mirror of https://github.com/ArduPilot/ardupilot
227 lines
8.3 KiB
Plaintext
227 lines
8.3 KiB
Plaintext
// -*- 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 <StorageManager.h>
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#include <AP_Terrain.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_Scheduler.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 <AP_BattMonitor.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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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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#include <stdio.h>
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const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
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static int accel_fd[INS_MAX_INSTANCES];
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static int gyro_fd[INS_MAX_INSTANCES];
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static uint32_t total_samples[INS_MAX_INSTANCES];
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static uint64_t last_accel_timestamp[INS_MAX_INSTANCES];
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static uint64_t last_gyro_timestamp[INS_MAX_INSTANCES];
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static uint32_t accel_deltat_min[INS_MAX_INSTANCES];
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static uint32_t accel_deltat_max[INS_MAX_INSTANCES];
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static uint32_t gyro_deltat_min[INS_MAX_INSTANCES];
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static uint32_t gyro_deltat_max[INS_MAX_INSTANCES];
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static DataFlash_File DataFlash("/fs/microsd/VIBTEST");
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#define LOG_ACC1_MSG 215
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#define LOG_GYR1_MSG 225
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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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uint32_t timestamp_us;
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float AccX, AccY, AccZ;
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};
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struct PACKED log_GYRO {
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LOG_PACKET_HEADER;
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uint32_t timestamp;
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uint32_t timestamp_us;
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float GyrX, GyrY, GyrZ;
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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_ACC1_MSG, sizeof(log_ACCEL),
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"ACC1", "IIfff", "TimeMS,TimeUS,AccX,AccY,AccZ" },
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{ LOG_ACC1_MSG+1, sizeof(log_ACCEL),
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"ACC2", "IIfff", "TimeMS,TimeUS,AccX,AccY,AccZ" },
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{ LOG_ACC1_MSG+2, sizeof(log_ACCEL),
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"ACC3", "IIfff", "TimeMS,TimeUS,AccX,AccY,AccZ" },
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{ LOG_GYR1_MSG, sizeof(log_GYRO),
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"GYR1", "IIfff", "TimeMS,TimeUS,GyrX,GyrY,GyrZ" },
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{ LOG_GYR1_MSG+1, sizeof(log_GYRO),
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"GYR2", "IIfff", "TimeMS,TimeUS,GyrX,GyrY,GyrZ" },
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{ LOG_GYR1_MSG+2, sizeof(log_GYRO),
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"GYR3", "IIfff", "TimeMS,TimeUS,GyrX,GyrY,GyrZ" }
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};
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void setup(void)
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{
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for (uint8_t i=0; i<INS_MAX_INSTANCES; i++) {
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char accel_path[] = ACCEL_DEVICE_PATH "n";
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char gyro_path[] = GYRO_DEVICE_PATH "n";
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accel_path[strlen(accel_path)-1] = (i==0?0:'1'+(i-1));
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gyro_path[strlen(gyro_path)-1] = (i==0?0:'1'+(i-1));
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accel_fd[i] = open(accel_path, O_RDONLY);
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gyro_fd[i] = open(gyro_path, O_RDONLY);
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}
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if (accel_fd[0] == -1 || gyro_fd[0] == -1) {
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hal.scheduler->panic("Failed to open accel/gyro 0");
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}
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for (uint8_t i=0; i<INS_MAX_INSTANCES; i++) {
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// disable software filtering
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if (accel_fd[i] != -1) {
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ioctl(accel_fd[i], ACCELIOCSLOWPASS, 0);
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ioctl(accel_fd[i], SENSORIOCSQUEUEDEPTH, 100);
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::printf("Setup accel[%u] OK\n", i);
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}
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if (gyro_fd[i] != -1) {
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ioctl(gyro_fd[i], GYROIOCSLOWPASS, 0);
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ioctl(gyro_fd[i], SENSORIOCSQUEUEDEPTH, 100);
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::printf("Setup gyro[%u] OK\n", i);
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}
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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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bool got_sample = false;
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static uint32_t last_print;
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do {
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got_sample = false;
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for (uint8_t i=0; i<INS_MAX_INSTANCES; i++) {
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struct accel_report accel_report;
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struct gyro_report gyro_report;
