, 1)
struct { /* status register and data as read back from the device */
uint8_t x[2];
uint8_t y[2];
uint8_t z[2];
} qmc_report;
#pragma pack(pop)
struct {
int16_t x, y, z;
} report;
int ret;
uint8_t check_counter;
perf_begin(_sample_perf);
struct mag_report new_report;
bool sensor_is_onboard = false;
float xraw_f;
float yraw_f;
float zraw_f;
/* this should be fairly close to the end of the measurement, so the best approximation of the time */
new_report.timestamp = hrt_absolute_time();
new_report.error_count = perf_event_count(_comms_errors);
new_report.scaling = _range_scale;
new_report.device_id = _device_id.devid;
/*
* @note We could read the status register here, which could tell us that
* we were too early and that the output registers are still being
* written. In the common case that would just slow us down, and
* we're better off just never being early.
*/
/* get measurements from the device */
ret = _interface->read(QMC5883_ADDR_DATA_OUT_X_LSB, (uint8_t *)&qmc_report, sizeof(qmc_report));
if (ret != OK) {
perf_count(_comms_errors);
DEVICE_DEBUG("data/status read error");
goto out;
}
/* map data we just received LSB, MSB */
report.x = (((int16_t)qmc_report.x[1]) << 8) + qmc_report.x[0];
report.y = (((int16_t)qmc_report.y[1]) << 8) + qmc_report.y[0];
report.z = (((int16_t)qmc_report.z[1]) << 8) + qmc_report.z[0];
/*
* If any of the values are -4096, there was an internal math error in the sensor.
* Generalise this to a simple range check that will also catch some bit errors.
*/
if ((abs(report.x) > QMC5883_MAX_COUNT) ||
(abs(report.y) > QMC5883_MAX_COUNT) ||
(abs(report.z) > QMC5883_MAX_COUNT)) {
perf_count(_comms_errors);
goto out;
}
/* get temperature measurements from the device */
new_report.temperature = 0;
if (_temperature_counter++ == 100) {
uint8_t raw_temperature[2];
_temperature_counter = 0;
ret = _interface->read(QMC5883_ADDR_TEMP_OUT_LSB,
raw_temperature, sizeof(raw_temperature));
if (ret == OK) {
int16_t temp16 = (((int16_t)raw_temperature[1]) << 8) +
raw_temperature[0];
new_report.temperature = QMC5883_TEMP_OFFSET + temp16 * 1.0f / 100.0f;
}
} else {
new_report.temperature = _last_report.temperature;
}
/*
* RAW outputs
*
* to align the sensor axes with the board, x and y need to be flipped
* and y needs to be negated
*/
new_report.x_raw = -report.y;
new_report.y_raw = report.x;
/* z remains z */
new_report.z_raw = report.z;
/* scale values for output */
// XXX revisit for SPI part, might require a bus type IOCTL
unsigned dummy;
sensor_is_onboard = !_interface->ioctl(MAGIOCGEXTERNAL, dummy);
new_report.is_external = !sensor_is_onboard;
if (sensor_is_onboard) {
// convert onboard so it matches offboard for the
// scaling below
report.y = -report.y;
report.x = -report.x;
}
/* the standard external mag by 3DR has x pointing to the
* right, y pointing backwards, and z down, therefore switch x
* and y and invert y */
//TODO: sort out axes mapping
xraw_f = -report.y;
yraw_f = report.x;
zraw_f = report.z;
// apply user specified rotation
rotate_3f(_rotation, xraw_f, yraw_f, zraw_f);
new_report.x = ((xraw_f * _range_scale) - _scale.x_offset) * _scale.x_scale;
/* flip axes and negate value for y */
new_report.y = ((yraw_f * _range_scale) - _scale.y_offset) * _scale.y_scale;
/* z remains z */
new_report.z = ((zraw_f * _range_scale) - _scale.z_offset) * _scale.z_scale;
if (!(_pub_blocked)) {
if (_mag_topic != nullptr) {
/* publish it */
orb_publish(ORB_ID(sensor_mag), _mag_topic, &new_report);
} else {
_mag_topic = orb_advertise_multi(ORB_ID(sensor_mag), &new_report,
&_orb_class_instance, (sensor_is_onboard) ? ORB_PRIO_HIGH : ORB_PRIO_MAX);
if (_mag_topic == nullptr) {
DEVICE_DEBUG("ADVERT FAIL");
}
}
}
_last_report = new_report;
/* post a report to the ring */
_reports->force(&new_report);
/* notify anyone waiting for data */
poll_notify(POLLIN);
/*
periodically check the configuration
registers. With a bad I2C cable it is possible for the
registers to become corrupt, leading to bad readings. It
doesn't happen often, but given the poor cables some
vehicles have it is worth checking for.
