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imu.go
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imu.go
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// Package imuvectornav implement vectornav imu
package imuvectornav
import (
"context"
"encoding/binary"
"sync"
"time"
"github.com/edaniels/golog"
"github.com/golang/geo/r3"
geo "github.com/kellydunn/golang-geo"
"github.com/pkg/errors"
goutils "go.viam.com/utils"
"go.viam.com/rdk/components/board"
"go.viam.com/rdk/components/movementsensor"
"go.viam.com/rdk/resource"
"go.viam.com/rdk/spatialmath"
"go.viam.com/rdk/utils"
)
var model = resource.DefaultModelFamily.WithModel("imu-vectornav")
// Config is used for converting a vectornav IMU MovementSensor config attributes.
type Config struct {
Board string `json:"board"`
SPI string `json:"spi"`
Speed *int `json:"spi_baud_rate"`
Pfreq *int `json:"polling_freq_hz"`
CSPin string `json:"chip_select_pin"`
}
// Validate ensures all parts of the config are valid.
func (cfg *Config) Validate(path string) ([]string, error) {
var deps []string
if cfg.Board == "" {
return nil, goutils.NewConfigValidationFieldRequiredError(path, "board")
}
if cfg.SPI == "" {
return nil, goutils.NewConfigValidationFieldRequiredError(path, "spi")
}
if cfg.Speed == nil {
return nil, goutils.NewConfigValidationFieldRequiredError(path, "spi_baud_rate")
}
if cfg.Pfreq == nil {
return nil, goutils.NewConfigValidationFieldRequiredError(path, "polling_freq_hz")
}
if cfg.CSPin == "" {
return nil, goutils.NewConfigValidationFieldRequiredError(path, "cs_pin (chip select pin)")
}
deps = append(deps, cfg.Board)
return deps, nil
}
func init() {
resource.RegisterComponent(movementsensor.API, model, resource.Registration[movementsensor.MovementSensor, *Config]{
Constructor: NewVectorNav,
})
}
type vectornav struct {
resource.Named
resource.AlwaysRebuild
angularVelocity spatialmath.AngularVelocity
acceleration r3.Vector
magnetometer r3.Vector
dV r3.Vector
dTheta r3.Vector
dt float32
orientation spatialmath.EulerAngles
mu sync.Mutex
spiMu sync.Mutex
polling int
cancelFunc func()
activeBackgroundWorkers sync.WaitGroup
bus board.SPI
cs string
speed int
logger golog.Logger
busClosed bool
bdVX float64
bdVY float64
bdVZ float64
}
const (
vectorNavSPIRead uint = 1
vectorNavSPIWrite uint = 2
vectorNavSPITare uint = 5
)
type vectornavRegister uint
const (
modelNumber vectornavRegister = 1
serialNumber vectornavRegister = 3
firmwareVersion vectornavRegister = 4
deltaVDeltaTheta vectornavRegister = 80
deltaVDeltaThetaConfig vectornavRegister = 82
yawPitchRollMagAccGyro vectornavRegister = 27
acceleration vectornavRegister = 18
referenceVectorConfiguration vectornavRegister = 83
magAccRefVectors vectornavRegister = 21
accCompensationConfiguration vectornavRegister = 25
vpeAccTunning vectornavRegister = 38
)
// NewVectorNav connect and set up a vectornav IMU over SPI.
// Will also compensate for acceleration and delta velocity bias over one second so be
// sure the IMU is still when calling this function.
