df_mpu6050_wrapper.cpp

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/**
 * @file df_mpu6050_wrapper.cpp
 * Lightweight driver to access the MPU6050 of the DriverFramework.
 */

#include <px4_platform_common/px4_config.h>

#include <sys/types.h>
#include <sys/stat.h>
#include <stdint.h>
#include <stddef.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include <unistd.h>
#include <px4_platform_common/getopt.h>
#include <errno.h>

#include <systemlib/err.h>
#include <lib/parameters/param.h>
#include <perf/perf_counter.h>
#include <systemlib/mavlink_log.h>

#include <drivers/drv_hrt.h>
#include <drivers/drv_accel.h>
#include <drivers/drv_gyro.h>
#include <drivers/device/integrator.h>

#include <lib/conversion/rotation.h>

#include <uORB/topics/parameter_update.h>

#include <mpu6050/MPU6050.hpp>
#include <DevMgr.hpp>

// We don't want to auto publish, therefore set this to 0.
#define MPU6050_NEVER_AUTOPUBLISH_US 0


extern "C" { __EXPORT int df_mpu6050_wrapper_main(int argc, char *argv[]); }

using namespace DriverFramework;


class DfMPU6050Wrapper : public MPU6050
{
public:
    DfMPU6050Wrapper(enum Rotation rotation);
    ~DfMPU6050Wrapper();


    /**
     * Start automatic measurement.
     *
     * @return 0 on success
     */
    int     start();

    /**
     * Stop automatic measurement.
     *
     * @return 0 on success
     */
    int     stop();

    /**
     * Print some debug info.
     */
    void        info();

private:
    int _publish(struct imu_sensor_data &data);

    void _update_accel_calibration();
    void _update_gyro_calibration();

    orb_advert_t            _accel_topic;
    orb_advert_t            _gyro_topic;

    orb_advert_t            _mavlink_log_pub;

    int             _param_update_sub;

    struct accel_calibration_s {
        float x_offset;
        float x_scale;
        float y_offset;
        float y_scale;
        float z_offset;
        float z_scale;
    } _accel_calibration;

    struct gyro_calibration_s {
        float x_offset;
        float x_scale;
        float y_offset;
        float y_scale;
        float z_offset;
        float z_scale;
    } _gyro_calibration;

    matrix::Dcmf        _rotation_matrix;

    int             _accel_orb_class_instance;
    int             _gyro_orb_class_instance;

    Integrator          _accel_int;
    Integrator          _gyro_int;

    unsigned            _publish_count;

    perf_counter_t          _read_counter;
    perf_counter_t          _error_counter;
    perf_counter_t          _fifo_overflow_counter;
    perf_counter_t          _fifo_corruption_counter;
    perf_counter_t          _gyro_range_hit_counter;
    perf_counter_t          _accel_range_hit_counter;
    perf_counter_t          _publish_perf;

    hrt_abstime         _last_accel_range_hit_time;
    uint64_t            _last_accel_range_hit_count;

};

DfMPU6050Wrapper::DfMPU6050Wrapper(enum Rotation rotation) :
    MPU6050(IMU_DEVICE_PATH),
    _accel_topic(nullptr),
    _gyro_topic(nullptr),
    _mavlink_log_pub(nullptr),
    _param_update_sub(-1),
    _accel_calibration{},
    _gyro_calibration{},
    _accel_orb_class_instance(-1),
    _gyro_orb_class_instance(-1),
    _accel_int(MPU6050_NEVER_AUTOPUBLISH_US, false),
    _gyro_int(MPU6050_NEVER_AUTOPUBLISH_US, true),
    _publish_count(0),
    _read_counter(perf_alloc(PC_COUNT, "mpu6050_reads")),
    _error_counter(perf_alloc(PC_COUNT, "mpu6050_errors")),
    _fifo_overflow_counter(perf_alloc(PC_COUNT, "mpu6050_fifo_overflows")),
    _fifo_corruption_counter(perf_alloc(PC_COUNT, "mpu6050_fifo_corruptions")),
    _gyro_range_hit_counter(perf_alloc(PC_COUNT, "mpu6050_gyro_range_hits")),
    _accel_range_hit_counter(perf_alloc(PC_COUNT, "mpu6050_accel_range_hits")),
    _publish_perf(perf_alloc(PC_ELAPSED, "mpu6050_publish")),
    _last_accel_range_hit_time(0),
    _last_accel_range_hit_count(0)
{
    // Set sane default calibration values
    _accel_calibration.x_scale = 1.0f;
    _accel_calibration.y_scale = 1.0f;
    _accel_calibration.z_scale = 1.0f;
    _accel_calibration.x_offset = 0.0f;
    _accel_calibration.y_offset = 0.0f;
    _accel_calibration.z_offset = 0.0f;

