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AP_InertialSensor: remove more px4 remnants

master
Andrew Tridgell 6 years ago
parent
20d762293d
commit
103af72859
2 changed files with 0 additions and 215 deletions
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  1. 206
      libraries/AP_InertialSensor/examples/VibTest/VibTest.cpp
  2. 9
      libraries/AP_InertialSensor/examples/VibTest/wscript

206
libraries/AP_InertialSensor/examples/VibTest/VibTest.cpp
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//
// test harness for vibration testing
//
#include <stdarg.h>
#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_Math/AP_Math.h>
#include <AP_Param/AP_Param.h>
#include <AP_InertialSensor/AP_InertialSensor.h>
#include <AP_Notify/AP_Notify.h>
#include <AP_GPS/AP_GPS.h>
#include <AP_Baro/AP_Baro.h>
#include <Filter/Filter.h>
#include <AP_Logger/AP_Logger.h>
#include <GCS_MAVLink/GCS_MAVLink.h>
#include <AP_Mission/AP_Mission.h>
#include <StorageManager/StorageManager.h>
#include <AP_Terrain/AP_Terrain.h>
#include <AP_AHRS/AP_AHRS.h>
#include <AP_Airspeed/AP_Airspeed.h>
#include <AP_Vehicle/AP_Vehicle.h>
#include <AP_Compass/AP_Compass.h>
#include <AP_Scheduler/AP_Scheduler.h>
#include <AP_Declination/AP_Declination.h>
#include <AP_Notify/AP_Notify.h>
#include <AP_BattMonitor/AP_BattMonitor.h>
#include <AP_RangeFinder/AP_RangeFinder.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
#include <drivers/drv_accel.h>
#include <drivers/drv_hrt.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <unistd.h>
#include <stdio.h>
const AP_HAL::HAL& hal = AP_HAL::get_HAL();
static int accel_fd[INS_MAX_INSTANCES];
static int gyro_fd[INS_MAX_INSTANCES];
static uint32_t total_samples[INS_MAX_INSTANCES];
static uint64_t last_accel_timestamp[INS_MAX_INSTANCES];
static uint64_t last_gyro_timestamp[INS_MAX_INSTANCES];
static uint32_t accel_deltat_min[INS_MAX_INSTANCES];
static uint32_t accel_deltat_max[INS_MAX_INSTANCES];
static uint32_t gyro_deltat_min[INS_MAX_INSTANCES];
static uint32_t gyro_deltat_max[INS_MAX_INSTANCES];
static AP_Logger_File AP_Logger("/fs/microsd/VIBTEST");
static const struct LogStructure log_structure[] = {
LOG_COMMON_STRUCTURES,
LOG_EXTRA_STRUCTURES
};
void setup(void)
{
for (uint8_t i=0; i<INS_MAX_INSTANCES; i++) {
char accel_path[] = ACCEL_BASE_DEVICE_PATH "n";
char gyro_path[] = GYRO_BASE_DEVICE_PATH "n";
accel_path[strlen(accel_path)-1] = '0'+i;
gyro_path[strlen(gyro_path)-1] = '0'+i;
accel_fd[i] = open(accel_path, O_RDONLY|O_CLOEXEC);
gyro_fd[i] = open(gyro_path, O_RDONLY|O_CLOEXEC);
}
if (accel_fd[0] == -1 || gyro_fd[0] == -1) {
AP_HAL::panic("Failed to open accel/gyro 0");
}
ioctl(gyro_fd[0], SENSORIOCSPOLLRATE, 1000);
ioctl(gyro_fd[0], GYROIOCSLOWPASS, 0);
ioctl(gyro_fd[0], GYROIOCSHWLOWPASS, 256);
ioctl(gyro_fd[0], GYROIOCSSAMPLERATE, 1000);
ioctl(gyro_fd[0], SENSORIOCSQUEUEDEPTH, 100);
ioctl(gyro_fd[1], SENSORIOCSPOLLRATE, 800);
ioctl(gyro_fd[1], GYROIOCSLOWPASS, 0);
ioctl(gyro_fd[1], GYROIOCSHWLOWPASS, 100);
ioctl(gyro_fd[1], GYROIOCSSAMPLERATE, 800);
ioctl(gyro_fd[1], SENSORIOCSQUEUEDEPTH, 100);
ioctl(accel_fd[0], SENSORIOCSPOLLRATE, 1000);
ioctl(accel_fd[0], ACCELIOCSLOWPASS, 0);
ioctl(accel_fd[0], ACCELIOCSRANGE, 16);
ioctl(accel_fd[0], ACCELIOCSHWLOWPASS, 256);
ioctl(accel_fd[0], ACCELIOCSSAMPLERATE, 1000);
ioctl(accel_fd[0], SENSORIOCSQUEUEDEPTH, 100);
ioctl(accel_fd[1], SENSORIOCSPOLLRATE, 1600);
ioctl(accel_fd[1], ACCELIOCSLOWPASS, 0);
ioctl(accel_fd[1], ACCELIOCSRANGE, 16);
ioctl(accel_fd[1], ACCELIOCSHWLOWPASS, 194);
