mirror of https://github.com/ArduPilot/ardupilot
AP_InertialSensor: added VibTest sketch
logs all accel data at high rate to SD card
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include ../../../../mk/apm.mk
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// -*- 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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#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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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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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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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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