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125 lines
3.4 KiB
125 lines
3.4 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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// |
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// test harness for vibration testing |
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// |
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#include <stdarg.h> |
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#include <AP_Common.h> |
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#include <AP_Progmem.h> |
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#include <AP_HAL.h> |
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#include <AP_HAL_AVR.h> |
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#include <AP_HAL_AVR_SITL.h> |
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#include <AP_HAL_PX4.h> |
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#include <AP_HAL_Empty.h> |
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#include <AP_Math.h> |
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#include <AP_Param.h> |
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#include <AP_ADC.h> |
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#include <AP_InertialSensor.h> |
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#include <AP_Notify.h> |
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#include <AP_GPS.h> |
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#include <AP_Baro.h> |
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#include <Filter.h> |
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#include <DataFlash.h> |
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#include <GCS_MAVLink.h> |
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#include <AP_Mission.h> |
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#include <AP_AHRS.h> |
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#include <AP_Airspeed.h> |
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#include <AP_Vehicle.h> |
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#include <AP_ADC_AnalogSource.h> |
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#include <AP_Compass.h> |
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#include <AP_Declination.h> |
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#include <AP_Notify.h> |
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#include <AP_NavEKF.h> |
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 |
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#include <drivers/drv_accel.h> |
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#include <drivers/drv_hrt.h> |
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#include <sys/types.h> |
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#include <sys/stat.h> |
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#include <fcntl.h> |
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#include <unistd.h> |
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const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER; |
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#define NUM_ACCELS 2 |
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static int accel_fd[NUM_ACCELS]; |
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static uint32_t total_samples[NUM_ACCELS]; |
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static uint64_t last_accel_timestamp[NUM_ACCELS]; |
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static DataFlash_File DataFlash("/fs/microsd/VIBTEST"); |
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#define LOG_ACCEL0_MSG 215 |
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struct PACKED log_Accel { |
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LOG_PACKET_HEADER; |
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uint32_t timestamp; |
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float X, Y, Z; |
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}; |
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static const struct LogStructure log_structure[] PROGMEM = { |
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LOG_COMMON_STRUCTURES, |
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{ LOG_ACCEL0_MSG, sizeof(log_Accel), |
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"ACC0", "Ifff", "TimeUS,X,Y,Z" }, |
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{ LOG_ACCEL0_MSG+1, sizeof(log_Accel), |
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"ACC1", "Ifff", "TimeUS,X,Y,Z" } |
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}; |
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void setup(void) |
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{ |
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accel_fd[0] = open(ACCEL_DEVICE_PATH, O_RDONLY); |
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accel_fd[1] = open(ACCEL_DEVICE_PATH "1", O_RDONLY); |
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for (uint8_t i=0; i<NUM_ACCELS; i++) { |
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if (accel_fd[i] == -1) { |
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hal.console->printf("Failed to open accel[%u]\n", (unsigned)i); |
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hal.scheduler->panic("Failed to open accel"); |
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} |
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// disable software filtering |
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ioctl(accel_fd[i], ACCELIOCSLOWPASS, 0); |
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// max queue depth |
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ioctl(accel_fd[i], SENSORIOCSQUEUEDEPTH, 100); |
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} |
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DataFlash.Init(log_structure, sizeof(log_structure)/sizeof(log_structure[0])); |
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DataFlash.StartNewLog(); |
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} |
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void loop(void) |
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{ |
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for (uint8_t i=0; i<NUM_ACCELS; i++) { |
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struct accel_report accel_report; |
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while (::read(accel_fd[i], &accel_report, sizeof(accel_report)) == |
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sizeof(accel_report) && |
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accel_report.timestamp != last_accel_timestamp[i]) { |
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last_accel_timestamp[i] = accel_report.timestamp; |
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struct log_Accel pkt = { |
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LOG_PACKET_HEADER_INIT((uint8_t)(LOG_ACCEL0_MSG+i)), |
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timestamp : (uint32_t)accel_report.timestamp, |
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X : accel_report.x, |
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Y : accel_report.y, |
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Z : accel_report.z |
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}; |
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DataFlash.WriteBlock(&pkt, sizeof(pkt)); |
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total_samples[i]++; |
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if (total_samples[i] % 2000 == 0) { |
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hal.console->printf("t=%lu total_samples=%lu/%lu\n", |
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hal.scheduler->millis(), |
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total_samples[0], total_samples[1]); |
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} |
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} |
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} |
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hal.scheduler->delay(1); |
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} |
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#else |
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const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER; |
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void setup() {} |
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void loop() {} |
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#endif // CONFIG_HAL_BOARD |
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AP_HAL_MAIN();
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