Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-26 01:35:41 +03:00
Code Issues Wiki Activity
betaflight/src/main/sensors/compass.c
ctzsnooze a8834ad14b
Mag scheduling improvements (#13166) 
* Improved QMC driver, scheduled silent interval

* add ODR to drivers and use it to set the quiet period

* add MAG_TASK_RATE debug for testing

* don't do a read if the bus is busy - thanks, Petr

* refactoring and simplification, thanks to Steve

---------

Co-authored-by: Steve Evans <SteveCEvans@users.noreply.github.com>
2023-11-28 00:55:01 +00:00

612 lines
20 KiB
C
Raw Blame History

/*
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software under the terms of the
* GNU General Public License as published by the Free Software
* Foundation, either version 3 of the License, or (at your option)
* any later version.
*
* Cleanflight and Betaflight are distributed in the hope that they
* will be useful, but WITHOUT ANY WARRANTY; without even the implied
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include <string.h>
#include <math.h>
#include "platform.h"
#if defined(USE_MAG)
#include "build/debug.h"
#include "common/axis.h"
#include "common/maths.h"
#include "config/config.h"
#include "drivers/bus.h"
#include "drivers/bus_i2c.h"
#include "drivers/bus_i2c_busdev.h"
#include "drivers/bus_spi.h"
#include "drivers/compass/compass.h"
#include "drivers/compass/compass_ak8975.h"
#include "drivers/compass/compass_ak8963.h"
#include "drivers/compass/compass_virtual.h"
#include "drivers/compass/compass_hmc5883l.h"
#include "drivers/compass/compass_lis3mdl.h"
#include "drivers/compass/compass_mpu925x_ak8963.h"
#include "drivers/compass/compass_qmc5883l.h"
#include "drivers/compass/compass_ist8310.h"
#include "drivers/io.h"
#include "drivers/light_led.h"
#include "drivers/time.h"
#include "fc/runtime_config.h"
#include "pg/pg.h"
#include "pg/pg_ids.h"
#include "scheduler/scheduler.h"
#include "sensors/boardalignment.h"
#include "sensors/gyro.h"
#include "sensors/gyro_init.h"
#include "sensors/sensors.h"
#include "compass.h"
#define LAMBDA_MIN 0.95f // minimal adaptive forgetting factor, range: [0.90, 0.99], currently tuned for 200 Hz
// (TASK_COMPASS_RATE_HZ) and update rate of compassBiasEstimatorApply(), not the mag readout
// rate.
// offline evaluations showed that 10 Hz is ok, 50 Hz is better and above 100 Hz is good.
// TBC with online tests.
#define P0 1.0e2f // value to initialize P(0) = diag([P0, P0, P0, P0]), typically in range: (1, 1000)
#define CALIBRATION_WAIT_US (15 * 1000 * 1000) // wait for movement to start and trigger the calibration routine in us
#define GYRO_NORM_SQUARED_MIN sq(DEGREES_TO_RADIANS(450.0f)) // minimal value that has to be reached so that the calibration routine starts in (rad/sec)^2,
// a relatively high value so that the calibration routine is not triggered too early
#define CALIBRATION_TIME_US (30 * 1000 * 1000) // duration of the calibration phase in us
static timeUs_t tCal = 0;
static bool didMovementStart = false;
static compassBiasEstimator_t compassBiasEstimator;
magDev_t magDev;
mag_t mag;
PG_REGISTER_WITH_RESET_FN(compassConfig_t, compassConfig, PG_COMPASS_CONFIG, 3);
// If the i2c bus is busy, try again in 500us
#define COMPASS_BUS_BUSY_INTERVAL_US 500
// If we check for new mag data, and there is none, try again in 1000us
#define COMPASS_RECHECK_INTERVAL_US 1000
// default compass read interval, for those with no specified ODR, will be TASK_COMPASS_RATE_HZ
static uint32_t compassReadIntervalUs = TASK_PERIOD_HZ(TASK_COMPASS_RATE_HZ);
void pgResetFn_compassConfig(compassConfig_t *compassConfig)
{
compassConfig->mag_alignment = ALIGN_DEFAULT;
memset(&compassConfig->mag_customAlignment, 0x00, sizeof(compassConfig->mag_customAlignment));
compassConfig->mag_hardware = MAG_DEFAULT;
#ifndef MAG_I2C_ADDRESS
#define MAG_I2C_ADDRESS 0
#endif
// Generate a reasonable default for backward compatibility
// Strategy is
// 1. If SPI device is defined, it will take precedence, assuming it's onboard.