    _gyro_calibration.x_scale = 1.0f;
    _gyro_calibration.y_scale = 1.0f;
    _gyro_calibration.z_scale = 1.0f;
    _gyro_calibration.x_offset = 0.0f;
    _gyro_calibration.y_offset = 0.0f;
    _gyro_calibration.z_offset = 0.0f;

    // Get sensor rotation matrix
    _rotation_matrix = get_rot_matrix(rotation);
}

DfMPU6050Wrapper::~DfMPU6050Wrapper()
{
    perf_free(_read_counter);
    perf_free(_error_counter);
    perf_free(_fifo_overflow_counter);
    perf_free(_fifo_corruption_counter);
    perf_free(_gyro_range_hit_counter);
    perf_free(_accel_range_hit_counter);

    perf_free(_publish_perf);
}

int DfMPU6050Wrapper::start()
{
    /* Subscribe to param update topic. */
    if (_param_update_sub < 0) {
        _param_update_sub = orb_subscribe(ORB_ID(parameter_update));
    }

    /* Init device and start sensor. */
    int ret = init();

    if (ret != 0) {
        PX4_ERR("MPU6050 init fail: %d", ret);
        return ret;
    }

    ret = MPU6050::start();

    if (ret != 0) {
        PX4_ERR("MPU6050 start fail: %d", ret);
        return ret;
    }

    PX4_DEBUG("MPU6050 device id is: %d", m_id.dev_id);

    /* Force getting the calibration values. */
    _update_accel_calibration();
    _update_gyro_calibration();

    return 0;
}

int DfMPU6050Wrapper::stop()
{
    /* Stop sensor. */
    int ret = MPU6050::stop();

    if (ret != 0) {
        PX4_ERR("MPU6050 stop fail: %d", ret);
        return ret;
    }

    return 0;
}

void DfMPU6050Wrapper::info()
{
    perf_print_counter(_read_counter);
    perf_print_counter(_error_counter);
    perf_print_counter(_fifo_overflow_counter);
    perf_print_counter(_fifo_corruption_counter);
    perf_print_counter(_gyro_range_hit_counter);
    perf_print_counter(_accel_range_hit_counter);

    perf_print_counter(_publish_perf);
}

void DfMPU6050Wrapper::_update_gyro_calibration()
{
    // TODO: replace magic number
    for (unsigned i = 0; i < 3; ++i) {

        // TODO: remove printfs and add error counter

        char str[30];
        (void)sprintf(str, "CAL_GYRO%u_ID", i);
        int32_t device_id;
        int res = param_get(param_find(str), &device_id);

        if (res != OK) {
            PX4_ERR("Could not access param %s", str);
            continue;
        }

        if ((uint32_t)device_id != m_id.dev_id) {
            continue;
        }

        (void)sprintf(str, "CAL_GYRO%u_XSCALE", i);
        res = param_get(param_find(str), &_gyro_calibration.x_scale);

        if (res != OK) {
            PX4_ERR("Could not access param %s", str);
        }

        (void)sprintf(str, "CAL_GYRO%u_YSCALE", i);
        res = param_get(param_find(str), &_gyro_calibration.y_scale);

        if (res != OK) {
            PX4_ERR("Could not access param %s", str);
        }

        (void)sprintf(str, "CAL_GYRO%u_ZSCALE", i);
        res = param_get(param_find(str), &_gyro_calibration.z_scale);

        if (res != OK) {
            PX4_ERR("Could not access param %s", str);
        }

