Robert Dickenson
9 years ago
committed by
Lorenz Meier
8 changed files with 53 additions and 405 deletions
@ -1,45 +0,0 @@
@@ -1,45 +0,0 @@
|
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############################################################################ |
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# |
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# Copyright (c) 2016 PX4 Development Team. All rights reserved. |
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# |
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# Redistribution and use in source and binary forms, with or without |
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# modification, are permitted provided that the following conditions |
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# are met: |
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# |
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# 1. Redistributions of source code must retain the above copyright |
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# notice, this list of conditions and the following disclaimer. |
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# 2. Redistributions in binary form must reproduce the above copyright |
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# notice, this list of conditions and the following disclaimer in |
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# the documentation and/or other materials provided with the |
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# distribution. |
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# 3. Neither the name PX4 nor the names of its contributors may be |
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# used to endorse or promote products derived from this software |
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# without specific prior written permission. |
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# |
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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# POSSIBILITY OF SUCH DAMAGE. |
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# |
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############################################################################ |
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px4_add_module( |
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MODULE systemcmds__mag |
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MAIN mag |
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PRIORITY "SCHED_PRIORITY_DEFAULT-30" |
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STACK 1500 |
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COMPILE_FLAGS |
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-Os |
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SRCS |
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mag.c |
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DEPENDS |
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platforms__common |
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) |
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# vim: set noet ft=cmake fenc=utf-8 ff=unix : |
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@ -1,245 +0,0 @@
@@ -1,245 +0,0 @@
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/****************************************************************************
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* |
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* Copyright (c) 2016 PX4 Development Team. All rights reserved. |
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* Author: Robert Dickenson |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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/**
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* @file mag.c |
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* |
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* Utility for viewing magnetometer ORB publications, specifically for |
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* development work on the Invensense mpu9250 connected via SPI. |
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* |
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* @author Robert Dickenson |
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* |
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*/ |
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#include <px4_config.h> |
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#include <termios.h> |
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#include <stdbool.h> |
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#include <stdio.h> |
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#include <stdarg.h> |
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#include <unistd.h> |
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#include <stdlib.h> |
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#include <errno.h> |
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#include <apps/nsh.h> |
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#include <fcntl.h> |
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#include <poll.h> |
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#include <systemlib/err.h> |
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#include <drivers/drv_hrt.h> |
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#include <uORB/topics/sensor_mag.h> |
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#define mag_report sensor_mag_s |
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/*
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struct sensor_mag_s { |
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uint64_t timestamp; |
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uint64_t error_count; |
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float x; |
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float y; |
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float z; |
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float range_ga; |
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float scaling; |
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float temperature; |
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int16_t x_raw; |
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int16_t y_raw; |
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int16_t z_raw; |
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}; |
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*/ |
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int mag1(void); |
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int mag2(void); |
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int |
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mag1(void) |
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{ |
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int16_t x_raw = 0; |
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int16_t y_raw = 0; |
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int16_t z_raw = 0; |
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struct mag_report mrb; |
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int mag_fd = orb_subscribe(ORB_ID(sensor_mag)); |
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while (true) { |
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bool updated = false; |
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orb_check(mag_fd, &updated); |
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if (updated) { |
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orb_copy(ORB_ID(sensor_mag), mag_fd, &mrb); |
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// printf("magxyz %d %d %d ", mrb.x_raw, mrb.y_raw, mrb.z_raw);
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printf("magxyz %8.4f %8.4f %8.4f ", (double)mrb.x, (double)mrb.y, (double)mrb.z); |
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uint8_t cnt0 = (mrb.error_count & 0x000000FF00000000) >> 32; |
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uint8_t cnt1 = (mrb.error_count & 0x00000000FF000000) >> 24; |
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uint8_t cnt2 = (mrb.error_count & 0x0000000000FF0000) >> 16; |
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uint8_t cnt3 = (mrb.error_count & 0x000000000000FF00) >> 8; |
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uint8_t cnt4 = (mrb.error_count & 0x00000000000000FF); |
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printf("[%x %x %x %x %x] ", cnt0, cnt1, cnt2, cnt3, cnt4); |
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uint32_t mag_interval = (mrb.error_count & 0xFFFFFF0000000000) >> 40; |
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printf("%u ", mag_interval); |
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if ((mag_interval) < 5000) { |
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printf("* "); |
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} |
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if ((mag_interval) > 15000) { |
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printf("! "); |
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} |
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if (mrb.x_raw == x_raw && mrb.y_raw == y_raw && mrb.z_raw == z_raw ) { |
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printf("dup "); // duplicate magnetometer xyz data
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} |
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x_raw = mrb.x_raw; |
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y_raw = mrb.y_raw; |
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z_raw = mrb.z_raw; |
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printf("\n"); |
