task.cpp

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/**
 * @file task.cpp
 *
 * Main task handling the temperature calibration process
 *
 * @author Beat Küng <beat-kueng@gmx.net>
 */

#include <uORB/PublicationQueued.hpp>
#include <uORB/topics/sensor_gyro.h>
#include <mathlib/mathlib.h>
#include <px4_platform_common/log.h>
#include <px4_platform_common/posix.h>
#include <px4_platform_common/tasks.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_led.h>

#include <unistd.h>

#include "common.h"
#include "temperature_calibration.h"
#include "accel.h"
#include "baro.h"
#include "gyro.h"

class TemperatureCalibration;

namespace temperature_calibration
{
TemperatureCalibration *instance = nullptr;
}


class TemperatureCalibration
{
public:
    /**
     * Constructor
     */
    TemperatureCalibration(bool accel, bool baro, bool gyro);

    /**
     * Destructor
     */
    ~TemperatureCalibration() = default;

    /**
     * Start task.
     *
     * @return      OK on success.
     */
    int     start();

    static int do_temperature_calibration(int argc, char *argv[]);

    void        task_main();

    void exit_task() { _force_task_exit = true; }

private:
    void publish_led_control(led_control_s &led_control);

    uORB::PublicationQueued<led_control_s> _led_control_pub{ORB_ID(led_control)};

    bool    _force_task_exit = false;
    int _control_task = -1;     // task handle for task

    bool _accel; ///< enable accel calibration?
    bool _baro; ///< enable baro calibration?
    bool _gyro; ///< enable gyro calibration?
};

TemperatureCalibration::TemperatureCalibration(bool accel, bool baro, bool gyro)
    : _accel(accel), _baro(baro), _gyro(gyro)
{
}

void TemperatureCalibration::task_main()
{
    // subscribe to all gyro instances
    int gyro_sub[SENSOR_COUNT_MAX] = {};
    px4_pollfd_struct_t fds[SENSOR_COUNT_MAX] = {};
    unsigned num_gyro = orb_group_count(ORB_ID(sensor_gyro));

    if (num_gyro > SENSOR_COUNT_MAX) {
        num_gyro = SENSOR_COUNT_MAX;
    }

    for (unsigned i = 0; i < num_gyro; i++) {
        gyro_sub[i] = orb_subscribe_multi(ORB_ID(sensor_gyro), i);
        fds[i].fd = gyro_sub[i];
        fds[i].events = POLLIN;
    }

    int32_t min_temp_rise = 24;
    param_get(param_find("SYS_CAL_TDEL"), &min_temp_rise);
    PX4_INFO("Waiting for %i degrees difference in sensor temperature", min_temp_rise);

    int32_t min_start_temp = 5;
    param_get(param_find("SYS_CAL_TMIN"), &min_start_temp);

    int32_t max_start_temp = 10;
    param_get(param_find("SYS_CAL_TMAX"), &max_start_temp);

    //init calibrators
    TemperatureCalibrationBase *calibrators[3];
    bool error_reported[3] = {};
    int num_calibrators = 0;

    if (_accel) {
        calibrators[num_calibrators] = new TemperatureCalibrationAccel(min_temp_rise, min_start_temp, max_start_temp);

        if (calibrators[num_calibrators]) {
            ++num_calibrators;

        } else {
            PX4_ERR("alloc failed");
        }
    }

    if (_baro) {
        calibrators[num_calibrators] = new TemperatureCalibrationBaro(min_temp_rise, min_start_temp, max_start_temp);

        if (calibrators[num_calibrators]) {
            ++num_calibrators;

        } else {
            PX4_ERR("alloc failed");
        }
    }

    if (_gyro) {
        calibrators[num_calibrators] = new TemperatureCalibrationGyro(min_temp_rise, min_start_temp, max_start_temp, gyro_sub,
                num_gyro);

        if (calibrators[num_calibrators]) {
            ++num_calibrators;

        } else {
            PX4_ERR("alloc failed");
        }
    }

    // reset params
    for (int i = 0; i < num_calibrators; ++i) {
        calibrators[i]->reset_calibration();
    }

    // make sure the system updates the changed parameters
    param_notify_changes();

    px4_usleep(300000); // wait a bit for the system to apply the parameters

    hrt_abstime next_progress_output = hrt_absolute_time() + 1e6;

    // control LED's: blink, then turn solid according to progress
    led_control_s led_control = {};
    led_control.led_mask = 0xff;
    led_control.mode = led_control_s::MODE_BLINK_NORMAL;
    led_control.priority = led_control_s::MAX_PRIORITY;
    led_control.color = led_control_s::COLOR_YELLOW;
    led_control.num_blinks = 0;
    publish_led_control(led_control);
    int leds_completed = 0;

    bool abort_calibration = false;

    while (!_force_task_exit) {
        /* we poll on the gyro(s), since this is the sensor with the highest update rate.
         * Each individual sensor will then check on its own if there's new data.
         */
        int ret = px4_poll(fds, num_gyro, 1000);

        if (ret < 0) {
            // Poll error, sleep and try again
            px4_usleep(10000);
            continue;

