// // 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_ADC/AP_ADC.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 <DataFlash/DataFlash.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 DataFlash_File DataFlash("/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); DataFlash.Init(log_structure, ARRAY_SIZE(log_structure)); DataFlash.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 }; DataFlash.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 }; DataFlash.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();