mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-25 08:36:08 +08:00
uavcan: add IMU sensor support
This commit is contained in:
Dima Ponomarev
GitHub
@@ -151,6 +151,8 @@ px4_add_module(
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sensors/gnss.cpp
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sensors/mag.cpp
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sensors/rangefinder.cpp
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sensors/accel.cpp
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sensors/gyro.cpp
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DEPENDS
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px4_uavcan_dsdlc
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@@ -0,0 +1,108 @@
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/****************************************************************************
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*
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* Copyright (c) 2020 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @author Dmitry Ponomarev <ponomarevda96@gmail.com>
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*/
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#include "accel.hpp"
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#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
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const char *const UavcanAccelBridge::NAME = "accel";
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UavcanAccelBridge::UavcanAccelBridge(uavcan::INode &node) :
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UavcanSensorBridgeBase("uavcan_accel", ORB_ID(sensor_accel)),
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_sub_imu_data(node)
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{ }
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int UavcanAccelBridge::init()
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{
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int res = _sub_imu_data.start(ImuCbBinder(this, &UavcanAccelBridge::imu_sub_cb));
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if (res < 0) {
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DEVICE_LOG("failed to start uavcan sub: %d", res);
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return res;
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}
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return 0;
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}
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void UavcanAccelBridge::imu_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::RawIMU> &msg)
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{
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uavcan_bridge::Channel *channel = get_channel_for_node(msg.getSrcNodeID().get());
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const hrt_abstime timestamp_sample = hrt_absolute_time();
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if (channel == nullptr) {
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// Something went wrong - no channel to publish on; return
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return;
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}
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// Cast our generic CDev pointer to the sensor-specific driver class
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PX4Accelerometer *accel = (PX4Accelerometer *)channel->h_driver;
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if (accel == nullptr) {
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return;
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}
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accel->set_error_count(0);
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accel->update(timestamp_sample, msg.accelerometer_latest[0], msg.accelerometer_latest[1], msg.accelerometer_latest[2]);
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}
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int UavcanAccelBridge::init_driver(uavcan_bridge::Channel *channel)
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{
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// update device id as we now know our device node_id
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DeviceId device_id{_device_id};
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device_id.devid_s.devtype = DRV_ACC_DEVTYPE_UAVCAN;
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device_id.devid_s.address = static_cast<uint8_t>(channel->node_id);
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channel->h_driver = new PX4Accelerometer(device_id.devid);
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if (channel->h_driver == nullptr) {
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return PX4_ERROR;
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}
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PX4Accelerometer *accel = (PX4Accelerometer *)channel->h_driver;
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channel->instance = accel->get_instance();
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if (channel->instance < 0) {
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PX4_ERR("UavcanAccel: Unable to get a class instance");
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delete accel;
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channel->h_driver = nullptr;
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return PX4_ERROR;
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}
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return PX4_OK;
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}
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@@ -0,0 +1,68 @@
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/****************************************************************************
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*
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* Copyright (c) 2020 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
|
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @author Dmitry Ponomarev <ponomarevda96@gmail.com>
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*/
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#pragma once
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#include "sensor_bridge.hpp"
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#include <uavcan/equipment/ahrs/RawIMU.hpp>
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class UavcanAccelBridge : public UavcanSensorBridgeBase
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{
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public:
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static const char *const NAME;
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UavcanAccelBridge(uavcan::INode &node);
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const char *get_name() const override { return NAME; }
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int init() override;
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private:
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void imu_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::RawIMU> &msg);
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int init_driver(uavcan_bridge::Channel *channel) override;
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typedef uavcan::MethodBinder < UavcanAccelBridge *,
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void (UavcanAccelBridge::*)
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(const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::RawIMU> &) >
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ImuCbBinder;
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uavcan::Subscriber<uavcan::equipment::ahrs::RawIMU, ImuCbBinder> _sub_imu_data;
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};
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@@ -0,0 +1,108 @@
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/****************************************************************************
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*
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* Copyright (c) 2020 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
|
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* notice, this list of conditions and the following disclaimer.
|
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* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
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* the documentation and/or other materials provided with the
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* distribution.