        } else if (ret == 0) {
            // Poll timeout or no new data, do nothing
            continue;
        }

        //if gyro is not enabled: we must do an orb_copy here, so that poll() does not immediately return again
        if (!_gyro) {
            sensor_gyro_s gyro_data;

            for (unsigned i = 0; i < num_gyro; ++i) {
                orb_copy(ORB_ID(sensor_gyro), gyro_sub[i], &gyro_data);
            }
        }

        int min_progress = 110;

        for (int i = 0; i < num_calibrators; ++i) {
            ret = calibrators[i]->update();

            if (ret == -TC_ERROR_COMMUNICATION) {
                abort_calibration = true;
                PX4_ERR("Calibration won't start - sensor bad or communication error");
                _force_task_exit = true;
                break;

            } else if (ret == -TC_ERROR_INITIAL_TEMP_TOO_HIGH) {
                abort_calibration = true;
                PX4_ERR("Calibration won't start - sensor temperature too high");
                _force_task_exit = true;
                break;

            } else if (ret < 0 && !error_reported[i]) {
                // temperature has decreased so calibration is not being updated
                error_reported[i] = true;
                PX4_ERR("Calibration update step failed (%i)", ret);

            } else if (ret < min_progress) {
                // temperature is stable or increasing
                min_progress = ret;
            }
        }

        if (min_progress == 110 || abort_calibration) {
            break; // we are done
        }

        int led_progress = min_progress * BOARD_MAX_LEDS / 100;

        for (; leds_completed < led_progress; ++leds_completed) {
            led_control.led_mask = 1 << leds_completed;
            led_control.mode = led_control_s::MODE_ON;
            publish_led_control(led_control);
        }

        //print progress each second
        hrt_abstime now = hrt_absolute_time();

        if (now > next_progress_output) {
            PX4_INFO("Calibration progress: %i%%", min_progress);
            next_progress_output = now + 1e6;
        }
    }

    if (abort_calibration) {
        led_control.color = led_control_s::COLOR_RED;

    } else {
        PX4_INFO("Sensor Measurments completed");

        // save params immediately so that we can check the result and don't have to wait for param save timeout
        param_control_autosave(false);

        // do final calculations & parameter storage
        for (int i = 0; i < num_calibrators; ++i) {
            int ret = calibrators[i]->finish();

            if (ret < 0) {
                PX4_ERR("Failed to finish calibration process (%i)", ret);
            }
        }

        param_notify_changes();
        int ret = param_save_default();

        if (ret != 0) {
            PX4_ERR("Failed to save params (%i)", ret);
        }

        param_control_autosave(true);

        led_control.color = led_control_s::COLOR_GREEN;
    }

    // blink the LED's according to success/failure
    led_control.led_mask = 0xff;
    led_control.mode = led_control_s::MODE_BLINK_FAST;
    led_control.num_blinks = 0;
    publish_led_control(led_control);

    for (int i = 0; i < num_calibrators; ++i) {
        delete calibrators[i];
    }

    for (unsigned i = 0; i < num_gyro; i++) {
        orb_unsubscribe(gyro_sub[i]);
    }

    delete temperature_calibration::instance;
    temperature_calibration::instance = nullptr;
    PX4_INFO("Exiting temperature calibration task");
}

int TemperatureCalibration::do_temperature_calibration(int argc, char *argv[])
{
    temperature_calibration::instance->task_main();
    return 0;
}

int TemperatureCalibration::start()
{

    _control_task = px4_task_spawn_cmd("temperature_calib",
                       SCHED_DEFAULT,
                       SCHED_PRIORITY_MAX - 5,
                       5800,
                       (px4_main_t)&TemperatureCalibration::do_temperature_calibration,
                       nullptr);

    if (_control_task < 0) {
        delete temperature_calibration::instance;
        temperature_calibration::instance = nullptr;
        PX4_ERR("start failed");
        return -errno;
    }

    return 0;
}

void TemperatureCalibration::publish_led_control(led_control_s &led_control)
{
    led_control.timestamp = hrt_absolute_time();
    _led_control_pub.publish(led_control);
}

int run_temperature_calibration(bool accel, bool baro, bool gyro)
{
    PX4_INFO("Starting temperature calibration task (accel=%i, baro=%i, gyro=%i)", (int)accel, (int)baro, (int)gyro);
    temperature_calibration::instance = new TemperatureCalibration(accel, baro, gyro);

    if (temperature_calibration::instance == nullptr) {
        PX4_ERR("alloc failed");
        return 1;
    }

    return temperature_calibration::instance->start();
}