func NewVectorNav(
ctx context.Context,
deps resource.Dependencies,
conf resource.Config,
logger golog.Logger,
) (movementsensor.MovementSensor, error) {
newConf, err := resource.NativeConfig[*Config](conf)
if err != nil {
return nil, err
}
boardName := newConf.Board
b, err := board.FromDependencies(deps, boardName)
if err != nil {
return nil, errors.Wrap(err, "vectornav init failed")
}
spiName := newConf.SPI
localB, ok := b.(board.LocalBoard)
if !ok {
return nil, errors.Errorf("vectornav: board %q is not local", boardName)
}
spiBus, ok := localB.SPIByName(spiName)
if !ok {
return nil, errors.Errorf("vectornav: couldn't get spi bus %q", spiName)
}
cs := newConf.CSPin
speed := *newConf.Speed
if speed == 0 {
speed = 8000000
}
pfreq := *newConf.Pfreq
v := &vectornav{
Named: conf.ResourceName().AsNamed(),
bus: spiBus,
logger: logger,
cs: cs,
speed: speed,
busClosed: false,
polling: pfreq,
}
mdl, err := v.readRegisterSPI(ctx, modelNumber, 24)
if err != nil {
return nil, err
}
sn, err := v.readRegisterSPI(ctx, serialNumber, 4)
if err != nil {
return nil, err
}
fwver, err := v.readRegisterSPI(ctx, firmwareVersion, 4)
if err != nil {
return nil, err
}
logger.Debugf(
"model detected %s sn %d %d.%d.%d.%d",
string(mdl),
binary.LittleEndian.Uint32(sn),
fwver[0],
fwver[1],
fwver[2],
fwver[3],
)
// set imu location to New York for the WGM model
refvec := []byte{1, 1, 0, 0}
refvec = append(refvec, utils.BytesFromUint32LE(1000)...)
refvec = append(refvec, utils.BytesFromFloat32LE(2010.0)...)
refvec = append(refvec, []byte{0, 0, 0, 0}...)
refvec = append(refvec, utils.BytesFromFloat64LE(40.730610)...)
refvec = append(refvec, utils.BytesFromFloat64LE(-73.935242)...)
refvec = append(refvec, utils.BytesFromFloat64LE(10.0)...)
err = v.writeRegisterSPI(ctx, referenceVectorConfiguration, refvec)
if err != nil {
return nil, errors.Wrap(err, "couldn't set reference vector")
}
// enforce acceleration tuinning and reduce "trust" in acceleration data
accVpeTunning := []byte{}
accVpeTunning = append(accVpeTunning, utils.BytesFromFloat32LE(3)...)
accVpeTunning = append(accVpeTunning, utils.BytesFromFloat32LE(3)...)
accVpeTunning = append(accVpeTunning, utils.BytesFromFloat32LE(3)...)
accVpeTunning = append(accVpeTunning, utils.BytesFromFloat32LE(10)...)
accVpeTunning = append(accVpeTunning, utils.BytesFromFloat32LE(10)...)
accVpeTunning = append(accVpeTunning, utils.BytesFromFloat32LE(10)...)
accVpeTunning = append(accVpeTunning, utils.BytesFromFloat32LE(10)...)
accVpeTunning = append(accVpeTunning, utils.BytesFromFloat32LE(10)...)
accVpeTunning = append(accVpeTunning, utils.BytesFromFloat32LE(10)...)
err = v.writeRegisterSPI(ctx, vpeAccTunning, accVpeTunning)
if err != nil {
return nil, errors.Wrap(err, "couldn't set vpe adaptive tunning")
}
err = v.writeRegisterSPI(ctx, deltaVDeltaThetaConfig, []byte{0, 0, 0, 0, 0, 0})
if err != nil {
return nil, errors.Wrap(err, "couldn't configure deltaV register")
}
// tare the heading
err = v.vectornavTareSPI(ctx)
if err != nil {
return nil, err
}
smp := uint(100)
if v.polling > 0 {
smp = uint(v.polling)
}
// compensate for acceleration bias due to misalignement
err = v.compensateAccelBias(ctx, smp)
if err != nil {
return nil, err
}
// compensate for constant DV bias in mesurament
err = v.compensateDVBias(ctx, smp)
if err != nil {
return nil, err
}
var cancelCtx context.Context
cancelCtx, v.cancelFunc = context.WithCancel(ctx)
// optionally start a polling goroutine
if pfreq > 0 {
logger.Debugf("vecnav: will pool at %d Hz", pfreq)
