source: flair-src/trunk/lib/FlairSensorActuator/src/Gx3_25_imu_impl.cpp@ 157

Last change on this file since 157 was 157, checked in by Sanahuja Guillaume, 7 years ago

iadded isready to iodevice:
avoid problem of imu not ready in ardrone2
File size: 18.2 KB
Line 
1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5// created: 2011/08/19
6// filename: Gx3_25_imu_impl.cpp
7//
8// author: Guillaume Sanahuja
9// Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11// version: $Id: $
12//
13// purpose: objet integrant la centrale 3dmgx3-25
14//
15//
16/*********************************************************************/
17
18#include "Gx3_25_imu_impl.h"
19#include <FrameworkManager.h>
20#include <SerialPort.h>
21#include <GroupBox.h>
22#include <SpinBox.h>
23#include <CheckBox.h>
24#include <PushButton.h>
25#include <Label.h>
26#include <ImuData.h>
27#include <AhrsData.h>
28#include <Euler.h>
29#include <Vector3D.h>
30#include <RotationMatrix.h>
31
32#include <math.h>
33#include <string.h>
34
35using std::string;
36using namespace flair::core;
37using namespace flair::gui;
38using namespace flair::sensor;
39
40Gx3_25_imu_impl::Gx3_25_imu_impl(Gx3_25_imu *self, string name,
41 SerialPort *serialport,
42 Gx3_25_imu::Command_t command,
43 GroupBox *setupgroupbox) {
44 int err = 0;
45
46 this->self = self;
47 this->command = (uint8_t)command;
48 this->setupgroupbox = setupgroupbox;
49 this->serialport = serialport;
50
51 ahrsData = new AhrsData((Imu *)self);
52
53 // station sol
54 button_bias = new PushButton(setupgroupbox->NewRow(), "gyros bias");
55 data_rate =
56 new SpinBox(setupgroupbox->NewRow(), "data rate (Hz):", 1, 500, 1, 200);
57 data_rate_label = new Label(setupgroupbox->LastRowLastCol(), "data_rate");
58 gyro_acc_size = new SpinBox(setupgroupbox->NewRow(),
59 "gyro and acc filter win size:", 1, 32, 1, 15);
60 mag_size = new SpinBox(setupgroupbox->LastRowLastCol(),
61 "mag filter win size:", 1, 32, 1, 17);
62 up_comp = new SpinBox(setupgroupbox->NewRow(), "up compensation (s):", 1,
63 1000, 1, 10);
64 north_comp = new SpinBox(setupgroupbox->LastRowLastCol(),
65 "north compensation (s):", 1, 1000, 1, 10);
66 coning =
67 new CheckBox(setupgroupbox->NewRow(), "enable Coning&Sculling:", true);
68 disable_magn = new CheckBox(setupgroupbox->LastRowLastCol(),
69 "disable magnetometer:", true);
70 disable_north_comp = new CheckBox(
71 setupgroupbox->NewRow(), "disable magnetic north compensation:", false);
72 disable_grav_comp = new CheckBox(setupgroupbox->NewRow(),
73 "disable gravity compensation:", false);
74}
75
76Gx3_25_imu_impl::~Gx3_25_imu_impl() {}
77
78void Gx3_25_imu_impl::Run(void) {
79 Time imuTime;
80 ImuData *imuData;
81 self->GetDatas(&imuData);
82
83 self->WarnUponSwitches(true);
84
85 // reset IMU to be sure it is at 115200
86 Printf("Gx3_25_imu::Reset IMU at 921600\n");
87 serialport->SetBaudrate(921600);
88 DeviceReset();
89 self->Thread::SleepMS(100);
90 serialport->FlushInput();
91 serialport->SetBaudrate(115200);
92
93 SetBaudrate(921600);
94 Printf("Gx3_25_imu firmware number: %i\n", FirmwareNumber());
95 PrintModelInfo();
96 SamplingSettings();
97 GyrosBias();
98 self->SetIsReady(true);
99 // RealignUpNorth(true,true);
100
101 // on provoque les 9 ValueChanged
102 for (int i = 0; i < 9; i++) {
103 if (data_rate->ValueChanged() == true ||
104 disable_magn->ValueChanged() == true ||
105 disable_north_comp->ValueChanged() == true ||
106 disable_grav_comp->ValueChanged() == true ||
107 coning->ValueChanged() == true ||
108 gyro_acc_size->ValueChanged() == true ||
109 mag_size->ValueChanged() == true || up_comp->ValueChanged() == true ||
110 north_comp->ValueChanged() == true) {
111 if (setupgroupbox->isEnabled() == true)
112 SamplingSettings();
113 }