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} |
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struct pollfd fds; |
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int ret; |
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fds.fd = 0; /* stdin */ |
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fds.events = POLLIN; |
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ret = poll(&fds, 1, 0); |
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if (ret > 0) { |
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char c; |
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read(0, &c, 1); |
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switch (c) { |
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case 0x03: // ctrl-c
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case 0x1b: // esc
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case 'c': |
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case 'q': |
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return OK; |
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} |
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} |
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} |
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return OK; |
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} |
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#define MAX_SAMPLES 100 |
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static struct mag_report mrb[MAX_SAMPLES]; |
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static uint64_t last_timestamp; |
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int |
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mag2(void) |
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{ |
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int i = 0; |
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int mag_fd = orb_subscribe(ORB_ID(sensor_mag)); |
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while (i < MAX_SAMPLES) { |
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bool updated = false; |
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orb_check(mag_fd, &updated); |
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if (updated) { |
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orb_copy(ORB_ID(sensor_mag), mag_fd, &mrb[i++]); |
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} |
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/*
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struct pollfd fds; |
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int ret; |
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fds.fd = 0; // stdin
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fds.events = POLLIN; |
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ret = poll(&fds, 1, 0); |
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if (ret > 0) { |
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char c; |
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read(0, &c, 1); |
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switch (c) { |
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case 0x03: // ctrl-c
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case 0x1b: // esc
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case 'c': |
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case 'q': |
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return OK; |
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} |
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} |
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*/ |
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} |
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uint32_t total_time = 0; |
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last_timestamp = mrb[0].timestamp; |
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for (i = 0; i < MAX_SAMPLES; i++) { |
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// printf("magxyz %d %d %d ", mrb[i].x_raw, mrb[i].y_raw, mrb[i].z_raw);
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printf("magxyz %8.4f %8.4f %8.4f ", (double)mrb[i].x, (double)mrb[i].y, (double)mrb[i].z); |
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uint8_t cnt0 = (mrb[i].error_count & 0x000000FF00000000) >> 32; |
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uint8_t cnt1 = (mrb[i].error_count & 0x00000000FF000000) >> 24; |
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uint8_t cnt2 = (mrb[i].error_count & 0x0000000000FF0000) >> 16; |
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uint8_t cnt3 = (mrb[i].error_count & 0x000000000000FF00) >> 8; |
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uint8_t cnt4 = (mrb[i].error_count & 0x00000000000000FF); |
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printf("[%x %x %x %x %x] ", cnt0, cnt1, cnt2, cnt3, cnt4); |
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uint32_t mag_interval = (mrb[i].error_count & 0xFFFFFF0000000000) >> 40; |
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printf("%u ", mag_interval); |
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if ((mag_interval) < 5000) { |
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printf("* "); |
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} |
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if ((mag_interval) > 15000) { |
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printf("! "); |
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} |
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uint32_t orb_interval = mrb[i].timestamp - last_timestamp; |
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if (orb_interval != mag_interval) { |
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printf("orb ", orb_interval); // missed some orb publications
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} |
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last_timestamp = mrb[i].timestamp; |
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total_time += orb_interval; |
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if (mrb[i].x_raw == mrb[i-1].x_raw && mrb[i].y_raw == mrb[i-1].y_raw && mrb[i].z_raw == mrb[i-1].z_raw ) { |
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printf("dup "); // duplicate magnetometer xyz data
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} |
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printf("\n"); |
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} |
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double t = (double)total_time / 1000000.0; |
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printf("total_time: %.3f s\n", t); |
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return OK; |
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} |
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__EXPORT int mag_main(int argc, char *argv[]); |
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int |
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mag_main(int argc, char *argv[]) |
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{ |
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if (argc < 2) { |
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mag1(); |
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} else { |
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int reps = atoi(argv[1]); |
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if (reps > 20 || reps < 1) { |
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reps = 1; |
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} |
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while (reps--) { |
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mag2(); |
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} |
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} |
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return OK; |
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} |
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@ -1,45 +0,0 @@
@@ -1,45 +0,0 @@
|
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############################################################################
|
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#
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# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
|
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#
|
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# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
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# are met:
|
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#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
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# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
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# POSSIBILITY OF SUCH DAMAGE.
|
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#
|
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############################################################################
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|
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#
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# Build mag utility
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#
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MODULE_COMMAND = mag
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SRCS = mag.c
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MODULE_STACKSIZE = 1500
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MAXOPTIMIZATION = -Os
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MODULE_PRIORITY = "SCHED_PRIORITY_DEFAULT-30"
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