waitCh := make(chan struct{})
s := 1.0 / float64(pfreq)
v.activeBackgroundWorkers.Add(1)
goutils.PanicCapturingGo(func() {
defer v.activeBackgroundWorkers.Done()
timer := time.NewTicker(time.Duration(s * float64(time.Second)))
defer timer.Stop()
close(waitCh)
for {
select {
case <-cancelCtx.Done():
return
default:
}
select {
case <-cancelCtx.Done():
return
case <-timer.C:
err := v.getReadings(ctx)
if err != nil {
return
}
}
}
})
<-waitCh
}
return v, nil
}
func (vn *vectornav) AngularVelocity(ctx context.Context, extra map[string]interface{}) (spatialmath.AngularVelocity, error) {
vn.mu.Lock()
defer vn.mu.Unlock()
return vn.angularVelocity, nil
}
func (vn *vectornav) LinearAcceleration(ctx context.Context, extra map[string]interface{}) (r3.Vector, error) {
vn.mu.Lock()
defer vn.mu.Unlock()
return vn.acceleration, nil
}
func (vn *vectornav) Orientation(ctx context.Context, extra map[string]interface{}) (spatialmath.Orientation, error) {
vn.mu.Lock()
defer vn.mu.Unlock()
return &vn.orientation, nil
}
func (vn *vectornav) CompassHeading(ctx context.Context, extra map[string]interface{}) (float64, error) {
vn.mu.Lock()
defer vn.mu.Unlock()
return vn.orientation.Yaw, nil
}
func (vn *vectornav) LinearVelocity(ctx context.Context, extra map[string]interface{}) (r3.Vector, error) {
return r3.Vector{}, movementsensor.ErrMethodUnimplementedLinearVelocity
}
func (vn *vectornav) Position(ctx context.Context, extra map[string]interface{}) (*geo.Point, float64, error) {
return nil, 0, movementsensor.ErrMethodUnimplementedPosition
}
func (vn *vectornav) Accuracy(ctx context.Context, extra map[string]interface{}) (map[string]float32, error) {
return map[string]float32{}, movementsensor.ErrMethodUnimplementedAccuracy
}
func (vn *vectornav) GetMagnetometer(ctx context.Context) (r3.Vector, error) {
vn.mu.Lock()
defer vn.mu.Unlock()
return vn.magnetometer, nil
}
func (vn *vectornav) Properties(ctx context.Context, extra map[string]interface{}) (*movementsensor.Properties, error) {
return &movementsensor.Properties{
AngularVelocitySupported: true,
OrientationSupported: true,
LinearAccelerationSupported: true,
}, nil
}
func (vn *vectornav) Readings(ctx context.Context, extra map[string]interface{}) (map[string]interface{}, error) {
return movementsensor.Readings(ctx, vn, extra)
}
func (vn *vectornav) getReadings(ctx context.Context) error {
out, err := vn.readRegisterSPI(ctx, yawPitchRollMagAccGyro, 48)
if err != nil {
return err
}
vn.mu.Lock()
defer vn.mu.Unlock()
vn.orientation.Yaw = utils.DegToRad(float64(utils.Float32FromBytesLE(out[0:4])))
vn.orientation.Pitch = utils.DegToRad(float64(utils.Float32FromBytesLE(out[4:8])))
vn.orientation.Roll = utils.DegToRad(float64(utils.Float32FromBytesLE(out[8:12])))
// unit gauss
vn.magnetometer.X = float64(utils.Float32FromBytesLE(out[12:16]))
vn.magnetometer.Y = float64(utils.Float32FromBytesLE(out[16:20]))
vn.magnetometer.Z = float64(utils.Float32FromBytesLE(out[20:24]))
// unit mm/s^2
vn.acceleration.X = float64(utils.Float32FromBytesLE(out[24:28])) * 1000
vn.acceleration.Y = float64(utils.Float32FromBytesLE(out[28:32])) * 1000
vn.acceleration.Z = float64(utils.Float32FromBytesLE(out[32:36])) * 1000
// unit rad/s
vn.angularVelocity.X = utils.RadToDeg(float64(utils.Float32FromBytesLE(out[36:40])))
vn.angularVelocity.Y = utils.RadToDeg(float64(utils.Float32FromBytesLE(out[40:44])))
vn.angularVelocity.Z = utils.RadToDeg(float64(utils.Float32FromBytesLE(out[44:48])))
dv, err := vn.readRegisterSPI(ctx, deltaVDeltaTheta, 28)