// 2. I2C devices are will be handled by address = 0 (per device default).
// 3. Slave I2C device on SPI gyro
#if defined(USE_SPI_MAG) && (defined(USE_MAG_SPI_HMC5883) || defined(USE_MAG_SPI_AK8963))
compassConfig->mag_busType = BUS_TYPE_SPI;
compassConfig->mag_spi_device = SPI_DEV_TO_CFG(spiDeviceByInstance(MAG_SPI_INSTANCE));
compassConfig->mag_spi_csn = IO_TAG(MAG_CS_PIN);
compassConfig->mag_i2c_device = I2C_DEV_TO_CFG(I2CINVALID);
compassConfig->mag_i2c_address = 0;
#elif defined(USE_MAG_HMC5883) || defined(USE_MAG_QMC5883) || defined(USE_MAG_AK8975) || defined(USE_MAG_IST8310) || (defined(USE_MAG_AK8963) && !(defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU9250)))
compassConfig->mag_busType = BUS_TYPE_I2C;
compassConfig->mag_i2c_device = I2C_DEV_TO_CFG(MAG_I2C_INSTANCE);
compassConfig->mag_i2c_address = MAG_I2C_ADDRESS;
compassConfig->mag_spi_device = SPI_DEV_TO_CFG(SPIINVALID);
compassConfig->mag_spi_csn = IO_TAG_NONE;
#elif defined(USE_MAG_AK8963) && (defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU9250))
compassConfig->mag_busType = BUS_TYPE_MPU_SLAVE;
compassConfig->mag_i2c_device = I2C_DEV_TO_CFG(I2CINVALID);
compassConfig->mag_i2c_address = MAG_I2C_ADDRESS;
compassConfig->mag_spi_device = SPI_DEV_TO_CFG(SPIINVALID);
compassConfig->mag_spi_csn = IO_TAG_NONE;
#else
compassConfig->mag_hardware = MAG_NONE;
compassConfig->mag_busType = BUS_TYPE_NONE;
compassConfig->mag_i2c_device = I2C_DEV_TO_CFG(I2CINVALID);
compassConfig->mag_i2c_address = 0;
compassConfig->mag_spi_device = SPI_DEV_TO_CFG(SPIINVALID);
compassConfig->mag_spi_csn = IO_TAG_NONE;
#endif
compassConfig->interruptTag = IO_TAG(MAG_INT_EXTI);
}
static int16_t magADCRaw[XYZ_AXIS_COUNT];
void compassPreInit(void)
{
#ifdef USE_SPI
if (compassConfig()->mag_busType == BUS_TYPE_SPI) {
spiPreinitRegister(compassConfig()->mag_spi_csn, IOCFG_IPU, 1);
}
#endif
}
#if !defined(SIMULATOR_BUILD)
bool compassDetect(magDev_t *magDev, uint8_t *alignment)
{
*alignment = ALIGN_DEFAULT; // may be overridden if target specifies MAG_*_ALIGN
magSensor_e magHardware = MAG_NONE;
extDevice_t *dev = &magDev->dev;
// Associate magnetometer bus with its device
dev->bus = &magDev->bus;
#ifdef USE_MAG_DATA_READY_SIGNAL
magDev->magIntExtiTag = compassConfig()->interruptTag;
#endif
switch (compassConfig()->mag_busType) {
#ifdef USE_I2C
case BUS_TYPE_I2C:
i2cBusSetInstance(dev, compassConfig()->mag_i2c_device);
dev->busType_u.i2c.address = compassConfig()->mag_i2c_address;
break;
#endif
#ifdef USE_SPI
case BUS_TYPE_SPI:
{
if (!spiSetBusInstance(dev, compassConfig()->mag_spi_device)) {
return false;
}
dev->busType_u.spi.csnPin = IOGetByTag(compassConfig()->mag_spi_csn);
}
break;
#endif