114 }
115
116 // periode a passer en argument (reglable)
117 // ou plutot laisser la periode geree par le centrale (polling)
118 // self->SetPeriodMS(2);
119 SetContinuousMode(command);
120
121 while (!self->ToBeStopped()) {
122 if (command == Gx3_25_imu::EulerAnglesAndAngularRates) {
123 uint8_t response[31] = {0};
124 uint8_t *buf = &response[1];
125 GetData(response, sizeof(response), &imuTime);
126
127 Euler eulerAngles;
128 eulerAngles.roll = Dequeue(&buf);
129 eulerAngles.pitch = Dequeue(&buf);
130 eulerAngles.yaw = Dequeue(&buf);
131
132 Vector3D filteredAngRates;
133 filteredAngRates.x = Dequeue(&buf);
134 filteredAngRates.y = Dequeue(&buf);
135 filteredAngRates.z = Dequeue(&buf);
136
137 ahrsData->SetQuaternionAndAngularRates(eulerAngles.ToQuaternion(),
138 filteredAngRates);
139 } else if (command ==
140 Gx3_25_imu::AccelerationAngularRateAndOrientationMatrix) {
141 uint8_t response[67] = {0};
142 uint8_t *buf = &response[1];
143 GetData(response, sizeof(response), &imuTime);
144
145 Vector3D rawAcc;
146 rawAcc.x = 9.80665 * Dequeue(&buf);
147 rawAcc.y = 9.80665 * Dequeue(&buf);
148 rawAcc.z = 9.80665 * Dequeue(&buf);
149
150 Vector3D filteredAngRates;
151 filteredAngRates.x = Dequeue(&buf);
152 filteredAngRates.y = Dequeue(&buf);
153 filteredAngRates.z = Dequeue(&buf);
154
155 RotationMatrix matrix;
156 matrix(0, 0) = Dequeue(&buf);
157 matrix(0, 1) = Dequeue(&buf);
158 matrix(0, 2) = Dequeue(&buf);
159 matrix(1, 0) = Dequeue(&buf);
160 matrix(1, 1) = Dequeue(&buf);
161 matrix(1, 2) = Dequeue(&buf);
162 matrix(2, 0) = Dequeue(&buf);
163 matrix(2, 1) = Dequeue(&buf);
164 matrix(2, 2) = Dequeue(&buf);
165
166 ahrsData->SetQuaternionAndAngularRates(matrix.ToQuaternion(),
167 filteredAngRates);
168 imuData->SetRawAcc(rawAcc);
169 } else if (command == Gx3_25_imu::Quaternion) {
170 uint8_t response[23] = {0};
171 uint8_t *buf = &response[1];
172 GetData(response, sizeof(response), &imuTime);
173
174 Quaternion quaternion;
175 quaternion.q0 = Dequeue(&buf);
176 quaternion.q1 = Dequeue(&buf);
177 quaternion.q2 = Dequeue(&buf);
178 quaternion.q3 = Dequeue(&buf);
179
180 Vector3D filteredAngRates;
181 filteredAngRates.x = 0;
182 filteredAngRates.y = 0;
183 filteredAngRates.z = 0;
184
185 ahrsData->SetQuaternionAndAngularRates(quaternion,
186 filteredAngRates);
187 }
188
189 // change settings as soon as possible
190 // we assume that new imu datas will not come so fast
191 // so newt message from imu is an ack from the change settings
192 if (button_bias->Clicked() == true)
193 GyrosBias();
194
195 if (data_rate->ValueChanged() == true ||
196 disable_magn->ValueChanged() == true ||
197 disable_north_comp->ValueChanged() == true ||
198 disable_grav_comp->ValueChanged() == true ||
199 coning->ValueChanged() == true ||
200 gyro_acc_size->ValueChanged() == true ||
201 mag_size->ValueChanged() == true || up_comp->ValueChanged() == true ||
202 north_comp->ValueChanged() == true) {
203 if (setupgroupbox->isEnabled() == true)
204 SamplingSettings();
205 }
206
207 imuData->SetDataTime(imuTime);
208 ahrsData->SetDataTime(imuTime);
209 self->UpdateImu();
210 self->ProcessUpdate(ahrsData);
211 }
212 SetContinuousMode(0);
213 SetBaudrate(115200);
214
215 self->WarnUponSwitches(false);
216}
217
218void Gx3_25_imu_impl::GetData(uint8_t *buf, ssize_t buf_size, Time *time) {
219 ssize_t read = 0;
220 ssize_t written = 0;
221 /*
222 written = serialport->Write(&command, sizeof(command));
223 if(written<0)
224 {
225 self->Thread::Err("Write error (%s)\n",strerror(-written));
226 }
227 else if (written != sizeof(command))
228 {
229 self->Thread::Err("Write error %i/%i\n",written,sizeof(command));
230 }
231 */
232 read = serialport->Read(buf, buf_size);
233 *time = GetTime();
234 if (read < 0) {
