mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-06-01 02:55:07 +08:00
Cleanup mpu9250 driver in preparation for PR
This commit is contained in:
Robert Dickenson
committed by
Lorenz Meier
Lorenz Meier
parent
4ef9148517
commit
95e51ed8c6
@@ -123,8 +123,8 @@ __BEGIN_DECLS
|
||||
#define PX4_SPI_BUS_BARO PX4_SPI_BUS_RAMTRON
|
||||
|
||||
/* Use these in place of the spi_dev_e enumeration to select a specific SPI device on SPI1 */
|
||||
#define PX4_SPIDEV_GYRO 1
|
||||
#define PX4_SPIDEV_ACCEL_MAG 2
|
||||
#define PX4_SPIDEV_GYRO 1
|
||||
#define PX4_SPIDEV_ACCEL_MAG 2
|
||||
#define PX4_SPIDEV_MPU 4
|
||||
#define PX4_SPIDEV_HMC 5
|
||||
#define PX4_SPIDEV_ICM 6
|
||||
|
||||
+32
-44
@@ -34,7 +34,7 @@
|
||||
/**
|
||||
* @file mag.cpp
|
||||
*
|
||||
* Driver for the ak8963 magnetometer within the Invensense mpu9250.
|
||||
* Driver for the ak8963 magnetometer within the Invensense mpu9250
|
||||
*
|
||||
* @author Robert Dickenson
|
||||
*
|
||||
@@ -72,6 +72,10 @@
|
||||
|
||||
#define MPU9250_MAG_RANGE_GA 1.5e-3f;
|
||||
|
||||
/* we are using the continuous fixed sampling rate of 100Hz */
|
||||
|
||||
#define MPU9250_AK8963_SAMPLE_RATE 100
|
||||
|
||||
|
||||
/* mpu9250 master i2c bus specific register address and bit definitions */
|
||||
|
||||
@@ -126,11 +130,9 @@ MPU9250_mag::MPU9250_mag(MPU9250 *parent, const char *path) :
|
||||
_mag_orb_class_instance(-1),
|
||||
_mag_class_instance(-1),
|
||||
_mag_reading_data(false),
|
||||
_mag_call_interval(0),
|
||||
_mag_reports(nullptr),
|
||||
_mag_scale{},
|
||||
_mag_range_scale(),
|
||||
_mag_sample_rate(100),
|
||||
_mag_reads(perf_alloc(PC_COUNT, "mpu9250_mag_read")),
|
||||
_mag_asa_x(1.0),
|
||||
_mag_asa_y(1.0),
|
||||
@@ -180,8 +182,6 @@ MPU9250_mag::init()
|
||||
|
||||
ak8963_setup();
|
||||
|
||||
// measure(0);
|
||||
|
||||
/* advertise sensor topic, measure manually to initialize valid report */
|
||||
struct mag_report mrp;
|
||||
_mag_reports->get(&mrp);
|
||||
@@ -198,13 +198,6 @@ out:
|
||||
return ret;
|
||||
}
|
||||
|
||||
uint8_t cnt0 = 0;
|
||||
uint8_t cnt1 = 0;
|
||||
uint8_t cnt2 = 0;
|
||||
uint8_t cnt3 = 0;
|
||||
uint8_t cnt4 = 0;
|
||||
|
||||
|
||||
void
|
||||
MPU9250_mag::measure(struct ak8963_regs data)
|
||||
{
|
||||
@@ -212,38 +205,33 @@ MPU9250_mag::measure(struct ak8963_regs data)
|
||||
|
||||
if (data.st1 & 0x01) {
|
||||
if (false == _mag_reading_data) {
|
||||
cnt1++;
|
||||
_parent->write_reg(MPUREG_I2C_SLV0_CTRL, BIT_I2C_SLVO_EN | sizeof(struct ak8963_regs));
|
||||
_mag_reading_data = true;
|
||||
return;
|
||||
} else {
|
||||
cnt2++;
|
||||
_parent->write_reg(MPUREG_I2C_SLV0_CTRL, BIT_I2C_SLVO_EN | 1);
|
||||
_mag_reading_data = false;
|
||||
}
|
||||
} else {
|
||||
if (true == _mag_reading_data) {
|
||||
cnt4++;
|
||||
_parent->write_reg(MPUREG_I2C_SLV0_CTRL, BIT_I2C_SLVO_EN | 1);