|
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
|
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @author Dmitry Ponomarev <ponomarevda96@gmail.com>
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*/
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#include "gyro.hpp"
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#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
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const char *const UavcanGyroBridge::NAME = "gyro";
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UavcanGyroBridge::UavcanGyroBridge(uavcan::INode &node) :
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UavcanSensorBridgeBase("uavcan_gyro", ORB_ID(sensor_gyro)),
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_sub_imu_data(node)
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{ }
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int UavcanGyroBridge::init()
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{
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int res = _sub_imu_data.start(ImuCbBinder(this, &UavcanGyroBridge::imu_sub_cb));
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if (res < 0) {
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DEVICE_LOG("failed to start uavcan sub: %d", res);
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return res;
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}
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return 0;
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}
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void UavcanGyroBridge::imu_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::RawIMU> &msg)
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{
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uavcan_bridge::Channel *channel = get_channel_for_node(msg.getSrcNodeID().get());
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if (channel == nullptr) {
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// Something went wrong - no channel to publish on; return
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return;
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}
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// Cast our generic CDev pointer to the sensor-specific driver class
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PX4Gyroscope *gyro = (PX4Gyroscope *)channel->h_driver;
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if (gyro == nullptr) {
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return;
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}
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gyro->update(hrt_absolute_time(),
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msg.rate_gyro_latest[0],
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msg.rate_gyro_latest[1],
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msg.rate_gyro_latest[2]);
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}
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int UavcanGyroBridge::init_driver(uavcan_bridge::Channel *channel)
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{
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// update device id as we now know our device node_id
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DeviceId device_id{_device_id};
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device_id.devid_s.devtype = DRV_GYR_DEVTYPE_UAVCAN;
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device_id.devid_s.address = static_cast<uint8_t>(channel->node_id);
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channel->h_driver = new PX4Gyroscope(device_id.devid);
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if (channel->h_driver == nullptr) {
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return PX4_ERROR;
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}
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PX4Gyroscope *gyro = (PX4Gyroscope *)channel->h_driver;
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channel->instance = gyro->get_instance();
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if (channel->instance < 0) {
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PX4_ERR("UavcanGyro: Unable to get a class instance");
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delete gyro;
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channel->h_driver = nullptr;
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return PX4_ERROR;
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}
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return PX4_OK;
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}
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@@ -0,0 +1,68 @@
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/****************************************************************************
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*
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* Copyright (c) 2020 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
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* are met:
|
||||
*
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||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
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* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
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****************************************************************************/
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/**
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* @author Dmitry Ponomarev <ponomarevda96@gmail.com>
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*/
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#pragma once
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#include "sensor_bridge.hpp"
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#include <uavcan/equipment/ahrs/RawIMU.hpp>
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class UavcanGyroBridge : public UavcanSensorBridgeBase
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{
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public:
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static const char *const NAME;
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UavcanGyroBridge(uavcan::INode &node);
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const char *get_name() const override { return NAME; }
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int init() override;
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private:
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void imu_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::RawIMU> &msg);
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int init_driver(uavcan_bridge::Channel *channel) override;
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typedef uavcan::MethodBinder < UavcanGyroBridge *,
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void (UavcanGyroBridge::*)
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(const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::RawIMU> &) >
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ImuCbBinder;
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uavcan::Subscriber<uavcan::equipment::ahrs::RawIMU, ImuCbBinder> _sub_imu_data;
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};
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@@ -46,6 +46,8 @@
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#include "flow.hpp"
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#include "mag.hpp"
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#include "rangefinder.hpp"
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#include "accel.hpp"
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#include "gyro.hpp"
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/*
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* IUavcanSensorBridge
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@@ -60,6 +62,8 @@ void IUavcanSensorBridge::make_all(uavcan::INode &node, List<IUavcanSensorBridge
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list.add(new UavcanAirspeedBridge(node));
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list.add(new UavcanDifferentialPressureBridge(node));
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list.add(new UavcanRangefinderBridge(node));
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list.add(new UavcanAccelBridge(node));
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list.add(new UavcanGyroBridge(node));
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}
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/*
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@@ -62,6 +62,8 @@ public:
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void updateFIFO(sensor_accel_fifo_s &sample);
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int get_instance() { return _sensor_pub.get_instance(); };
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private:
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void Publish(const hrt_abstime ×tamp_sample, float x, float y, float z, uint8_t clip_count[3],
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uint8_t samples = 1);
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@@ -1,3 +1,4 @@
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/****************************************************************************
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*
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* Copyright (c) 2018-2020 PX4 Development Team. All rights reserved.
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@@ -61,6 +62,8 @@ public:
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void updateFIFO(sensor_gyro_fifo_s &sample);
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int get_instance() { return _sensor_pub.get_instance(); };
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private:
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void Publish(const hrt_abstime ×tamp_sample, float x, float y, float z, uint8_t samples = 1);
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