235 self->Thread::Err("Read error (%s)\n", strerror(-read));
236 } else if (read != buf_size) {
237 self->Thread::Err("Read error %i/%i\n", read, buf_size);
238 }
239
240 if (CalcChecksum(buf, buf_size) == false) {
241 self->Thread::Err("wrong checksum\n");
242 return;
243 }
244}
245
246float Gx3_25_imu_impl::Dequeue(uint8_t **buf) {
247 union float_4uint8 {
248 float f;
249 uint8_t b[4];
250 } float_value;
251
252 float_value.b[0] = (*buf)[3];
253 float_value.b[1] = (*buf)[2];
254 float_value.b[2] = (*buf)[1];
255 float_value.b[3] = (*buf)[0];
256 (*buf) += sizeof(float);
257
258 return float_value.f;
259}
260
261void Gx3_25_imu_impl::GyrosBias(void) {
262 if (setupgroupbox->isEnabled() == true) { // devrait toujours etre bon
263 uint8_t response[19] = {0};
264 uint8_t command[5];
265 ssize_t read = 0;
266 ssize_t written = 0;
267
268 Printf("Gx3_25_imu::calibrating gyros, do not move imu\n");
269
270 command[0] = 0xcd; // entete
271 command[1] = 0xc1; // confirm
272 command[2] = 0x29; // confirm
273 command[3] = 0x27; // time MSB en us
274 command[4] = 0x10; // time LSB en us
275
276 written = serialport->Write(&command, sizeof(command));
277 if (written < 0) {
278 self->Thread::Err("Write error (%s)\n", strerror(-written));
279 } else if (written != sizeof(command)) {
280 self->Thread::Err("Write error %i/%i\n", written, sizeof(command));
281 }
282
283 self->SleepUS(1.1 * (command[3] * 256 +
284 command[4])); // on fait un sleep un peu plus grand
285
286 read = serialport->Read(&response[0], sizeof(response));
287 if (read < 0) {
288 self->Thread::Err("Read error (%s)\n", strerror(-read));
289 } else if (read != sizeof(response)) {
290 self->Thread::Err("Read error %i/%i\n", read, sizeof(response));
291 }
292
293 if (CalcChecksum(response, sizeof(response)) == false) {
294 self->Thread::Err("wrong checksum\n");
295 // return -1;
296 }
297
298 Printf("Gx3_25_imu::calibration done\n");
299
300 } else {
301 self->Thread::Err("error locked\n");
302 }
303}
304
305void Gx3_25_imu_impl::SetContinuousMode(uint8_t continuous_command) {
306 uint8_t response[8] = {0};
307 uint8_t command[4];
308 ssize_t read = 0;
309 ssize_t written = 0;
310
311 command[0] = 0xc4; // entete
312 command[1] = 0xc1; // confirm
313 command[2] = 0x29; // confirm
314 command[3] = continuous_command;
315
316 written = serialport->Write(command, sizeof(command));
317 if (written < 0) {
318 self->Thread::Err("Write error (%s)\n", strerror(-written));
319 } else if (written != sizeof(command)) {
320 self->Thread::Err("Write error %i/%i\n", written, sizeof(command));
321 }
322
323 read = serialport->Read(response, sizeof(response));
324 if (read < 0) {
325 self->Thread::Err("Read error (%s)\n", strerror(-read));
326 } else if (read != sizeof(response)) {
327 self->Thread::Err("Read error %i/%i\n", read, sizeof(response));
328 }
329
330 if (CalcChecksum(response, sizeof(response)) == false) {
331 self->Thread::Err("wrong checksum\n", self->IODevice::ObjectName().c_str());
332 }
333}
334
335void Gx3_25_imu_impl::SamplingSettings(void) {
336 uint8_t response[19] = {0};
337 uint8_t command[20];
338 uint8_t result;
339 ssize_t read = 0;
340 ssize_t written = 0;
341
342 uint16_t rate = 1000 / data_rate->Value();
343
344 command[0] = 0xdb; // entete
345 command[1] = 0xa8; // confirm
346 command[2] = 0xb9; // confirm
347 command[3] = 1; // change values
348 command[4] = (rate >> 8) & 0xff; // data rate MSB
349 command[5] = rate & 0xff; // data rate LSB
350 result = 0;
351 if (disable_magn->IsChecked() == true) result |= 0x01;
352 if (disable_north_comp->IsChecked() == true) result |= 0x04;
353 if (disable_grav_comp->IsChecked() == true) result |= 0x08;
354 if (this->command == Gx3_25_imu::Quaternion) result |= 0x10;//enable quaternion
