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474 lines
14 KiB
C
474 lines
14 KiB
C
/**
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******************************************************************************
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* @addtogroup OpenPilotModules OpenPilot Modules
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* @{
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* @addtogroup Sensors
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* @brief Acquires sensor data
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* Specifically updates the the @ref Gyros, @ref Accels, and @ref Magnetometer objects
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* @{
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*
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* @file sensors.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Module to handle all comms to the AHRS on a periodic basis.
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*
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* @see The GNU Public License (GPL) Version 3
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*
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******************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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/**
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* Input objects: None, takes sensor data via pios
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* Output objects: @ref Gyros @ref Accels @ref Magnetometer
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*
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* The module executes in its own thread.
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*
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* UAVObjects are automatically generated by the UAVObjectGenerator from
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* the object definition XML file.
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*
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* Modules have no API, all communication to other modules is done through UAVObjects.
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* However modules may use the API exposed by shared libraries.
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* See the OpenPilot wiki for more details.
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* http://www.openpilot.org/OpenPilot_Application_Architecture
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*
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*/
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#include "pios.h"
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#include "attitude.h"
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#include "magnetometer.h"
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#include "accels.h"
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#include "gyros.h"
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#include "gyrosbias.h"
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#include "attitudeactual.h"
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#include "attitudesettings.h"
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#include "revocalibration.h"
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#include "flightstatus.h"
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#include "gpsposition.h"
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#include "baroaltitude.h"
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#include "CoordinateConversions.h"
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#include <pios_board_info.h>
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// Private constants
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#define STACK_SIZE_BYTES 700
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#define TASK_PRIORITY (tskIDLE_PRIORITY+3)
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#define SENSOR_PERIOD 2
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#define F_PI 3.14159265358979323846f
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#define PI_MOD(x) (fmodf(x + F_PI, F_PI * 2) - F_PI)
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// Private types
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// Private variables
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static xTaskHandle sensorsTaskHandle;
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static bool gps_updated = false;
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static bool baro_updated = false;
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// Private functions
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static void SensorsTask(void *parameters);
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static void settingsUpdatedCb(UAVObjEvent * objEv);
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static void sensorsUpdatedCb(UAVObjEvent * objEv);
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// These values are initialized by settings but can be updated by the attitude algorithm
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static bool bias_correct_gyro = true;
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static float mag_bias[3] = {0,0,0};
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static float mag_scale[3] = {0,0,0};
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static float accel_bias[3] = {0,0,0};
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static float accel_scale[3] = {0,0,0};
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static float R[3][3] = {{0}};
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static int8_t rotate = 0;
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/**
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* API for sensor fusion algorithms:
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* Configure(xQueueHandle gyro, xQueueHandle accel, xQueueHandle mag, xQueueHandle baro)
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* Stores all the queues the algorithm will pull data from
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* FinalizeSensors() -- before saving the sensors modifies them based on internal state (gyro bias)
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* Update() -- queries queues and updates the attitude estiamte
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*/
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/**
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* Initialise the module. Called before the start function
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* \returns 0 on success or -1 if initialisation failed
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*/
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int32_t SensorsInitialize(void)
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{
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GyrosInitialize();
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GyrosBiasInitialize();
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AccelsInitialize();
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MagnetometerInitialize();
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RevoCalibrationInitialize();
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AttitudeSettingsInitialize();
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rotate = 0;
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RevoCalibrationConnectCallback(&settingsUpdatedCb);
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AttitudeSettingsConnectCallback(&settingsUpdatedCb);
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return 0;
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}
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/**
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* Start the task. Expects all objects to be initialized by this point.
