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218 lines
8.5 KiB
218 lines
8.5 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/AP_Common.h> |
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#include <AP_Progmem/AP_Progmem.h> |
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#include <AP_HAL/AP_HAL.h> |
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#include <AP_HAL_AVR/AP_HAL_AVR.h> |
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#include <AP_HAL_SITL/AP_HAL_SITL.h> |
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#include <AP_HAL_Linux/AP_HAL_Linux.h> |
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#include <AP_HAL_PX4/AP_HAL_PX4.h> |
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#include <AP_HAL_Empty/AP_HAL_Empty.h> |
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#include <AP_Math/AP_Math.h> |
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#include <AP_Param/AP_Param.h> |
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#include <AP_ADC/AP_ADC.h> |
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#include <AP_InertialSensor/AP_InertialSensor.h> |
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#include <AP_Notify/AP_Notify.h> |
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#include <AP_GPS/AP_GPS.h> |
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#include <AP_Baro/AP_Baro.h> |
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#include <Filter/Filter.h> |
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#include <DataFlash/DataFlash.h> |
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#include <GCS_MAVLink/GCS_MAVLink.h> |
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#include <AP_Mission/AP_Mission.h> |
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#include <StorageManager/StorageManager.h> |
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#include <AP_Terrain/AP_Terrain.h> |
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#include <AP_AHRS/AP_AHRS.h> |
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#include <AP_Airspeed/AP_Airspeed.h> |
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#include <AP_Vehicle/AP_Vehicle.h> |
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#include <AP_ADC_AnalogSource/AP_ADC_AnalogSource.h> |
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#include <AP_Compass/AP_Compass.h> |
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#include <AP_Scheduler/AP_Scheduler.h> |
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#include <AP_Declination/AP_Declination.h> |
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#include <AP_Notify/AP_Notify.h> |
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#include <AP_NavEKF/AP_NavEKF.h> |
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#include <AP_BattMonitor/AP_BattMonitor.h> |
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#include <AP_RangeFinder/AP_RangeFinder.h> |
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#include <AP_Rally/AP_Rally.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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#include <stdio.h> |
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const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER; |
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static int accel_fd[INS_MAX_INSTANCES]; |
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static int gyro_fd[INS_MAX_INSTANCES]; |
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static uint32_t total_samples[INS_MAX_INSTANCES]; |
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static uint64_t last_accel_timestamp[INS_MAX_INSTANCES]; |
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static uint64_t last_gyro_timestamp[INS_MAX_INSTANCES]; |
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static uint32_t accel_deltat_min[INS_MAX_INSTANCES]; |
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static uint32_t accel_deltat_max[INS_MAX_INSTANCES]; |
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static uint32_t gyro_deltat_min[INS_MAX_INSTANCES]; |
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static uint32_t gyro_deltat_max[INS_MAX_INSTANCES]; |
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static DataFlash_File DataFlash("/fs/microsd/VIBTEST"); |
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static const struct LogStructure log_structure[] PROGMEM = { |
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LOG_COMMON_STRUCTURES, |
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LOG_EXTRA_STRUCTURES |
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}; |
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void setup(void) |
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{ |
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for (uint8_t i=0; i<INS_MAX_INSTANCES; i++) { |
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char accel_path[] = ACCEL_BASE_DEVICE_PATH "n"; |
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char gyro_path[] = GYRO_BASE_DEVICE_PATH "n"; |
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accel_path[strlen(accel_path)-1] = '0'+i; |
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gyro_path[strlen(gyro_path)-1] = '0'+i; |
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accel_fd[i] = open(accel_path, O_RDONLY); |
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gyro_fd[i] = open(gyro_path, O_RDONLY); |
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} |
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if (accel_fd[0] == -1 || gyro_fd[0] == -1) { |
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hal.scheduler->panic("Failed to open accel/gyro 0"); |
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} |
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ioctl(gyro_fd[0], SENSORIOCSPOLLRATE, 1000); |
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ioctl(gyro_fd[0], GYROIOCSLOWPASS, 0); |
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ioctl(gyro_fd[0], GYROIOCSHWLOWPASS, 256); |
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ioctl(gyro_fd[0], GYROIOCSSAMPLERATE, 1000); |
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ioctl(gyro_fd[0], SENSORIOCSQUEUEDEPTH, 100); |
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ioctl(gyro_fd[1], SENSORIOCSPOLLRATE, 800); |
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ioctl(gyro_fd[1], GYROIOCSLOWPASS, 0); |
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ioctl(gyro_fd[1], GYROIOCSHWLOWPASS, 100); |
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ioctl(gyro_fd[1], GYROIOCSSAMPLERATE, 800); |
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ioctl(gyro_fd[1], SENSORIOCSQUEUEDEPTH, 100); |
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ioctl(accel_fd[0], SENSORIOCSPOLLRATE, 1000); |
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ioctl(accel_fd[0], ACCELIOCSLOWPASS, 0); |
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ioctl(accel_fd[0], ACCELIOCSRANGE, 16); |
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ioctl(accel_fd[0], ACCELIOCSHWLOWPASS, 256); |
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ioctl(accel_fd[0], ACCELIOCSSAMPLERATE, 1000); |
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ioctl(accel_fd[0], SENSORIOCSQUEUEDEPTH, 100); |
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ioctl(accel_fd[1], SENSORIOCSPOLLRATE, 1600); |
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ioctl(accel_fd[1], ACCELIOCSLOWPASS, 0); |
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ioctl(accel_fd[1], ACCELIOCSRANGE, 16); |
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ioctl(accel_fd[1], ACCELIOCSHWLOWPASS, 194); |
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ioctl(accel_fd[1], ACCELIOCSSAMPLERATE, 1600); |
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ioctl(accel_fd[1], SENSORIOCSQUEUEDEPTH, 100); |