355 command[6] = result;
356
357 result = 0x01; // Calculate orientation
358 if (coning->IsChecked() == true)
359 result |= 0x02;
360
361 command[7] = result;
362 command[8] = gyro_acc_size->Value(); // gyro acc filter window
363 command[9] = mag_size->Value(); // mag filter window
364 command[10] = (up_comp->Value() >> 8) & 0xff; // up comp MSB
365 command[11] = up_comp->Value() & 0xff; // up comp LSB
366 command[12] = (north_comp->Value() >> 8) & 0xff; // north comp MSB
367 command[13] = north_comp->Value() & 0xff; // north comp LSB
368 command[14] = 0; // reserved
369 command[15] = 0; // reserved
370 command[16] = 0; // reserved
371 command[17] = 0; // reserved
372 command[18] = 0; // reserved
373 command[19] = 0; // reserved
374
375 written = serialport->Write(&command, sizeof(command));
376 if (written < 0) {
377 self->Thread::Err("Write error (%s)\n", strerror(-written));
378 } else if (written != sizeof(command)) {
379 self->Thread::Err("Write error %i/%i\n", written, sizeof(command));
380 }
381
382 read = serialport->Read(&response[0], sizeof(response));
383 if (read < 0) {
384 self->Thread::Err("Read error (%s)\n", strerror(-read));
385 } else if (read != sizeof(response)) {
386 self->Thread::Err("Read error %i/%i\n", read, sizeof(response));
387 }
388
389 if (CalcChecksum(response, sizeof(response)) == false) {
390 self->Thread::Err("wrong checksum\n", self->IODevice::ObjectName().c_str());
391 } else {
392 data_rate_label->SetText("real: %.2fHz", 1000. / rate);
393 }
394}
395
396void Gx3_25_imu_impl::SetBaudrate(int value) {
397 uint8_t response[10] = {0};
398 uint8_t command[11];
399 ssize_t read = 0;
400 ssize_t written = 0;
401
402 union int32_4uint8 {
403 int32_t i;
404 uint8_t b[4];
405 } baudrate_value;
406
407 baudrate_value.i = value;
408 Printf("Gx3_25_imu::SetBaudrate: %s ->%i\n",
409 self->IODevice::ObjectName().c_str(), baudrate_value.i);
410
411 command[0] = 0xd9; // entete
412 command[1] = 0xc3; // confirm
413 command[2] = 0x55; // confirm
414 command[3] = 1; // primary uart
415 command[4] = 1; // chgt temporaire
416 command[5] = baudrate_value.b[3];
417 command[6] = baudrate_value.b[2];
418 command[7] = baudrate_value.b[1];
419 command[8] = baudrate_value.b[0];
420 command[9] = 2; // uart enabled
421 command[10] = 0; // reserved
422
423 written = serialport->Write(&command, sizeof(command));
424 if (written < 0) {
425 self->Thread::Err("Write error (%s)\n", strerror(-written));
426 } else if (written != sizeof(command)) {
427 self->Thread::Err("Write error %i/%i\n", written, sizeof(command));
428 }
429
430 read = serialport->Read(&response[0], sizeof(response));
431 if (read < 0) {
432 self->Thread::Err("Read error (%s)\n", strerror(-read));
433 } else if (read != sizeof(response)) {
434 self->Thread::Err("Read error %i/%i\n", read, sizeof(response));
435 }
436
437 if (CalcChecksum(response, sizeof(response)) == false) {
438 self->Thread::Err("wrong checksum\n");
439 return;
440 }
441
442 serialport->SetBaudrate(value);
443}
444
445int Gx3_25_imu_impl::FirmwareNumber(void) {
446 uint8_t response[7] = {0};
447 uint8_t command;
448 ssize_t read = 0;
449 ssize_t written = 0;
450 union int32_4uint8 {
451 int32_t i;
452 uint8_t b[4];
453 } value;
454
455 command = 0xe9; // entete
456
457 written = serialport->Write(&command, sizeof(command));
458 if (written < 0) {
459 self->Thread::Err("Write error (%s)\n", strerror(-written));
460 } else if (written != sizeof(command)) {
461 self->Thread::Err("Write error %i/%i\n", written, sizeof(command));
462 }
463
464 read = serialport->Read(&response[0], sizeof(response));
465 if (read < 0) {
466 self->Thread::Err("Read error (%s)\n", strerror(-read));
467 } else if (read != sizeof(response)) {