*/
check_counter = perf_event_count(_sample_perf) % 256;
if (check_counter == 0) {
check_conf();
}
ret = OK;
out:
perf_end(_sample_perf);
return ret;
}
int
HMC5883::collect()
{
#pragma pack(push, 1)
struct { /* status register and data as read back from the device */
uint8_t x[2];
uint8_t z[2];
uint8_t y[2];
} hmc_report;
#pragma pack(pop)
struct {
int16_t x, y, z;
} report;
int ret = -EIO;
uint8_t cmd;
uint8_t check_counter;
perf_begin(_sample_perf);
struct mag_report new_report;
/* this should be fairly close to the end of the measurement, so the best approximation of the time */
new_report.timestamp = hrt_absolute_time();
new_report.error_count = perf_event_count(_comms_errors);
/*
* @note We could read the status register here, which could tell us that
* we were too early and that the output registers are still being
* written. In the common case that would just slow us down, and
* we're better off just never being early.
*/
/* get measurements from the device */
cmd = ADDR_DATA_OUT_X_MSB;
ret = transfer(&cmd, 1, (uint8_t *)&hmc_report, sizeof(hmc_report));
if (ret != OK) {
perf_count(_comms_errors);
debug("data/status read error");
goto out;
}
/* swap the data we just received */
report.x = (((int16_t)hmc_report.x[0]) << 8) + hmc_report.x[1];
report.y = (((int16_t)hmc_report.y[0]) << 8) + hmc_report.y[1];
report.z = (((int16_t)hmc_report.z[0]) << 8) + hmc_report.z[1];
/*
* If any of the values are -4096, there was an internal math error in the sensor.
* Generalise this to a simple range check that will also catch some bit errors.
*/
if ((abs(report.x) > 2048) ||
(abs(report.y) > 2048) ||
(abs(report.z) > 2048)) {
perf_count(_comms_errors);
goto out;
}
/*
* RAW outputs
*
* to align the sensor axes with the board, x and y need to be flipped
* and y needs to be negated
*/
new_report.x_raw = report.y;
new_report.y_raw = -report.x;
/* z remains z */
new_report.z_raw = report.z;
/* scale values for output */
#ifdef PX4_I2C_BUS_ONBOARD
if (_bus == PX4_I2C_BUS_ONBOARD) {
// convert onboard so it matches offboard for the
// scaling below
report.y = -report.y;
report.x = -report.x;
}
#endif
/* the standard external mag by 3DR has x pointing to the
* right, y pointing backwards, and z down, therefore switch x
* and y and invert y */
new_report.x = ((-report.y * _range_scale) - _scale.x_offset) * _scale.x_scale;
/* flip axes and negate value for y */
new_report.y = ((report.x * _range_scale) - _scale.y_offset) * _scale.y_scale;
/* z remains z */
new_report.z = ((report.z * _range_scale) - _scale.z_offset) * _scale.z_scale;
// apply user specified rotation
rotate_3f(_rotation, new_report.x, new_report.y, new_report.z);
if (_class_instance == CLASS_DEVICE_PRIMARY && !(_pub_blocked)) {
if (_mag_topic != -1) {
/* publish it */
orb_publish(ORB_ID(sensor_mag), _mag_topic, &new_report);
} else {
_mag_topic = orb_advertise(ORB_ID(sensor_mag), &new_report);
if (_mag_topic < 0)
debug("failed to create sensor_mag publication");
}
}
_last_report = new_report;
/* post a report to the ring */
if (_reports->force(&new_report)) {
perf_count(_buffer_overflows);
}
/* notify anyone waiting for data */
poll_notify(POLLIN);
/*
periodically check the range register and configuration
registers. With a bad I2C cable it is possible for the
registers to become corrupt, leading to bad readings. It
doesn't happen often, but given the poor cables some
vehicles have it is worth checking for.
*/
check_counter = perf_event_count(_sample_perf) % 256;
if (check_counter == 0) {
check_range();
}
if (check_counter == 128) {
check_conf();
}
ret = OK;
out:
perf_end(_sample_perf);
return ret;
}
int
ETSAirspeed::collect()
{
int ret = -EIO;
/* read from the sensor */
uint8_t val[2] = {0, 0};
perf_begin(_sample_perf);
ret = transfer(nullptr, 0, &val[0], 2);
if (ret < 0) {
perf_count(_comms_errors);
return ret;
}
uint16_t diff_pres_pa = val[1] << 8 | val[0];
if (diff_pres_pa == 0) {
// a zero value means the pressure sensor cannot give us a
// value. We need to return, and not report a value or the
// caller could end up using this value as part of an
// average
perf_count(_comms_errors);
log("zero value from sensor");
return -1;
}
if (diff_pres_pa < _diff_pres_offset + MIN_ACCURATE_DIFF_PRES_PA) {
diff_pres_pa = 0;
} else {
diff_pres_pa -= _diff_pres_offset;
}
// Track maximum differential pressure measured (so we can work out top speed).