if err != nil {
return err
}
// unit deg/s
vn.dTheta.X = float64(utils.Float32FromBytesLE(dv[4:8]))
vn.dTheta.Y = float64(utils.Float32FromBytesLE(dv[8:12]))
vn.dTheta.Z = float64(utils.Float32FromBytesLE(dv[12:16]))
// unit m/s
vn.dV.X = float64(utils.Float32FromBytesLE(dv[16:20])) - vn.bdVX
vn.dV.Y = float64(utils.Float32FromBytesLE(dv[20:24])) - vn.bdVY
vn.dV.Z = float64(utils.Float32FromBytesLE(dv[24:28])) - vn.bdVZ
// unit s
vn.dt = utils.Float32FromBytesLE(dv[0:4])
return nil
}
func (vn *vectornav) readRegisterSPI(ctx context.Context, reg vectornavRegister, readLen uint) ([]byte, error) {
vn.spiMu.Lock()
defer vn.spiMu.Unlock()
if vn.busClosed {
return nil, errors.New("C=cannot read spi register the bus is closed")
}
hnd, err := vn.bus.OpenHandle()
if err != nil {
return nil, err
}
cmd := []byte{byte(vectorNavSPIRead), byte(reg), 0, 0}
_, err = hnd.Xfer(ctx, uint(vn.speed), vn.cs, 3, cmd)
if err != nil {
return nil, err
}
goutils.SelectContextOrWait(ctx, 110*time.Microsecond)
cmd = make([]byte, readLen+4)
out, err := hnd.Xfer(ctx, uint(vn.speed), vn.cs, 3, cmd)
if err != nil {
return nil, err
}
if out[3] != 0 {
return nil, errors.Errorf("vectornav read error returned %d speed was %d", out[3], vn.speed)
}
err = hnd.Close()
if err != nil {
return nil, err
}
goutils.SelectContextOrWait(ctx, 110*time.Microsecond)
return out[4:], nil
}
func (vn *vectornav) writeRegisterSPI(ctx context.Context, reg vectornavRegister, data []byte) error {
vn.spiMu.Lock()
defer vn.spiMu.Unlock()
if vn.busClosed {
return errors.New("Cannot write spi register the bus is closed")
}
hnd, err := vn.bus.OpenHandle()
if err != nil {
return err
}
cmd := []byte{byte(vectorNavSPIWrite), byte(reg), 0, 0}
cmd = append(cmd, data...)
_, err = hnd.Xfer(ctx, uint(vn.speed), vn.cs, 3, cmd)
if err != nil {
return err
}
goutils.SelectContextOrWait(ctx, 110*time.Microsecond)
cmd = make([]byte, len(data)+4)
out, err := hnd.Xfer(ctx, uint(vn.speed), vn.cs, 3, cmd)
if err != nil {
return err
}
if out[3] != 0 {
return errors.Errorf("vectornav write error returned %d", out[3])
}
err = hnd.Close()
if err != nil {
return err
}
goutils.SelectContextOrWait(ctx, 110*time.Microsecond)
return nil
}
func (vn *vectornav) vectornavTareSPI(ctx context.Context) error {
vn.spiMu.Lock()
defer vn.spiMu.Unlock()
if vn.busClosed {
return errors.New("Cannot write spi register the bus is closed")
}
hnd, err := vn.bus.OpenHandle()
if err != nil {
return err
}
cmd := []byte{byte(vectorNavSPITare), 0, 0, 0}
_, err = hnd.Xfer(ctx, uint(vn.speed), vn.cs, 3, cmd)
if err != nil {
return err
}
goutils.SelectContextOrWait(ctx, 110*time.Microsecond)
cmd = []byte{0, 0, 0, 0}
out, err := hnd.Xfer(ctx, uint(vn.speed), vn.cs, 3, cmd)
if err != nil {
return err
}
if out[3] != 0 {
return errors.Errorf("vectornav write error returned %d", out[3])
}
err = hnd.Close()
if err != nil {
return err
}
goutils.SelectContextOrWait(ctx, 110*time.Microsecond)
return nil
}
func (vn *vectornav) compensateAccelBias(ctx context.Context, smpSize uint) error {
var msg []byte
msg = append(msg, utils.BytesFromFloat32LE(1.0)...)
msg = append(msg, utils.BytesFromFloat32LE(0.0)...)
msg = append(msg, utils.BytesFromFloat32LE(0.0)...)
msg = append(msg, utils.BytesFromFloat32LE(0.0)...)
msg = append(msg, utils.BytesFromFloat32LE(1.0)...)
msg = append(msg, utils.BytesFromFloat32LE(0.0)...)
msg = append(msg, utils.BytesFromFloat32LE(0.0)...)
msg = append(msg, utils.BytesFromFloat32LE(0.0)...)
msg = append(msg, utils.BytesFromFloat32LE(1.0)...)