ioctl(accel_fd[1], ACCELIOCSSAMPLERATE, 1600);
ioctl(accel_fd[1], SENSORIOCSQUEUEDEPTH, 100);
logger.Init(log_structure, ARRAY_SIZE(log_structure));
logger.StartNewLog();
}
void loop(void)
{
bool got_sample = false;
static uint32_t last_print;
do {
got_sample = false;
for (uint8_t i=0; i<INS_MAX_INSTANCES; i++) {
struct accel_report accel_report;
struct gyro_report gyro_report;
if (accel_fd[i] != -1 && ::read(accel_fd[i], &accel_report, sizeof(accel_report)) ==
sizeof(accel_report) &&
accel_report.timestamp != last_accel_timestamp[i]) {
uint32_t deltat = accel_report.timestamp - last_accel_timestamp[i];
if (deltat > accel_deltat_max[i]) {
accel_deltat_max[i] = deltat;
}
if (accel_deltat_min[i] == 0 || deltat < accel_deltat_max[i]) {
accel_deltat_min[i] = deltat;
}
last_accel_timestamp[i] = accel_report.timestamp;
struct log_ACCEL pkt = {
LOG_PACKET_HEADER_INIT((uint8_t)(LOG_ACC1_MSG+i)),
time_us : AP_HAL::micros64(),
sample_us : accel_report.timestamp,
AccX : accel_report.x,
AccY : accel_report.y,
AccZ : accel_report.z
};
logger.WriteBlock(&pkt, sizeof(pkt));
got_sample = true;
total_samples[i]++;
}
if (gyro_fd[i] != -1 && ::read(gyro_fd[i], &gyro_report, sizeof(gyro_report)) ==
sizeof(gyro_report) &&
gyro_report.timestamp != last_gyro_timestamp[i]) {
uint32_t deltat = gyro_report.timestamp - last_gyro_timestamp[i];
if (deltat > gyro_deltat_max[i]) {
gyro_deltat_max[i] = deltat;
}
if (gyro_deltat_min[i] == 0 || deltat < gyro_deltat_max[i]) {
gyro_deltat_min[i] = deltat;
}
last_gyro_timestamp[i] = gyro_report.timestamp;
struct log_GYRO pkt = {
LOG_PACKET_HEADER_INIT((uint8_t)(LOG_GYR1_MSG+i)),
time_us : AP_HAL::micros64(),
sample_us : gyro_report.timestamp,
GyrX : gyro_report.x,
GyrY : gyro_report.y,
GyrZ : gyro_report.z
};
logger.WriteBlock(&pkt, sizeof(pkt));
got_sample = true;
total_samples[i]++;
}
}
if (got_sample) {
if (total_samples[0] % 2000 == 0 && last_print != total_samples[0]) {
last_print = total_samples[0];
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",
(unsigned long)AP_HAL::millis(),
(unsigned long)total_samples[0],
(unsigned long)total_samples[1],
(unsigned long)total_samples[2],
accel_deltat_min[0],
accel_deltat_max[0],
accel_deltat_min[1],
accel_deltat_max[1],
accel_deltat_min[2], accel_deltat_max[2],
gyro_deltat_min[0], gyro_deltat_max[0],
gyro_deltat_min[1], gyro_deltat_max[1],
gyro_deltat_min[2], gyro_deltat_max[2]);
#if 0
::printf("t=%lu total_samples=%lu/%lu/%lu adt=%u:%u/%u:%u/%u:%u gdt=%u:%u/%u:%u/%u:%u\n",
AP_HAL::millis(),
total_samples[0], total_samples[1],total_samples[2],
accel_deltat_min[0], accel_deltat_max[0],
accel_deltat_min[1], accel_deltat_max[1],
accel_deltat_min[2], accel_deltat_max[2],
gyro_deltat_min[0], gyro_deltat_max[0],
gyro_deltat_min[1], gyro_deltat_max[1],
gyro_deltat_min[2], gyro_deltat_max[2]);
#endif
memset(accel_deltat_min, 0, sizeof(accel_deltat_min));
memset(accel_deltat_max, 0, sizeof(accel_deltat_max));
memset(gyro_deltat_min, 0, sizeof(gyro_deltat_min));
memset(gyro_deltat_max, 0, sizeof(gyro_deltat_max));
}
}
} while (got_sample);
hal.scheduler->delay_microseconds(100);
}
#else
const AP_HAL::HAL& hal = AP_HAL::get_HAL();
void setup() {}
void loop() {}
#endif // CONFIG_HAL_BOARD
AP_HAL_MAIN();

9
libraries/AP_InertialSensor/examples/VibTest/wscript
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@ -1,9 +0,0 @@ @@ -1,9 +0,0 @@
#!/usr/bin/env python
# encoding: utf-8
def build(bld):
# TODO: Test code doesn't build. Fix or delete the test.
return
bld.ap_example(
use='ap',
)
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