AP_InertialSensor: added VibTest sketch

logs all accel data at high rate to SD card

libraries/AP_InertialSensor/examples/VibTest/Makefile

@@ -0,0 +1 @@
+include ../../../../mk/apm.mk

libraries/AP_InertialSensor/examples/VibTest/VibTest.pde

@@ -0,0 +1,124 @@
+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+//
+// test harness for vibration testing
+//
+
+#include <stdarg.h>
+#include <AP_Common.h>
+#include <AP_Progmem.h>
+#include <AP_HAL.h>
+#include <AP_HAL_AVR.h>
+#include <AP_HAL_AVR_SITL.h>
+#include <AP_HAL_PX4.h>
+#include <AP_HAL_Empty.h>
+#include <AP_Math.h>
+#include <AP_Param.h>
+#include <AP_ADC.h>
+#include <AP_InertialSensor.h>
+#include <AP_Notify.h>
+#include <AP_GPS.h>
+#include <AP_Baro.h>
+#include <Filter.h>
+#include <DataFlash.h>
+#include <GCS_MAVLink.h>
+#include <AP_Mission.h>
+#include <AP_AHRS.h>
+#include <AP_Airspeed.h>
+#include <AP_Vehicle.h>
+#include <AP_ADC_AnalogSource.h>
+#include <AP_Compass.h>
+#include <AP_Declination.h>
+#include <AP_Notify.h>
+#include <AP_NavEKF.h>
+
+#include <drivers/drv_accel.h>
+#include <drivers/drv_hrt.h>
+
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <unistd.h>
+
+const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
+
+#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
+
+#define NUM_ACCELS 2
+
+static int accel_fd[NUM_ACCELS];
+static uint32_t total_samples[NUM_ACCELS];
+static uint64_t last_accel_timestamp[NUM_ACCELS];
+static DataFlash_File DataFlash("/fs/microsd/VIBTEST");
+
+#define LOG_ACCEL0_MSG 215
+
+struct PACKED log_Accel {
+    LOG_PACKET_HEADER;
+    uint32_t timestamp;
+    float X, Y, Z;
+};
+
+static const struct LogStructure log_structure[] PROGMEM = {
+    LOG_COMMON_STRUCTURES,
+    { LOG_ACCEL0_MSG, sizeof(log_Accel),       
+      "ACC0", "Ifff",        "TimeUS,X,Y,Z" },
+    { LOG_ACCEL0_MSG+1, sizeof(log_Accel),       
+      "ACC1", "Ifff",        "TimeUS,X,Y,Z" }
+};
+
+void setup(void)
+{
+    accel_fd[0] = open(ACCEL_DEVICE_PATH, O_RDONLY);
+    accel_fd[1] = open(ACCEL_DEVICE_PATH "1", O_RDONLY);
+
+    for (uint8_t i=0; i<NUM_ACCELS; i++) {
+        if (accel_fd[i] == -1) {
+            hal.console->printf("Failed to open accel[%u]\n", (unsigned)i);
+            hal.scheduler->panic("Failed to open accel");
+        }
+        // disable software filtering
+        ioctl(accel_fd[i], ACCELIOCSLOWPASS, 0);
+
+        // max queue depth
+        ioctl(accel_fd[i], SENSORIOCSQUEUEDEPTH, 100);
+    }
+
+    DataFlash.Init(log_structure, sizeof(log_structure)/sizeof(log_structure[0]));
+    DataFlash.StartNewLog();
+}
+
+void loop(void)
+{
+    for (uint8_t i=0; i<NUM_ACCELS; i++) {
+        struct accel_report	accel_report;
+        while (::read(accel_fd[i], &accel_report, sizeof(accel_report)) == 
+               sizeof(accel_report) &&
+               accel_report.timestamp != last_accel_timestamp[i]) {        
+            last_accel_timestamp[i] = accel_report.timestamp;
+
+            struct log_Accel pkt = {
+                LOG_PACKET_HEADER_INIT((uint8_t)(LOG_ACCEL0_MSG+i)),
+                timestamp : (uint32_t)accel_report.timestamp,
+                X         : accel_report.x,
+                Y         : accel_report.y,
+                Z         : accel_report.z
+            };
+            DataFlash.WriteBlock(&pkt, sizeof(pkt));
+            total_samples[i]++;
+            if (total_samples[i] % 2000 == 0) {
+                hal.console->printf("t=%lu total_samples=%lu/%lu\n",
+                                    hal.scheduler->millis(), 
+                                    total_samples[0], total_samples[1]);
+            }
+        }
+    }
+    hal.scheduler->delay(1);
+}
+
+#else
+void setup() {}
+void loop() {}
+#endif // CONFIG_HAL_BOARD
+
+AP_HAL_MAIN();