        (void)sprintf(str, "CAL_GYRO%u_XOFF", i);
        res = param_get(param_find(str), &_gyro_calibration.x_offset);

        if (res != OK) {
            PX4_ERR("Could not access param %s", str);
        }

        (void)sprintf(str, "CAL_GYRO%u_YOFF", i);
        res = param_get(param_find(str), &_gyro_calibration.y_offset);

        if (res != OK) {
            PX4_ERR("Could not access param %s", str);
        }

        (void)sprintf(str, "CAL_GYRO%u_ZOFF", i);
        res = param_get(param_find(str), &_gyro_calibration.z_offset);

        if (res != OK) {
            PX4_ERR("Could not access param %s", str);
        }

        // We got calibration values, let's exit.
        return;
    }

    _gyro_calibration.x_scale = 1.0f;
    _gyro_calibration.y_scale = 1.0f;
    _gyro_calibration.z_scale = 1.0f;
    _gyro_calibration.x_offset = 0.0f;
    _gyro_calibration.y_offset = 0.0f;
    _gyro_calibration.z_offset = 0.0f;
}

void DfMPU6050Wrapper::_update_accel_calibration()
{
    // TODO: replace magic number
    for (unsigned i = 0; i < 3; ++i) {

        // TODO: remove printfs and add error counter

        char str[30];
        (void)sprintf(str, "CAL_ACC%u_ID", i);
        int32_t device_id;
        int res = param_get(param_find(str), &device_id);

        if (res != OK) {
            PX4_ERR("Could not access param %s", str);
            continue;
        }

        if ((uint32_t)device_id != m_id.dev_id) {
            continue;
        }

        (void)sprintf(str, "CAL_ACC%u_XSCALE", i);
        res = param_get(param_find(str), &_accel_calibration.x_scale);

        if (res != OK) {
            PX4_ERR("Could not access param %s", str);
        }

        (void)sprintf(str, "CAL_ACC%u_YSCALE", i);
        res = param_get(param_find(str), &_accel_calibration.y_scale);

        if (res != OK) {
            PX4_ERR("Could not access param %s", str);
        }

        (void)sprintf(str, "CAL_ACC%u_ZSCALE", i);
        res = param_get(param_find(str), &_accel_calibration.z_scale);

        if (res != OK) {
            PX4_ERR("Could not access param %s", str);
        }

        (void)sprintf(str, "CAL_ACC%u_XOFF", i);
        res = param_get(param_find(str), &_accel_calibration.x_offset);

        if (res != OK) {
            PX4_ERR("Could not access param %s", str);
        }

        (void)sprintf(str, "CAL_ACC%u_YOFF", i);
        res = param_get(param_find(str), &_accel_calibration.y_offset);

        if (res != OK) {
            PX4_ERR("Could not access param %s", str);
        }

        (void)sprintf(str, "CAL_ACC%u_ZOFF", i);
        res = param_get(param_find(str), &_accel_calibration.z_offset);

        if (res != OK) {
            PX4_ERR("Could not access param %s", str);
        }

        // We got calibration values, let's exit.
        return;
    }

    // Set sane default calibration values
    _accel_calibration.x_scale = 1.0f;
    _accel_calibration.y_scale = 1.0f;
    _accel_calibration.z_scale = 1.0f;
    _accel_calibration.x_offset = 0.0f;
    _accel_calibration.y_offset = 0.0f;
    _accel_calibration.z_offset = 0.0f;
}

int DfMPU6050Wrapper::_publish(struct imu_sensor_data &data)
{
    /* Check if calibration values are still up-to-date. */
    bool updated;
    orb_check(_param_update_sub, &updated);

    if (updated) {
        parameter_update_s parameter_update;
        orb_copy(ORB_ID(parameter_update), _param_update_sub, &parameter_update);

        _update_accel_calibration();
        _update_gyro_calibration();
    }

    uint64_t now = hrt_absolute_time();

    matrix::Vector3f vec_integrated_unused;
    uint32_t integral_dt_unused;

    matrix::Vector3f accel_val(data.accel_m_s2_x, data.accel_m_s2_y, data.accel_m_s2_z);

