PX4Gyroscope.cpp

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#include "PX4Gyroscope.hpp"

#include <lib/drivers/device/Device.hpp>

PX4Gyroscope::PX4Gyroscope(uint32_t device_id, uint8_t priority, enum Rotation rotation) :
    CDev(nullptr),
    ModuleParams(nullptr),
    _sensor_gyro_pub{ORB_ID(sensor_gyro), priority},
    _sensor_gyro_control_pub{ORB_ID(sensor_gyro_control), priority},
    _rotation{rotation}
{
    _class_device_instance = register_class_devname(GYRO_BASE_DEVICE_PATH);

    _sensor_gyro_pub.get().device_id = device_id;
    _sensor_gyro_pub.get().scaling = 1.0f;
    _sensor_gyro_control_pub.get().device_id = device_id;

    // set software low pass filter for controllers
    updateParams();
    configure_filter(_param_imu_gyro_cutoff.get());
}

PX4Gyroscope::~PX4Gyroscope()
{
    if (_class_device_instance != -1) {
        unregister_class_devname(GYRO_BASE_DEVICE_PATH, _class_device_instance);
    }
}

int
PX4Gyroscope::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
{
    switch (cmd) {
    case GYROIOCSSCALE: {
            // Copy offsets and scale factors in
            gyro_calibration_s cal{};
            memcpy(&cal, (gyro_calibration_s *) arg, sizeof(cal));

            _calibration_offset = matrix::Vector3f{cal.x_offset, cal.y_offset, cal.z_offset};
            _calibration_scale = matrix::Vector3f{cal.x_scale, cal.y_scale, cal.z_scale};
        }

        return PX4_OK;

    case DEVIOCGDEVICEID:
        return _sensor_gyro_pub.get().device_id;

    default:
        return -ENOTTY;
    }
}

void
PX4Gyroscope::set_device_type(uint8_t devtype)
{
    // current DeviceStructure
    union device::Device::DeviceId device_id;
    device_id.devid = _sensor_gyro_pub.get().device_id;

    // update to new device type
    device_id.devid_s.devtype = devtype;

    // copy back to report
    _sensor_gyro_pub.get().device_id = device_id.devid;
    _sensor_gyro_control_pub.get().device_id = device_id.devid;
}

void
PX4Gyroscope::set_sample_rate(unsigned rate)
{
    _sample_rate = rate;
    _filter.set_cutoff_frequency(_sample_rate, _filter.get_cutoff_freq());
}

void
PX4Gyroscope::update(hrt_abstime timestamp, float x, float y, float z)
{
    sensor_gyro_s &report = _sensor_gyro_pub.get();
    report.timestamp = timestamp;

    // Apply rotation (before scaling)
    rotate_3f(_rotation, x, y, z);

    const matrix::Vector3f raw{x, y, z};

    // Apply range scale and the calibrating offset/scale
    const matrix::Vector3f val_calibrated{(((raw * report.scaling) - _calibration_offset).emult(_calibration_scale))};

    // Filtered values
    const matrix::Vector3f val_filtered{_filter.apply(val_calibrated)};


    // publish control data (filtered gyro) immediately
    bool publish_control = true;
    sensor_gyro_control_s &control = _sensor_gyro_control_pub.get();

    if (_param_imu_gyro_rate_max.get() > 0) {
        const uint64_t interval = 1e6f / _param_imu_gyro_rate_max.get();

        if (hrt_elapsed_time(&control.timestamp_sample) < interval) {
            publish_control = false;
        }
    }

    if (publish_control) {
        control.timestamp_sample = timestamp;
        val_filtered.copyTo(control.xyz);
        control.timestamp = hrt_absolute_time();
        _sensor_gyro_control_pub.update();  // publish
    }


    // Integrated values
    matrix::Vector3f integrated_value;
    uint32_t integral_dt = 0;

    if (_integrator.put(timestamp, val_calibrated, integrated_value, integral_dt)) {

        // Raw values (ADC units 0 - 65535)
        report.x_raw = x;
        report.y_raw = y;
        report.z_raw = z;

        report.x = val_filtered(0);
        report.y = val_filtered(1);
        report.z = val_filtered(2);

        report.integral_dt = integral_dt;
        report.x_integral = integrated_value(0);
        report.y_integral = integrated_value(1);
        report.z_integral = integrated_value(2);

        poll_notify(POLLIN);
        _sensor_gyro_pub.update();  // publish
    }
}

void
PX4Gyroscope::print_status()
{
    PX4_INFO(GYRO_BASE_DEVICE_PATH " device instance: %d", _class_device_instance);
    PX4_INFO("sample rate: %d Hz", _sample_rate);
    PX4_INFO("filter cutoff: %.3f Hz", (double)_filter.get_cutoff_freq());

    PX4_INFO("calibration scale: %.5f %.5f %.5f", (double)_calibration_scale(0), (double)_calibration_scale(1),
         (double)_calibration_scale(2));
    PX4_INFO("calibration offset: %.5f %.5f %.5f", (double)_calibration_offset(0), (double)_calibration_offset(1),
         (double)_calibration_offset(2));

    print_message(_sensor_gyro_pub.get());
    print_message(_sensor_gyro_control_pub.get());
}