#if defined(USE_MAG_AK8963) && (defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU9250))
case BUS_TYPE_MPU_SLAVE:
{
if (gyroMpuDetectionResult()->sensor == MPU_9250_SPI) {
extDevice_t *masterDev = &gyroActiveDev()->dev;
dev->busType_u.i2c.address = compassConfig()->mag_i2c_address;
dev->bus->busType = BUS_TYPE_MPU_SLAVE;
dev->bus->busType_u.mpuSlave.master = masterDev;
} else {
return false;
}
}
break;
#endif
default:
return false;
}
switch (compassConfig()->mag_hardware) {
case MAG_DEFAULT:
FALLTHROUGH;
case MAG_HMC5883:
#if defined(USE_MAG_HMC5883) || defined(USE_MAG_SPI_HMC5883)
if (dev->bus->busType == BUS_TYPE_I2C) {
dev->busType_u.i2c.address = compassConfig()->mag_i2c_address;
}
if (hmc5883lDetect(magDev)) {
#ifdef MAG_HMC5883_ALIGN
*alignment = MAG_HMC5883_ALIGN;
#endif
magHardware = MAG_HMC5883;
break;
}
#endif
FALLTHROUGH;
case MAG_LIS3MDL:
#if defined(USE_MAG_LIS3MDL)
if (dev->bus->busType == BUS_TYPE_I2C) {
dev->busType_u.i2c.address = compassConfig()->mag_i2c_address;
}
if (lis3mdlDetect(magDev)) {
#ifdef MAG_LIS3MDL_ALIGN
*alignment = MAG_LIS3MDL_ALIGN;
#endif
magHardware = MAG_LIS3MDL;
break;
}
#endif
FALLTHROUGH;
case MAG_AK8975:
#ifdef USE_MAG_AK8975
if (dev->bus->busType == BUS_TYPE_I2C) {
dev->busType_u.i2c.address = compassConfig()->mag_i2c_address;
}
if (ak8975Detect(magDev)) {
#ifdef MAG_AK8975_ALIGN
*alignment = MAG_AK8975_ALIGN;
#endif
magHardware = MAG_AK8975;
break;
}
#endif
FALLTHROUGH;
case MAG_AK8963:
#if defined(USE_MAG_AK8963) || defined(USE_MAG_SPI_AK8963)
if (dev->bus->busType == BUS_TYPE_I2C) {
dev->busType_u.i2c.address = compassConfig()->mag_i2c_address;
}
if (gyroMpuDetectionResult()->sensor == MPU_9250_SPI) {
dev->bus->busType = BUS_TYPE_MPU_SLAVE;
dev->busType_u.mpuSlave.address = compassConfig()->mag_i2c_address;
dev->bus->busType_u.mpuSlave.master = &gyroActiveDev()->dev;
}
if (ak8963Detect(magDev)) {
#ifdef MAG_AK8963_ALIGN
*alignment = MAG_AK8963_ALIGN;
#endif
magHardware = MAG_AK8963;
break;
}
#endif
FALLTHROUGH;
case MAG_QMC5883:
#ifdef USE_MAG_QMC5883
if (dev->bus->busType == BUS_TYPE_I2C) {
dev->busType_u.i2c.address = compassConfig()->mag_i2c_address;
}
if (qmc5883lDetect(magDev)) {
#ifdef MAG_QMC5883L_ALIGN
*alignment = MAG_QMC5883L_ALIGN;
#endif
magHardware = MAG_QMC5883;
break;
}
#endif
FALLTHROUGH;
case MAG_IST8310:
#ifdef USE_MAG_IST8310
if (dev->bus->busType == BUS_TYPE_I2C) {
dev->busType_u.i2c.address = compassConfig()->mag_i2c_address;
}
if (ist8310Detect(magDev)) {
#ifdef MAG_IST8310_ALIGN
*alignment = MAG_IST8310_ALIGN;
#endif
magHardware = MAG_IST8310;
break;
}
#endif
FALLTHROUGH;
case MAG_NONE:
magHardware = MAG_NONE;
break;
}
// MAG_MPU925X_AK8963 is an MPU925x configured as I2C passthrough to the built-in AK8963 magnetometer