    // apply sensor rotation on the accel measurement
    accel_val = _rotation_matrix * accel_val;

    accel_val(0) = (accel_val(0) - _accel_calibration.x_offset) * _accel_calibration.x_scale;
    accel_val(1) = (accel_val(1) - _accel_calibration.y_offset) * _accel_calibration.y_scale;
    accel_val(2) = (accel_val(2) - _accel_calibration.z_offset) * _accel_calibration.z_scale;

    _accel_int.put(now,
               accel_val,
               vec_integrated_unused,
               integral_dt_unused);

    matrix::Vector3f gyro_val(data.gyro_rad_s_x, data.gyro_rad_s_y, data.gyro_rad_s_z);

    // apply sensor rotation on the gyro measurement
    gyro_val = _rotation_matrix * gyro_val;

    gyro_val(0) = (gyro_val(0) - _gyro_calibration.x_offset) * _gyro_calibration.x_scale;
    gyro_val(1) = (gyro_val(1) - _gyro_calibration.y_offset) * _gyro_calibration.y_scale;
    gyro_val(2) = (gyro_val(2) - _gyro_calibration.z_offset) * _gyro_calibration.z_scale;

    _gyro_int.put(now,
              gyro_val,
              vec_integrated_unused,
              integral_dt_unused);

    // If we are not receiving the last sample from the FIFO buffer yet, let's stop here
    // and wait for more packets.
    if (!data.is_last_fifo_sample) {
        return 0;
    }

    // The driver empties the FIFO buffer at 1kHz, however we only need to publish at 250Hz.
    // Therefore, only publish every forth time.
    ++_publish_count;

    if (_publish_count < 4) {
        return 0;
    }

    _publish_count = 0;

    // Update all the counters.
    perf_set_count(_read_counter, data.read_counter);
    perf_set_count(_error_counter, data.error_counter);
    perf_set_count(_fifo_overflow_counter, data.fifo_overflow_counter);
    perf_set_count(_fifo_corruption_counter, data.fifo_overflow_counter);
    perf_set_count(_gyro_range_hit_counter, data.gyro_range_hit_counter);
    perf_set_count(_accel_range_hit_counter, data.accel_range_hit_counter);

    perf_begin(_publish_perf);

    sensor_accel_s accel_report = {};
    sensor_gyro_s gyro_report = {};

    accel_report.timestamp = gyro_report.timestamp = hrt_absolute_time();

    // TODO: get these right
    gyro_report.scaling = -1.0f;
    gyro_report.device_id = m_id.dev_id;

    accel_report.scaling = -1.0f;
    accel_report.device_id = m_id.dev_id;

    // TODO: remove these (or get the values)
    gyro_report.x_raw = 0;
    gyro_report.y_raw = 0;
    gyro_report.z_raw = 0;

    accel_report.x_raw = 0;
    accel_report.y_raw = 0;
    accel_report.z_raw = 0;

    matrix::Vector3f gyro_val_filt;
    matrix::Vector3f accel_val_filt;

    // Read and reset.
    matrix::Vector3f gyro_val_integ = _gyro_int.get_and_filtered(true, gyro_report.integral_dt, gyro_val_filt);
    matrix::Vector3f accel_val_integ = _accel_int.get_and_filtered(true, accel_report.integral_dt, accel_val_filt);

    // Use the filtered (by integration) values to get smoother / less noisy data.
    gyro_report.x = gyro_val_filt(0);
    gyro_report.y = gyro_val_filt(1);
    gyro_report.z = gyro_val_filt(2);

    accel_report.x = accel_val_filt(0);
    accel_report.y = accel_val_filt(1);
    accel_report.z = accel_val_filt(2);

    gyro_report.x_integral = gyro_val_integ(0);
    gyro_report.y_integral = gyro_val_integ(1);
    gyro_report.z_integral = gyro_val_integ(2);

    accel_report.x_integral = accel_val_integ(0);
    accel_report.y_integral = accel_val_integ(1);
    accel_report.z_integral = accel_val_integ(2);

    // TODO: when is this ever blocked?
    if (!(m_pub_blocked)) {

        if (_gyro_topic == nullptr) {
            _gyro_topic = orb_advertise_multi(ORB_ID(sensor_gyro), &gyro_report,
                              &_gyro_orb_class_instance, ORB_PRIO_DEFAULT);