msg = append(msg, utils.BytesFromFloat32LE(0.0)...)
msg = append(msg, utils.BytesFromFloat32LE(0.0)...)
msg = append(msg, utils.BytesFromFloat32LE(0.0)...)
err := vn.writeRegisterSPI(ctx, accCompensationConfiguration, msg)
if err != nil {
return errors.Wrap(err, "couldn't write the acceleration compensation register")
}
mdlG, err := vn.readRegisterSPI(ctx, magAccRefVectors, 24)
if err != nil {
return errors.Wrap(err, "couldn't calculate acceleration bias")
}
accZ := utils.Float32FromBytesLE(mdlG[20:24])
var accMX, accMY, accMZ float32
for i := uint(0); i < smpSize; i++ {
acc, err := vn.readRegisterSPI(ctx, acceleration, 12)
if err != nil {
return errors.Wrap(err, "error reading acceleration register during bias compensation")
}
accMX += utils.Float32FromBytesLE(acc[0:4])
accMY += utils.Float32FromBytesLE(acc[4:8])
accMZ += utils.Float32FromBytesLE(acc[8:12])
if !goutils.SelectContextOrWait(ctx, 10*time.Millisecond) {
return errors.New("error in context during acceleration compensation")
}
}
accMX /= float32(smpSize)
accMY /= float32(smpSize)
accMZ /= float32(smpSize)
msg = []byte{}
msg = append(msg, utils.BytesFromFloat32LE(1.0)...)
msg = append(msg, utils.BytesFromFloat32LE(0.0)...)
msg = append(msg, utils.BytesFromFloat32LE(0.0)...)
msg = append(msg, utils.BytesFromFloat32LE(0.0)...)
msg = append(msg, utils.BytesFromFloat32LE(1.0)...)
msg = append(msg, utils.BytesFromFloat32LE(0.0)...)
msg = append(msg, utils.BytesFromFloat32LE(0.0)...)
msg = append(msg, utils.BytesFromFloat32LE(0.0)...)
msg = append(msg, utils.BytesFromFloat32LE(1.0)...)
msg = append(msg, utils.BytesFromFloat32LE(accMX)...)
msg = append(msg, utils.BytesFromFloat32LE(accMY)...)
msg = append(msg, utils.BytesFromFloat32LE(accZ+accMZ)...)
err = vn.writeRegisterSPI(ctx, accCompensationConfiguration, msg)
if err != nil {
return errors.Wrap(err, "could not write the acceleration register")
}
vn.logger.Infof("Acceleration compensated with %1.6f %1.6f %1.6f ref accZ %1.6f", accMX, accMY, accMZ, accZ)
return nil
}
func (vn *vectornav) compensateDVBias(ctx context.Context, smpSize uint) error {
var bX, bY, bZ float32
_, err := vn.readRegisterSPI(ctx, deltaVDeltaTheta, 28)
if err != nil {
return errors.Wrap(err, "error reading dV register during bias compensation")
}
dt := 10 * time.Millisecond
if vn.polling > 0 {
s := 1.0 / float64(vn.polling)
dt = time.Duration(s * float64(time.Second))
}
for j := uint(0); j < smpSize; j++ {
if !goutils.SelectContextOrWait(ctx, dt) {
return errors.New("error in context during Dv compensation")
}
dv, err := vn.readRegisterSPI(ctx, deltaVDeltaTheta, 28)
if err != nil {
return errors.Wrap(err, "error reading dV register during bias compensation")
}
bX += utils.Float32FromBytesLE(dv[16:20])
bY += utils.Float32FromBytesLE(dv[20:24])
bZ += utils.Float32FromBytesLE(dv[24:28])
}
vn.bdVX = float64(bX) / float64(smpSize)
vn.bdVY = float64(bY) / float64(smpSize)
vn.bdVZ = float64(bZ) / float64(smpSize)
vn.logger.Infof("velocity bias compensated with %1.6f %1.6f %1.6f",
vn.bdVX, vn.bdVY, vn.bdVZ)
return nil
}
func (vn *vectornav) Close(ctx context.Context) error {
vn.logger.Debug("closing vecnav imu")
vn.cancelFunc()
vn.busClosed = true
vn.activeBackgroundWorkers.Wait()
vn.logger.Debug("closed vecnav imu")
return nil
}