// Passthrough mode disables the gyro/acc part of the MPU, so we only want to detect this sensor if mag_hardware was explicitly set to MAG_MPU925X_AK8963
#ifdef USE_MAG_MPU925X_AK8963
if (compassConfig()->mag_hardware == MAG_MPU925X_AK8963){
if (mpu925Xak8963CompassDetect(magDev)) {
magHardware = MAG_MPU925X_AK8963;
} else {
return false;
}
}
#endif
if (magHardware == MAG_NONE) {
return false;
}
detectedSensors[SENSOR_INDEX_MAG] = magHardware;
sensorsSet(SENSOR_MAG);
return true;
}
#else
bool compassDetect(magDev_t *dev, sensor_align_e *alignment)
{
UNUSED(dev);
UNUSED(alignment);
return false;
}
#endif // !SIMULATOR_BUILD
bool compassInit(void)
{
// initialize and calibration. turn on led during mag calibration (calibration routine blinks it)
sensor_align_e alignment;
if (!compassDetect(&magDev, &alignment)) {
return false;
}
LED1_ON;
magDev.init(&magDev);
LED1_OFF;
magDev.magAlignment = alignment;
if (compassConfig()->mag_alignment != ALIGN_DEFAULT) {
magDev.magAlignment = compassConfig()->mag_alignment;
}
buildRotationMatrixFromAlignment(&compassConfig()->mag_customAlignment, &magDev.rotationMatrix);
if (magDev.magOdrHz) {
// For Mags that send data at a fixed ODR, we wait some quiet period after a read before checking for new data
// allow two re-check intervals, plus a margin for clock variations in mag vs FC
uint16_t odrInterval = 1e6 / magDev.magOdrHz;
compassReadIntervalUs = odrInterval - (2 * COMPASS_RECHECK_INTERVAL_US) - (odrInterval / 20);
} else {
// Mags which have no specified ODR will be pinged at the compass task rate
compassReadIntervalUs = TASK_PERIOD_HZ(TASK_COMPASS_RATE_HZ);
}
return true;
}
bool compassIsHealthy(void)
{
return (mag.magADC[X] != 0) && (mag.magADC[Y] != 0) && (mag.magADC[Z] != 0);
}
void compassStartCalibration(void)
{
// starting now, the user has CALIBRATION_WAIT_US to start moving the quad and trigger the actual calibration routine
tCal = micros() + CALIBRATION_WAIT_US;
flightDynamicsTrims_t *magZero = &compassConfigMutable()->magZero;
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
magZero->raw[axis] = 0;
}
didMovementStart = false;
// reset / update the compass bias estimator for faster convergence
compassBiasEstimatorUpdate(&compassBiasEstimator, LAMBDA_MIN, P0);
}
bool compassIsCalibrationComplete(void)
{
return tCal == 0;
}
uint32_t compassUpdate(timeUs_t currentTimeUs)
{
static timeUs_t previousTaskTimeUs = 0;
const timeDelta_t dTaskTimeUs = cmpTimeUs(currentTimeUs, previousTaskTimeUs);
previousTaskTimeUs = currentTimeUs;
DEBUG_SET(DEBUG_MAG_TASK_RATE, 6, dTaskTimeUs);
bool checkBusBusy = busBusy(&magDev.dev, NULL);
DEBUG_SET(DEBUG_MAG_TASK_RATE, 4, checkBusBusy);
if (checkBusBusy) {
// No action is taken, as the bus was busy.