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* \returns 0 on success or -1 if initialisation failed
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*/
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int32_t SensorsStart(void)
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{
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// Start main task
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xTaskCreate(SensorsTask, (signed char *)"Sensors", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &sensorsTaskHandle);
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TaskMonitorAdd(TASKINFO_RUNNING_SENSORS, sensorsTaskHandle);
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PIOS_WDG_RegisterFlag(PIOS_WDG_SENSORS);
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return 0;
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}
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MODULE_INITCALL(SensorsInitialize, SensorsStart)
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int32_t accel_test;
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int32_t gyro_test;
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int32_t mag_test;
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//int32_t pressure_test;
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/**
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* The sensor task. This polls the gyros at 500 Hz and pumps that data to
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* stabilization and to the attitude loop
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*
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* This function has a lot of if/defs right now to allow these configurations:
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* 1. BMA180 accel and MPU6000 gyro
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* 2. MPU6000 gyro and accel
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* 3. BMA180 accel and L3GD20 gyro
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*/
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uint32_t sensor_dt_us;
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static void SensorsTask(void *parameters)
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{
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portTickType lastSysTime;
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uint32_t accel_samples = 0;
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uint32_t gyro_samples = 0;
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int32_t accel_accum[3] = {0, 0, 0};
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int32_t gyro_accum[3] = {0,0,0};
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float gyro_scaling = 0;
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float accel_scaling = 0;
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static int32_t timeval;
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AlarmsClear(SYSTEMALARMS_ALARM_SENSORS);
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UAVObjEvent ev;
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settingsUpdatedCb(&ev);
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const struct pios_board_info * bdinfo = &pios_board_info_blob;
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switch(bdinfo->board_rev) {
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case 0x01:
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#if defined(PIOS_INCLUDE_L3GD20)
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gyro_test = PIOS_L3GD20_Test();
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#endif
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#if defined(PIOS_INCLUDE_BMA180)
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accel_test = PIOS_BMA180_Test();
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#endif
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break;
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case 0x02:
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#if defined(PIOS_INCLUDE_MPU6000)
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gyro_test = PIOS_MPU6000_Test();
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accel_test = gyro_test;
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#endif
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break;
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default:
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PIOS_DEBUG_Assert(0);
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}
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#if defined(PIOS_INCLUDE_HMC5883)
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mag_test = PIOS_HMC5883_Test();
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#else
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mag_test = 0;
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#endif
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if(accel_test < 0 || gyro_test < 0 || mag_test < 0) {
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AlarmsSet(SYSTEMALARMS_ALARM_SENSORS, SYSTEMALARMS_ALARM_CRITICAL);
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while(1) {
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PIOS_WDG_UpdateFlag(PIOS_WDG_SENSORS);
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vTaskDelay(10);
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}
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}
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// If debugging connect callback
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if(pios_com_aux_id != 0) {
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BaroAltitudeConnectCallback(&sensorsUpdatedCb);
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GPSPositionConnectCallback(&sensorsUpdatedCb);
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}
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// Main task loop
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lastSysTime = xTaskGetTickCount();
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bool error = false;
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uint32_t mag_update_time = PIOS_DELAY_GetRaw();
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while (1) {
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// TODO: add timeouts to the sensor reads and set an error if the fail
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sensor_dt_us = PIOS_DELAY_DiffuS(timeval);
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timeval = PIOS_DELAY_GetRaw();
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if (error) {
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PIOS_WDG_UpdateFlag(PIOS_WDG_SENSORS);
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lastSysTime = xTaskGetTickCount();
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vTaskDelayUntil(&lastSysTime, SENSOR_PERIOD / portTICK_RATE_MS);
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AlarmsSet(SYSTEMALARMS_ALARM_SENSORS, SYSTEMALARMS_ALARM_CRITICAL);
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error = false;
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} else {
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AlarmsClear(SYSTEMALARMS_ALARM_SENSORS);
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}
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int32_t read_good;
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int32_t count;
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for (int i = 0; i < 3; i++) {
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accel_accum[i] = 0;
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gyro_accum[i] = 0;
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}
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accel_samples = 0;
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gyro_samples = 0;
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AccelsData accelsData;
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GyrosData gyrosData;
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switch(bdinfo->board_rev) {
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case 0x01: // L3GD20 + BMA180 board
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#if defined(PIOS_INCLUDE_BMA180)
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{
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struct pios_bma180_data accel;
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count = 0;
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while((read_good = PIOS_BMA180_ReadFifo(&accel)) != 0 && !error)
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error = ((xTaskGetTickCount() - lastSysTime) > SENSOR_PERIOD) ? true : error;
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if (error) {
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// Unfortunately if the BMA180 ever misses getting read, then it will not
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// trigger more interrupts. In this case we must force a read to kickstarts
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// it.