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DataFlash.Init(log_structure, ARRAY_SIZE(log_structure)); |
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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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bool got_sample = false; |
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static uint32_t last_print; |
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do { |
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got_sample = false; |
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for (uint8_t i=0; i<INS_MAX_INSTANCES; i++) { |
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struct accel_report accel_report; |
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struct gyro_report gyro_report; |
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if (accel_fd[i] != -1 && ::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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uint32_t deltat = accel_report.timestamp - last_accel_timestamp[i]; |
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if (deltat > accel_deltat_max[i]) { |
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accel_deltat_max[i] = deltat; |
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} |
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if (accel_deltat_min[i] == 0 || deltat < accel_deltat_max[i]) { |
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accel_deltat_min[i] = deltat; |
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} |
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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_ACC1_MSG+i)), |
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time_us : hal.scheduler->micros64(), |
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sample_us : accel_report.timestamp, |
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AccX : accel_report.x, |
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AccY : accel_report.y, |
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AccZ : accel_report.z |
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}; |
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DataFlash.WriteBlock(&pkt, sizeof(pkt)); |
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got_sample = true; |
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total_samples[i]++; |
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} |
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if (gyro_fd[i] != -1 && ::read(gyro_fd[i], &gyro_report, sizeof(gyro_report)) == |
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sizeof(gyro_report) && |
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gyro_report.timestamp != last_gyro_timestamp[i]) { |
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uint32_t deltat = gyro_report.timestamp - last_gyro_timestamp[i]; |
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if (deltat > gyro_deltat_max[i]) { |
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gyro_deltat_max[i] = deltat; |
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} |
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if (gyro_deltat_min[i] == 0 || deltat < gyro_deltat_max[i]) { |
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gyro_deltat_min[i] = deltat; |
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} |
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last_gyro_timestamp[i] = gyro_report.timestamp; |
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struct log_GYRO pkt = { |
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LOG_PACKET_HEADER_INIT((uint8_t)(LOG_GYR1_MSG+i)), |
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time_us : hal.scheduler->micros64(), |
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sample_us : gyro_report.timestamp, |
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GyrX : gyro_report.x, |
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GyrY : gyro_report.y, |
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GyrZ : gyro_report.z |
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}; |
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DataFlash.WriteBlock(&pkt, sizeof(pkt)); |
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got_sample = true; |
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total_samples[i]++; |
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} |
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} |
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if (got_sample) { |
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if (total_samples[0] % 2000 == 0 && last_print != total_samples[0]) { |
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last_print = total_samples[0]; |
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hal.console->printf("t=%lu total_samples=%lu/%lu/%lu adt=%u:%u/%u:%u/%u:%u gdt=%u:%u/%u:%u/%u:%u\n", |
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(unsigned long)hal.scheduler->millis(), |
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(unsigned long)total_samples[0], |
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(unsigned long)total_samples[1], |
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(unsigned long)total_samples[2], |
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accel_deltat_min[0], |
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accel_deltat_max[0], |
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accel_deltat_min[1], |
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accel_deltat_max[1], |
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accel_deltat_min[2], accel_deltat_max[2], |
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gyro_deltat_min[0], gyro_deltat_max[0], |
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gyro_deltat_min[1], gyro_deltat_max[1], |
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gyro_deltat_min[2], gyro_deltat_max[2]); |
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#if 0 |
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::printf("t=%lu total_samples=%lu/%lu/%lu adt=%u:%u/%u:%u/%u:%u gdt=%u:%u/%u:%u/%u:%u\n", |
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hal.scheduler->millis(), |
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total_samples[0], total_samples[1],total_samples[2], |
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accel_deltat_min[0], accel_deltat_max[0], |
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accel_deltat_min[1], accel_deltat_max[1], |
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accel_deltat_min[2], accel_deltat_max[2], |
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gyro_deltat_min[0], gyro_deltat_max[0], |
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gyro_deltat_min[1], gyro_deltat_max[1], |
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gyro_deltat_min[2], gyro_deltat_max[2]); |
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#endif |
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memset(accel_deltat_min, 0, sizeof(accel_deltat_min)); |
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memset(accel_deltat_max, 0, sizeof(accel_deltat_max)); |
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memset(gyro_deltat_min, 0, sizeof(gyro_deltat_min)); |
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memset(gyro_deltat_max, 0, sizeof(gyro_deltat_max)); |
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} |
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} |
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} while (got_sample); |
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hal.scheduler->delay_microseconds(100); |
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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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