schedulerIgnoreTaskExecRate();
return COMPASS_BUS_BUSY_INTERVAL_US; // come back in 500us, maybe the bus won't be busy then
}
bool checkReadState = !magDev.read(&magDev, magADCRaw);
DEBUG_SET(DEBUG_MAG_TASK_RATE, 5, checkReadState);
if (checkReadState) {
// The compass reported no data available to be retrieved; it may use a state engine that has more than one read state
schedulerIgnoreTaskExecRate();
return COMPASS_RECHECK_INTERVAL_US; // come back in 1ms, maybe data will be available then
}
// if we get here, we have new data to parse
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
mag.magADC[axis] = magADCRaw[axis];
}
// If debug_mode is DEBUG_GPS_RESCUE_HEADING, we should update the magYaw value, after which isNewMagADCFlag will be set false
mag.isNewMagADCFlag = true;
if (magDev.magAlignment == ALIGN_CUSTOM) {
alignSensorViaMatrix(mag.magADC, &magDev.rotationMatrix);
} else {
alignSensorViaRotation(mag.magADC, magDev.magAlignment);
}
flightDynamicsTrims_t *magZero = &compassConfigMutable()->magZero;
if (tCal != 0) {
if (cmpTimeUs(tCal, currentTimeUs) > 0) {
LED0_TOGGLE;
// it is assumed that the user has started to move the quad if squared norm of rotational speed vector is greater than GYRO_NORM_SQUARED_MIN
float gyroNormSquared = 0.0f;
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
gyroNormSquared += sq(DEGREES_TO_RADIANS(gyroGetFilteredDownsampled(axis)));
}
// check if movement has started
if (!didMovementStart && gyroNormSquared > GYRO_NORM_SQUARED_MIN) {
didMovementStart = true;
// starting now, the user has CALIBRATION_TIME_US to move the quad in a figure of eight in all directions
tCal = micros() + CALIBRATION_TIME_US;
}
// only start calibration after the user has started to move the quad
if (didMovementStart) {
compassBiasEstimatorApply(&compassBiasEstimator, mag.magADC);
}
} else {
tCal = 0;
// only copy the estimated bias and save it to the config if the user has actually triggered the calibration routine
if (didMovementStart) {
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
magZero->raw[axis] = lrintf(compassBiasEstimator.b[axis]);
}
saveConfigAndNotify();
}
}
}
// remove bias
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
mag.magADC[axis] -= magZero->raw[axis];
}
if (debugMode == DEBUG_MAG_CALIB) {
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
// DEBUG 0-2: magADC[X], magADC[Y], magADC[Z]
DEBUG_SET(DEBUG_MAG_CALIB, axis, lrintf(mag.magADC[axis]));
// DEBUG 4-6: estimated magnetometer bias
DEBUG_SET(DEBUG_MAG_CALIB, axis + 4, lrintf(compassBiasEstimator.b[axis]));
}
// DEBUG 3: norm / length of magADC, ideally the norm stays constant independent of the orientation of the quad
DEBUG_SET(DEBUG_MAG_CALIB, 3, lrintf(sqrtf(sq(mag.magADC[X]) + sq(mag.magADC[Y]) + sq(mag.magADC[Z]))));
// map adaptive forgetting factor lambda from (lambda_min, 1.0f) -> (0, 2000)
const float mapLambdaGain = 1.0f / (1.0f - compassBiasEstimator.lambda_min + 1.0e-6f) * 2.0e3f;
// DEBUG 7: adaptive forgetting factor lambda, after the transient phase it should converge to 2000
DEBUG_SET(DEBUG_MAG_CALIB, 7, lrintf((compassBiasEstimator.lambda - compassBiasEstimator.lambda_min) * mapLambdaGain));