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struct pios_bma180_data data;
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PIOS_BMA180_ReadAccels(&data);
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continue;
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}
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while(read_good == 0) {
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count++;
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accel_accum[0] += accel.x;
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accel_accum[1] += accel.y;
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accel_accum[2] += accel.z;
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read_good = PIOS_BMA180_ReadFifo(&accel);
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}
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accel_samples = count;
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accel_scaling = PIOS_BMA180_GetScale();
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// Get temp from last reading
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accelsData.temperature = 25.0f + ((float) accel.temperature - 2.0f) / 2.0f;
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}
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#endif
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#if defined(PIOS_INCLUDE_L3GD20)
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{
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struct pios_l3gd20_data gyro;
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gyro_samples = 0;
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xQueueHandle gyro_queue = PIOS_L3GD20_GetQueue();
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if(xQueueReceive(gyro_queue, (void *) &gyro, 4) == errQUEUE_EMPTY) {
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error = true;
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continue;
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}
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gyro_samples = 1;
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gyro_accum[0] += gyro.gyro_x;
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gyro_accum[1] += gyro.gyro_y;
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gyro_accum[2] += gyro.gyro_z;
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gyro_scaling = PIOS_L3GD20_GetScale();
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// Get temp from last reading
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gyrosData.temperature = gyro.temperature;
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}
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#endif
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break;
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case 0x02: // MPU6000 board
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#if defined(PIOS_INCLUDE_MPU6000)
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{
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struct pios_mpu6000_data mpu6000_data;
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xQueueHandle queue = PIOS_MPU6000_GetQueue();
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while(xQueueReceive(queue, (void *) &mpu6000_data, gyro_samples == 0 ? 10 : 0) != errQUEUE_EMPTY)
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{
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gyro_accum[0] += mpu6000_data.gyro_x;
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gyro_accum[1] += mpu6000_data.gyro_y;
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gyro_accum[2] += mpu6000_data.gyro_z;
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accel_accum[0] += mpu6000_data.accel_x;
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accel_accum[1] += mpu6000_data.accel_y;
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accel_accum[2] += mpu6000_data.accel_z;
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gyro_samples ++;
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accel_samples ++;
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}
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if (gyro_samples == 0) {
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PIOS_MPU6000_ReadGyros(&mpu6000_data);
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error = true;
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continue;
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}
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gyro_scaling = PIOS_MPU6000_GetScale();
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accel_scaling = PIOS_MPU6000_GetAccelScale();
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gyrosData.temperature = 35.0f + ((float) mpu6000_data.temperature + 512.0f) / 340.0f;
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accelsData.temperature = 35.0f + ((float) mpu6000_data.temperature + 512.0f) / 340.0f;
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}
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#endif /* PIOS_INCLUDE_MPU6000 */
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break;
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default:
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PIOS_DEBUG_Assert(0);
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}
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// Scale the accels
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float accels[3] = {(float) accel_accum[1] / accel_samples,
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(float) accel_accum[0] / accel_samples,
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-(float) accel_accum[2] / accel_samples};
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float accels_out[3] = {accels[0] * accel_scaling * accel_scale[0] - accel_bias[0],
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accels[1] * accel_scaling * accel_scale[1] - accel_bias[1],
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accels[2] * accel_scaling * accel_scale[2] - accel_bias[2]};
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if (rotate) {
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rot_mult(R, accels_out, accels);
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accelsData.x = accels[0];
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accelsData.y = accels[1];
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accelsData.z = accels[2];
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} else {
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accelsData.x = accels_out[0];
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accelsData.y = accels_out[1];
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accelsData.z = accels_out[2];
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}
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AccelsSet(&accelsData);
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// Scale the gyros
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float gyros[3] = {(float) gyro_accum[1] / gyro_samples,
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(float) gyro_accum[0] / gyro_samples,
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-(float) gyro_accum[2] / gyro_samples};
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float gyros_out[3] = {gyros[0] * gyro_scaling,
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gyros[1] * gyro_scaling,
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gyros[2] * gyro_scaling};
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if (rotate) {
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rot_mult(R, gyros_out, gyros);
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gyrosData.x = gyros[0];
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gyrosData.y = gyros[1];