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if (accel_fd[i] != -1 && ::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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uint32_t deltat = accel_report.timestamp - last_accel_timestamp[i];
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if (deltat > accel_deltat_max[i]) {
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accel_deltat_max[i] = deltat;
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}
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if (accel_deltat_min[i] == 0 || deltat < accel_deltat_max[i]) {
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accel_deltat_min[i] = deltat;
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}
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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_ACC1_MSG+i)),
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timestamp : (uint32_t)(accel_report.timestamp/1000),
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timestamp_us : (uint32_t)accel_report.timestamp,
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AccX : accel_report.x,
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AccY : accel_report.y,
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AccZ : accel_report.z
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};
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DataFlash.WriteBlock(&pkt, sizeof(pkt));
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got_sample = true;
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total_samples[i]++;
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}
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if (gyro_fd[i] != -1 && ::read(gyro_fd[i], &gyro_report, sizeof(gyro_report)) ==
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sizeof(gyro_report) &&
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gyro_report.timestamp != last_gyro_timestamp[i]) {
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uint32_t deltat = gyro_report.timestamp - last_gyro_timestamp[i];
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if (deltat > gyro_deltat_max[i]) {
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gyro_deltat_max[i] = deltat;
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}
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if (gyro_deltat_min[i] == 0 || deltat < gyro_deltat_max[i]) {
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gyro_deltat_min[i] = deltat;
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}
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last_gyro_timestamp[i] = gyro_report.timestamp;
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struct log_GYRO pkt = {
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LOG_PACKET_HEADER_INIT((uint8_t)(LOG_GYR1_MSG+i)),
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timestamp : (uint32_t)(gyro_report.timestamp/1000),
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timestamp_us : (uint32_t)gyro_report.timestamp,
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GyrX : gyro_report.x,
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GyrY : gyro_report.y,
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GyrZ : gyro_report.z
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};
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DataFlash.WriteBlock(&pkt, sizeof(pkt));
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got_sample = true;
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total_samples[i]++;
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}
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}
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if (got_sample) {
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if (total_samples[0] % 2000 == 0 && last_print != total_samples[0]) {
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last_print = total_samples[0];
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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",
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hal.scheduler->millis(),
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total_samples[0], total_samples[1],total_samples[2],
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accel_deltat_min[0], accel_deltat_max[0],
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accel_deltat_min[1], accel_deltat_max[1],
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accel_deltat_min[2], accel_deltat_max[2],
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gyro_deltat_min[0], gyro_deltat_max[0],
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gyro_deltat_min[1], gyro_deltat_max[1],
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gyro_deltat_min[2], gyro_deltat_max[2]);
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#if 0
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::printf("t=%lu total_samples=%lu/%lu/%lu adt=%u:%u/%u:%u/%u:%u gdt=%u:%u/%u:%u/%u:%u\n",
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hal.scheduler->millis(),
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total_samples[0], total_samples[1],total_samples[2],
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accel_deltat_min[0], accel_deltat_max[0],
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accel_deltat_min[1], accel_deltat_max[1],
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accel_deltat_min[2], accel_deltat_max[2],
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gyro_deltat_min[0], gyro_deltat_max[0],
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gyro_deltat_min[1], gyro_deltat_max[1],
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gyro_deltat_min[2], gyro_deltat_max[2]);
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#endif
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memset(accel_deltat_min, 0, sizeof(accel_deltat_min));
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memset(accel_deltat_max, 0, sizeof(accel_deltat_max));
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memset(gyro_deltat_min, 0, sizeof(gyro_deltat_min));
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memset(gyro_deltat_max, 0, sizeof(gyro_deltat_max));
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}
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}
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} while (got_sample);
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hal.scheduler->delay_microseconds(200);
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}
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#else
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const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
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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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