}
if (debugMode == DEBUG_MAG_TASK_RATE) {
static timeUs_t previousTimeUs = 0;
const timeDelta_t dataIntervalUs = cmpTimeUs(currentTimeUs, previousTimeUs); // time since last data received
previousTimeUs = currentTimeUs;
const uint16_t actualCompassDataRateHz = 1e6 / dataIntervalUs;
timeDelta_t executeTimeUs = micros() - currentTimeUs;
DEBUG_SET(DEBUG_MAG_TASK_RATE, 0, TASK_COMPASS_RATE_HZ);
DEBUG_SET(DEBUG_MAG_TASK_RATE, 1, actualCompassDataRateHz);
DEBUG_SET(DEBUG_MAG_TASK_RATE, 2, dataIntervalUs);
DEBUG_SET(DEBUG_MAG_TASK_RATE, 3, executeTimeUs); // time in uS to complete the mag task
}
// don't do the next read check until compassReadIntervalUs has expired
schedulerIgnoreTaskExecRate();
return compassReadIntervalUs;
}
// initialize the compass bias estimator
void compassBiasEstimatorInit(compassBiasEstimator_t *cBE, const float lambda_min, const float p0)
{
memset(cBE, 0, sizeof(*cBE)); // zero contained IEEE754 floats
// create identity matrix
for (unsigned i = 0; i < 4; i++) {
cBE->U[i][i] = 1.0f;
}
compassBiasEstimatorUpdate(cBE, lambda_min, p0);
cBE->lambda = lambda_min;
}
// reset / update the compass bias estimator, this can be used after the compass bias estimator did
// already run to achieve faster convergence for the next run
void compassBiasEstimatorUpdate(compassBiasEstimator_t *cBE, const float lambda_min, const float p0)
{
cBE->lambda_min = lambda_min;
// update diagonal entries for faster convergence
for (unsigned i = 0; i < 4; i++) {
cBE->D[i] = p0;
}
}
// apply one estimation step of the compass bias estimator
void compassBiasEstimatorApply(compassBiasEstimator_t *cBE, float *mag)
{
// update phi
float phi[4];
phi[0] = sq(mag[0]) + sq(mag[1]) + sq(mag[2]);
for (unsigned i = 0; i < 3; i++) {
phi[i + 1] = mag[i];
}
// update e
float e = 1.0f;
for (unsigned i = 0; i < 4; i++) {
e -= phi[i] * cBE->theta[i];
}
// U D U^T
float f[4];
float v[4];
for (unsigned i = 0; i < 4; i++) {
f[i] = 0.0f;
for (unsigned j = 0; j <= i; j++) {
f[i] += cBE->U[j][i] * phi[j];
}
v[i] = cBE->D[i] * f[i];
}
// first iteration
float alpha[4];
float k[4] = {0};
alpha[0] = cBE->lambda + v[0] * f[0];
cBE->D[0] /= alpha[0];
k[0] = v[0];
// rest of the iterations
for (unsigned i = 1; i < 4; i++) {
alpha[i] = alpha[i - 1] + v[i] * f[i];
cBE->D[i] *= alpha[i - 1] / (alpha[i] * cBE->lambda);
for (unsigned j = 0; j < i; j++) {
float dU = -(f[i] / alpha[i - 1]) * k[j];
k[j] += v[i] * cBE->U[j][i];
cBE->U[j][i] += dU;
}
k[i] += v[i];
}
// parameter-update
for (unsigned i = 0; i < 4; i++) {
cBE->theta[i] += (k[i] / alpha[3]) * e;
}
// bias update
for (unsigned i = 0; i < 3; i++) {
cBE->b[i] = -0.5f * cBE->theta[i + 1] / cBE->theta[0];
}
// compute zn
float U_v;
float phiTrans_U_v = 0.0f;
for (unsigned i = 0; i < 4; i++) {
U_v = 0.0f;
for (unsigned j = i; j < 4; j++) {
U_v += cBE->U[i][j] * v[j];
}
phiTrans_U_v += phi[i] * U_v;
}
float zn = cBE->lambda / (cBE->lambda + phiTrans_U_v);
// update lambda
cBE->lambda = cBE->lambda_min + (1.0f - cBE->lambda_min) * sq(zn);
}
#endif // USE_MAG
Reference in a new issue View git blame Copy permalink