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gyrosData.z = gyros[2];
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} else {
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gyrosData.x = gyros_out[0];
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gyrosData.y = gyros_out[1];
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gyrosData.z = gyros_out[2];
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}
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if (bias_correct_gyro) {
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// Apply bias correction to the gyros
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GyrosBiasData gyrosBias;
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GyrosBiasGet(&gyrosBias);
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gyrosData.x += gyrosBias.x;
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gyrosData.y += gyrosBias.y;
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gyrosData.z += gyrosBias.z;
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}
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GyrosSet(&gyrosData);
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// Because most crafts wont get enough information from gravity to zero yaw gyro, we try
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// and make it average zero (weakly)
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#if defined(PIOS_INCLUDE_HMC5883)
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MagnetometerData mag;
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if (PIOS_HMC5883_NewDataAvailable() || PIOS_DELAY_DiffuS(mag_update_time) > 150000) {
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int16_t values[3];
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PIOS_HMC5883_ReadMag(values);
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float mags[3] = {(float) values[1] * mag_scale[0] - mag_bias[0],
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(float) values[0] * mag_scale[1] - mag_bias[1],
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-(float) values[2] * mag_scale[2] - mag_bias[2]};
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if (rotate) {
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float mag_out[3];
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rot_mult(R, mags, mag_out);
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mag.x = mag_out[0];
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mag.y = mag_out[1];
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mag.z = mag_out[2];
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} else {
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mag.x = mags[0];
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mag.y = mags[1];
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mag.z = mags[2];
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}
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MagnetometerSet(&mag);
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mag_update_time = PIOS_DELAY_GetRaw();
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}
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#endif
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PIOS_WDG_UpdateFlag(PIOS_WDG_SENSORS);
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lastSysTime = xTaskGetTickCount();
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}
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}
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/**
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* Indicate that these sensors have been updated
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*/
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static void sensorsUpdatedCb(UAVObjEvent * objEv)
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{
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if(objEv->obj == GPSPositionHandle())
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gps_updated = true;
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if(objEv->obj == BaroAltitudeHandle())
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baro_updated = true;
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}
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/**
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* Locally cache some variables from the AtttitudeSettings object
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*/
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static void settingsUpdatedCb(UAVObjEvent * objEv) {
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RevoCalibrationData cal;
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RevoCalibrationGet(&cal);
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mag_bias[0] = cal.mag_bias[REVOCALIBRATION_MAG_BIAS_X];
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mag_bias[1] = cal.mag_bias[REVOCALIBRATION_MAG_BIAS_Y];
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mag_bias[2] = cal.mag_bias[REVOCALIBRATION_MAG_BIAS_Z];
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mag_scale[0] = cal.mag_scale[REVOCALIBRATION_MAG_SCALE_X];
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mag_scale[1] = cal.mag_scale[REVOCALIBRATION_MAG_SCALE_Y];
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mag_scale[2] = cal.mag_scale[REVOCALIBRATION_MAG_SCALE_Z];
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accel_bias[0] = cal.accel_bias[REVOCALIBRATION_ACCEL_BIAS_X];
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accel_bias[1] = cal.accel_bias[REVOCALIBRATION_ACCEL_BIAS_Y];
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accel_bias[2] = cal.accel_bias[REVOCALIBRATION_ACCEL_BIAS_Z];
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accel_scale[0] = cal.accel_scale[REVOCALIBRATION_ACCEL_SCALE_X];
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accel_scale[1] = cal.accel_scale[REVOCALIBRATION_ACCEL_SCALE_Y];
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accel_scale[2] = cal.accel_scale[REVOCALIBRATION_ACCEL_SCALE_Z];
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AttitudeSettingsData attitudeSettings;
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AttitudeSettingsGet(&attitudeSettings);
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// Indicates not to expend cycles on rotation
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if(attitudeSettings.BoardRotation[0] == 0 && attitudeSettings.BoardRotation[1] == 0 &&
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attitudeSettings.BoardRotation[2] == 0) {
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rotate = 0;
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} else {
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float rotationQuat[4];
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const float rpy[3] = {attitudeSettings.BoardRotation[ATTITUDESETTINGS_BOARDROTATION_ROLL],
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attitudeSettings.BoardRotation[ATTITUDESETTINGS_BOARDROTATION_PITCH],
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attitudeSettings.BoardRotation[ATTITUDESETTINGS_BOARDROTATION_YAW]};
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RPY2Quaternion(rpy, rotationQuat);
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Quaternion2R(rotationQuat, R);
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rotate = 1;
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}
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}
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/**
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* @}
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* @}
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*/
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