468 self->Thread::Err("Read error %i/%i\n", read, sizeof(response));
469 }
470
471 if (CalcChecksum(response, sizeof(response)) == false) {
472 self->Thread::Err("wrong checksum\n");
473 return -1;
474 }
475
476 value.b[3] = response[1];
477 value.b[2] = response[2];
478 value.b[1] = response[3];
479 value.b[0] = response[4];
480
481 return value.i;
482}
483
484void Gx3_25_imu_impl::PrintModelInfo(void) {
485 uint8_t response[20] = {0};
486 uint8_t command[2];
487 ssize_t read = 0;
488 ssize_t written = 0;
489
490 for (int i = 0; i < 3; i++) {
491 command[0] = 0xea; // entete
492 command[1] = i; // entete
493
494 written = serialport->Write(&command, sizeof(command));
495 if (written < 0) {
496 self->Thread::Err("Write error (%s)\n", strerror(-written));
497 } else if (written != sizeof(command)) {
498 self->Thread::Err("Write error %i/%i\n", written, sizeof(command));
499 }
500
501 read = serialport->Read(&response[0], sizeof(response));
502 if (read < 0) {
503 self->Thread::Err("Read error (%s)\n", strerror(-read));
504 } else if (read != sizeof(response)) {
505 self->Thread::Err("Read error %i/%i\n", read, sizeof(response));
506 }
507
508 if (CalcChecksum(response, sizeof(response)) == false) {
509 self->Thread::Err("wrong checksum\n");
510 // return -1;
511 }
512
513 char *msg = (char *)(&response[2]);
514 msg[16] = 0;
515 switch (i) {
516 case 0:
517 Printf("Gx3_25_imu model number: %s\n", msg);
518 break;
519 case 1:
520 Printf("Gx3_25_imu serial number: %s\n", msg);
521 break;
522 case 2:
523 Printf("Gx3_25_imu model name: %s\n", msg);
524 break;
525 }
526 }
527}
528
529void Gx3_25_imu_impl::RealignUpNorth(bool realign_up, bool realign_north) {
530 uint8_t response[7] = {0};
531 uint8_t command[10];
532 ssize_t read = 0;
533 ssize_t written = 0;
534
535 command[0] = 0xdd; // entete
536 command[1] = 0x54; // confirm
537 command[2] = 0x4c; // confirm
538 command[3] = 0; // send reply
539 command[4] = 255; // up realign
540 command[5] = 1; // north realign
541 command[6] = 0; // reserved
542 command[7] = 0; // reserved
543 command[8] = 0; // reserved
544 command[9] = 0; // reserved
545
546 written = serialport->Write(&command, sizeof(command));
547 if (written < 0) {
548 self->Thread::Err("Write error (%s)\n", strerror(-written));
549 } else if (written != sizeof(command)) {
550 self->Thread::Err("Write error %i/%i\n", written, sizeof(command));
551 }
552
553 read = serialport->Read(&response[0], sizeof(response));
554 if (read < 0) {
555 self->Thread::Err("Read error(%s)\n", strerror(-read));
556 } else if (read != sizeof(response)) {
557 self->Thread::Err("Read error %i/%i\n", read, sizeof(response));
558 }
559
560 if (CalcChecksum(response, sizeof(response)) == false) {
561 self->Thread::Err("wrong checksum\n");
562 }
563}
564
565void Gx3_25_imu_impl::DeviceReset(void) {
566 uint8_t command[3];
567 ssize_t written = 0;
568
569 command[0] = 0xfe; // entete
570 command[1] = 0x9e; // confirm
571 command[2] = 0x3a; // confirm
572
573 written = serialport->Write(&command, sizeof(command));
574 if (written < 0) {
575 self->Thread::Err("Write error (%s)\n", strerror(-written));
576 } else if (written != sizeof(command)) {
577 self->Thread::Err("Write error %i/%i\n", written, sizeof(command));
578 }
579}
580
581bool Gx3_25_imu_impl::CalcChecksum(uint8_t *buf, int size) {
582 uint16_t tChksum, tResponseChksum;
583
584 tChksum = 0;
585 for (int i = 0; i < size - 2; i++)
586 tChksum += buf[i];
587 // Extract the big-endian checksum from reply
588 tResponseChksum = 0;
589 tResponseChksum = buf[size - 2] << 8;
590 tResponseChksum += buf[size - 1];
591
592 if (tChksum != tResponseChksum)
593 return false;
594 else
595 return true;
596}
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