|
||||
_mag_reading_data = false;
|
||||
} else {
|
||||
cnt3++;
|
||||
}
|
||||
return;
|
||||
}
|
||||
|
||||
mag_report mrb;
|
||||
mag_report mrb;
|
||||
mrb.timestamp = hrt_absolute_time();
|
||||
|
||||
/*
|
||||
* Align axes - note the accel & gryo are also re-aligned so this
|
||||
* doesn't look obvious with the datasheet
|
||||
*/
|
||||
mrb.x_raw = data.x;
|
||||
mrb.x_raw = data.x;
|
||||
mrb.y_raw = -data.y;
|
||||
mrb.z_raw = -data.z;
|
||||
|
||||
float xraw_f = data.x;
|
||||
float xraw_f = data.x;
|
||||
float yraw_f = -data.y;
|
||||
float zraw_f = -data.z;
|
||||
|
||||
@@ -257,13 +245,7 @@ MPU9250_mag::measure(struct ak8963_regs data)
|
||||
mrb.scaling = _mag_range_scale;
|
||||
mrb.temperature = _parent->_last_temperature;
|
||||
|
||||
static uint64_t prev_mag_timestamp = 0;
|
||||
mrb.error_count = ((uint64_t)(mrb.timestamp - prev_mag_timestamp) << 40)
|
||||
+ ((uint64_t)cnt0 << 32)
|
||||
+ ((uint32_t)cnt1 << 24) + ((uint32_t)cnt2 << 16)
|
||||
+ ((uint32_t)cnt3 << 8) + cnt4;
|
||||
cnt0 = cnt1 = cnt2 = cnt3 = cnt4 = 0;
|
||||
prev_mag_timestamp = mrb.timestamp;
|
||||
mrb.error_count = 0;
|
||||
|
||||
_mag_reports->force(&mrb);
|
||||
|
||||
@@ -289,8 +271,11 @@ MPU9250_mag::read(struct file *filp, char *buffer, size_t buflen)
|
||||
}
|
||||
|
||||
/* if automatic measurement is not enabled, get a fresh measurement into the buffer */
|
||||
if (_mag_call_interval == 0) {
|
||||
if (_parent->_call_interval == 0) {
|
||||
_mag_reports->flush();
|
||||
/* TODO: this won't work as getting valid magnetometer
|
||||
* data requires more than one measure cycle
|
||||
*/
|
||||
_parent->measure();
|
||||
}
|
||||
|
||||
@@ -323,8 +308,10 @@ MPU9250_mag::ioctl(struct file *filp, int cmd, unsigned long arg)
|
||||
switch (cmd) {
|
||||
|
||||
case SENSORIOCRESET:
|
||||
// TODO: we could implement a reset of the AK8963 registers
|
||||
// return reset();
|
||||
/*
|
||||
* TODO: we could implement a reset of the AK8963 registers
|
||||
*/
|
||||
//return reset();
|
||||
return _parent->ioctl(filp, cmd, arg);
|
||||
|
||||
case SENSORIOCSPOLLRATE: {
|
||||
@@ -332,8 +319,11 @@ MPU9250_mag::ioctl(struct file *filp, int cmd, unsigned long arg)
|
||||
|
||||
/* switching to manual polling */
|
||||
case SENSOR_POLLRATE_MANUAL:
|
||||
// stop();
|
||||
_mag_call_interval = 0;
|
||||
/*
|
||||
* TODO: investigate being able to stop
|
||||
* the continuous sampling
|
||||
*/
|
||||
//stop();
|
||||
return OK;
|
||||
|
||||
/* external signalling not supported */
|
||||
@@ -347,15 +337,12 @@ MPU9250_mag::ioctl(struct file *filp, int cmd, unsigned long arg)
|
||||
case SENSOR_POLLRATE_MAX:
|
||||
return ioctl(filp, SENSORIOCSPOLLRATE, 100);
|
||||
|
||||
#define MPU9250_AK8963_DEFAULT_RATE 100
|
||||
#define MPU9250_AK8963_TIMER_REDUCTION 0