        } else {
            orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &gyro_report);
        }

        if (_accel_topic == nullptr) {
            _accel_topic = orb_advertise_multi(ORB_ID(sensor_accel), &accel_report,
                               &_accel_orb_class_instance, ORB_PRIO_DEFAULT);

        } else {
            orb_publish(ORB_ID(sensor_accel), _accel_topic, &accel_report);
        }

        // Report if there are high vibrations, every 10 times it happens.
        const bool threshold_reached = (data.accel_range_hit_counter - _last_accel_range_hit_count > 10);

        // Report every 5s.
        const bool due_to_report = (hrt_elapsed_time(&_last_accel_range_hit_time) > 5000000);

        if (threshold_reached && due_to_report) {
            mavlink_log_critical(&_mavlink_log_pub,
                         "High accelerations, range exceeded %llu times",
                         data.accel_range_hit_counter);

            _last_accel_range_hit_time = hrt_absolute_time();
            _last_accel_range_hit_count = data.accel_range_hit_counter;
        }
    }

    perf_end(_publish_perf);

    // TODO: check the return codes of this function
    return 0;
};


namespace df_mpu6050_wrapper
{

DfMPU6050Wrapper *g_dev = nullptr;

int start(enum Rotation rotation);
int stop();
int info();
void usage();

int start(enum Rotation rotation)
{
    g_dev = new DfMPU6050Wrapper(rotation);

    if (g_dev == nullptr) {
        PX4_ERR("failed instantiating DfMPU6050Wrapper object");
        return -1;
    }

    int ret = g_dev->start();

    if (ret != 0) {
        PX4_ERR("DfMPU6050Wrapper start failed");
        return ret;
    }

    // Open the IMU sensor
    DevHandle h;
    DevMgr::getHandle(IMU_DEVICE_PATH, h);

    if (!h.isValid()) {
        DF_LOG_INFO("Error: unable to obtain a valid handle for the receiver at: %s (%d)",
                IMU_DEVICE_PATH, h.getError());
        return -1;
    }

    DevMgr::releaseHandle(h);

    return 0;
}

int stop()
{
    if (g_dev == nullptr) {
        PX4_ERR("driver not running");
        return 1;
    }

    int ret = g_dev->stop();

    if (ret != 0) {
        PX4_ERR("driver could not be stopped");
        return ret;
    }

    delete g_dev;
    g_dev = nullptr;
    return 0;
}

/**
 * Print a little info about the driver.
 */
int
info()
{
    if (g_dev == nullptr) {
        PX4_ERR("driver not running");
        return 1;
    }

    PX4_INFO("state @ %p", g_dev);
    g_dev->info();

    return 0;
}

void
usage()
{
    PX4_INFO("Usage: df_mpu6050_wrapper 'start', 'info', 'stop'");
    PX4_INFO("options:");
    PX4_INFO("    -R rotation");
}

} // namespace df_mpu6050_wrapper


int
df_mpu6050_wrapper_main(int argc, char *argv[])
{
    int ch;
    enum Rotation rotation = ROTATION_NONE;
    int ret = 0;
    int myoptind = 1;
    const char *myoptarg = NULL;

    /* jump over start/off/etc and look at options first */
    while ((ch = px4_getopt(argc, argv, "R:", &myoptind, &myoptarg)) != EOF) {
        switch (ch) {
        case 'R':
            rotation = (enum Rotation)atoi(myoptarg);
            break;

        default:
            df_mpu6050_wrapper::usage();
            return 0;
        }
    }

    if (argc <= 1) {
        df_mpu6050_wrapper::usage();
        return 1;
    }

    const char *verb = argv[myoptind];

    if (!strcmp(verb, "start")) {
        ret = df_mpu6050_wrapper::start(rotation);
    }

    else if (!strcmp(verb, "stop")) {
        ret = df_mpu6050_wrapper::stop();
    }

    else if (!strcmp(verb, "info")) {
        ret = df_mpu6050_wrapper::info();
    }

    else {
        df_mpu6050_wrapper::usage();
        return 1;
    }

    return ret;
}