ardupilot/libraries/AP_InertialSensor/examples/VibTest/VibTest.cpp

216 lines
8.0 KiB
C++

// -*- 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_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 <StorageManager.h>
#include <AP_Terrain.h>
#include <AP_AHRS.h>
#include <AP_Airspeed.h>
#include <AP_Vehicle.h>
#include <AP_ADC_AnalogSource.h>
#include <AP_Compass.h>
#include <AP_Scheduler.h>
#include <AP_Declination.h>
#include <AP_Notify.h>
#include <AP_NavEKF.h>
#include <AP_BattMonitor.h>
#include <AP_RangeFinder.h>
#include <AP_Rally.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_BOARD_DRIVER;
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[] PROGMEM = {
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);
gyro_fd[i] = open(gyro_path, O_RDONLY);
}
if (accel_fd[0] == -1 || gyro_fd[0] == -1) {
hal.scheduler->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, sizeof(log_structure)/sizeof(log_structure[0]));
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 : 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 : 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)hal.scheduler->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",
hal.scheduler->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_BOARD_DRIVER;
void setup() {}
void loop() {}
#endif // CONFIG_HAL_BOARD
AP_HAL_MAIN();