|
||||
|
||||
case SENSOR_POLLRATE_DEFAULT:
|
||||
return ioctl(filp, SENSORIOCSPOLLRATE, MPU9250_AK8963_DEFAULT_RATE);
|
||||
return ioctl(filp, SENSORIOCSPOLLRATE, MPU9250_AK8963_SAMPLE_RATE);
|
||||
|
||||
/* adjust to a legal polling interval in Hz */
|
||||
default: {
|
||||
if (MPU9250_AK8963_DEFAULT_RATE != arg) {
|
||||
if (MPU9250_AK8963_SAMPLE_RATE != arg) {
|
||||
return -EINVAL;
|
||||
}
|
||||
return OK;
|
||||
@@ -364,7 +351,7 @@ MPU9250_mag::ioctl(struct file *filp, int cmd, unsigned long arg)
|
||||
}
|
||||
|
||||
case SENSORIOCGPOLLRATE:
|
||||
return MPU9250_AK8963_DEFAULT_RATE;
|
||||
return MPU9250_AK8963_SAMPLE_RATE;
|
||||
|
||||
case SENSORIOCSQUEUEDEPTH: {
|
||||
/* lower bound is mandatory, upper bound is a sanity check */
|
||||
@@ -388,13 +375,14 @@ MPU9250_mag::ioctl(struct file *filp, int cmd, unsigned long arg)
|
||||
return _mag_reports->size();
|
||||
|
||||
case MAGIOCGSAMPLERATE:
|
||||
return _mag_sample_rate;
|
||||
return MPU9250_AK8963_SAMPLE_RATE;
|
||||
|
||||
case MAGIOCSSAMPLERATE:
|
||||
/*
|
||||
* We don't currently support any means of changing the sampling rate of the mag
|
||||
*/
|
||||
if (MPU9250_AK8963_DEFAULT_RATE != arg) {
|
||||
/*
|
||||
* We don't currently support any means of changing
|
||||
* the sampling rate of the mag
|
||||
*/
|
||||
if (MPU9250_AK8963_SAMPLE_RATE != arg) {
|
||||
return -EINVAL;
|
||||
}
|
||||
return OK;
|
||||
@@ -482,7 +470,7 @@ MPU9250_mag::ak8963_check_id(void)
|
||||
for (int i = 0; i < 5; i++) {
|
||||
uint8_t deviceid = 0;
|
||||
passthrough_read(AK8963REG_WIA, &deviceid, 0x01);
|
||||
if (deviceid == AK8963_DEVICE_ID) {
|
||||
if (AK8963_DEVICE_ID == deviceid) {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -78,11 +78,9 @@ private:
|
||||
int _mag_orb_class_instance;
|
||||
int _mag_class_instance;
|
||||
bool _mag_reading_data;
|
||||
unsigned _mag_call_interval;
|
||||
ringbuffer::RingBuffer *_mag_reports;
|
||||
struct mag_scale _mag_scale;
|
||||
float _mag_range_scale;
|
||||
unsigned _mag_sample_rate;
|
||||
perf_counter_t _mag_reads;
|
||||
float _mag_asa_x;
|
||||
float _mag_asa_y;
|
||||
|
||||
@@ -78,7 +78,7 @@
|
||||
#define MPU_DEVICE_PATH_MAG "/dev/mpu9250_mag"
|
||||
#define MPU_DEVICE_PATH_ACCEL_EXT "/dev/mpu9250_accel_ext"
|
||||
#define MPU_DEVICE_PATH_GYRO_EXT "/dev/mpu9250_gyro_ext"
|
||||
#define MPU_DEVICE_PATH_MAG_EXT "/dev/mpu9250_mag_ext"
|
||||
#define MPU_DEVICE_PATH_MAG_EXT "/dev/mpu9250_mag_ext"
|
||||
|
||||
/** driver 'main' command */
|
||||
extern "C" { __EXPORT int mpu9250_main(int argc, char *argv[]); }
|
||||
@@ -100,8 +100,6 @@ void info(bool);
|
||||
void regdump(bool);
|
||||
void testerror(bool);
|
||||
void usage();
|
||||
void w(bool);
|
||||
void g(bool, char *);
|
||||
|
||||
/**
|
||||
* Start the driver.