if (diff_pres_pa > _max_differential_pressure_pa) {
_max_differential_pressure_pa = diff_pres_pa;
}
// XXX we may want to smooth out the readings to remove noise.
differential_pressure_s report;
report.timestamp = hrt_absolute_time();
report.error_count = perf_event_count(_comms_errors);
report.differential_pressure_pa = diff_pres_pa;
report.voltage = 0;
report.max_differential_pressure_pa = _max_differential_pressure_pa;
/* announce the airspeed if needed, just publish else */
orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &report);
new_report(report);
/* notify anyone waiting for data */
poll_notify(POLLIN);
ret = OK;
perf_end(_sample_perf);
return ret;
}
void
L3GD20::measure()
{
/* status register and data as read back from the device */
#pragma pack(push, 1)
struct {
uint8_t cmd;
int8_t temp;
uint8_t status;
int16_t x;
int16_t y;
int16_t z;
} raw_report;
#pragma pack(pop)
gyro_report report;
/* start the performance counter */
perf_begin(_sample_perf);
check_registers();
#if L3GD20_USE_DRDY
// if the gyro doesn't have any data ready then re-schedule
// for 100 microseconds later. This ensures we don't double
// read a value and then miss the next value
if (_bus == PX4_SPI_BUS_SENSORS && stm32_gpioread(GPIO_EXTI_GYRO_DRDY) == 0) {
perf_count(_reschedules);
hrt_call_delay(&_call, 100);
perf_end(_sample_perf);
return;
}
#endif
/* fetch data from the sensor */
memset(&raw_report, 0, sizeof(raw_report));
raw_report.cmd = ADDR_OUT_TEMP | DIR_READ | ADDR_INCREMENT;
transfer((uint8_t *)&raw_report, (uint8_t *)&raw_report, sizeof(raw_report));
#if L3GD20_USE_DRDY
if (_bus == PX4_SPI_BUS_SENSORS && (raw_report.status & 0xF) != 0xF) {
/*
we waited for DRDY, but did not see DRDY on all axes
when we captured. That means a transfer error of some sort
*/
perf_count(_errors);
return;
}
#endif
/*
* 1) Scale raw value to SI units using scaling from datasheet.
* 2) Subtract static offset (in SI units)
* 3) Scale the statically calibrated values with a linear
* dynamically obtained factor
*
* Note: the static sensor offset is the number the sensor outputs
* at a nominally 'zero' input. Therefore the offset has to
* be subtracted.
*
* Example: A gyro outputs a value of 74 at zero angular rate
* the offset is 74 from the origin and subtracting
* 74 from all measurements centers them around zero.
*/
report.timestamp = hrt_absolute_time();
report.error_count = perf_event_count(_bad_registers);
switch (_orientation) {
case SENSOR_BOARD_ROTATION_000_DEG:
/* keep axes in place */
report.x_raw = raw_report.x;
report.y_raw = raw_report.y;
break;
case SENSOR_BOARD_ROTATION_090_DEG:
/* swap x and y */
report.x_raw = raw_report.y;
report.y_raw = raw_report.x;
break;
case SENSOR_BOARD_ROTATION_180_DEG:
/* swap x and y and negate both */
report.x_raw = ((raw_report.x == -32768) ? 32767 : -raw_report.x);
report.y_raw = ((raw_report.y == -32768) ? 32767 : -raw_report.y);
break;
case SENSOR_BOARD_ROTATION_270_DEG:
/* swap x and y and negate y */
report.x_raw = raw_report.y;
report.y_raw = ((raw_report.x == -32768) ? 32767 : -raw_report.x);
break;
}
report.z_raw = raw_report.z;
report.temperature_raw = raw_report.temp;
report.x = ((report.x_raw * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale;
report.y = ((report.y_raw * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale;
report.z = ((report.z_raw * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale;
report.x = _gyro_filter_x.apply(report.x);
report.y = _gyro_filter_y.apply(report.y);
report.z = _gyro_filter_z.apply(report.z);
report.temperature = L3GD20_TEMP_OFFSET_CELSIUS - raw_report.temp;
// apply user specified rotation
rotate_3f(_rotation, report.x, report.y, report.z);
report.scaling = _gyro_range_scale;
report.range_rad_s = _gyro_range_rad_s;
_reports->force(&report);
/* notify anyone waiting for data */
poll_notify(POLLIN);
/* publish for subscribers */
if (!(_pub_blocked)) {
/* publish it */
orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &report);
}
_read++;
/* stop the perf counter */
perf_end(_sample_perf);
}