|
||||
|
||||
@@ -182,10 +182,6 @@
|
||||
#define MPU9250_GYRO_MAX_OUTPUT_RATE MPU9250_ACCEL_MAX_OUTPUT_RATE
|
||||
#define MPU9250_GYRO_DEFAULT_DRIVER_FILTER_FREQ 30
|
||||
|
||||
#define MPU9250_MAG_DEFAULT_RATE 1000
|
||||
#define MPU9250_MAG_MAX_OUTPUT_RATE MPU9250_GYRO_MAX_OUTPUT_RATE
|
||||
#define MPU9250_MAG_DEFAULT_DRIVER_FILTER_FREQ 30
|
||||
|
||||
#define MPU9250_DEFAULT_ONCHIP_FILTER_FREQ 41
|
||||
|
||||
#define MPU9250_ONE_G 9.80665f
|
||||
@@ -259,7 +255,6 @@ MPU9250::MPU9250(int bus, const char *path_accel, const char *path_gyro, const c
|
||||
_rotation(rotation),
|
||||
_checked_next(0),
|
||||
_last_temperature(0),
|
||||
// _last_accel{},
|
||||
_last_accel_data{},
|
||||
_got_duplicate(false)
|
||||
{
|
||||
@@ -391,7 +386,7 @@ MPU9250::init()
|
||||
return ret;
|
||||
}
|
||||
|
||||
/* do CDev init for the gyro device node, keep it optional */
|
||||
/* do CDev init for the mag device node, keep it optional */
|
||||
ret = _mag->init();
|
||||
|
||||
/* if probe/setup failed, bail now */
|
||||
@@ -736,19 +731,20 @@ MPU9250::gyro_self_test()
|
||||
void
|
||||
MPU9250::test_error()
|
||||
{
|
||||
// deliberately trigger an error. This was noticed during
|
||||
// development as a handy way to test the reset logic
|
||||
uint8_t data[16];
|
||||
memset(data, 0, sizeof(data));
|
||||
transfer(data, data, sizeof(data));
|
||||
::printf("error triggered\n");
|
||||
print_registers();
|
||||
// deliberately trigger an error. This was noticed during
|
||||
// development as a handy way to test the reset logic
|
||||
uint8_t data[16];
|
||||
memset(data, 0, sizeof(data));
|
||||
transfer(data, data, sizeof(data));
|
||||
::printf("error triggered\n");
|
||||
print_registers();
|
||||
}
|
||||
|
||||
ssize_t
|
||||
MPU9250::gyro_read(struct file *filp, char *buffer, size_t buflen)
|
||||
{
|
||||
unsigned count = buflen / sizeof(gyro_report);
|
||||
|
||||
/* buffer must be large enough */
|
||||
if (count < 1) {
|
||||
return -ENOSPC;
|
||||
@@ -775,6 +771,7 @@ MPU9250::gyro_read(struct file *filp, char *buffer, size_t buflen)
|
||||
if (!_gyro_reports->get(grp)) {
|
||||
break;
|
||||
}
|
||||
|
||||
transferred++;
|
||||
grp++;
|
||||
}
|
||||
@@ -938,12 +935,14 @@ MPU9250::ioctl(struct file *filp, int cmd, unsigned long arg)
|
||||
return accel_self_test();
|
||||
|
||||
#ifdef ACCELIOCSHWLOWPASS
|
||||
|
||||
case ACCELIOCSHWLOWPASS:
|
||||
_set_dlpf_filter(arg);
|
||||
return OK;
|
||||
#endif
|
||||
|
||||
#ifdef ACCELIOCGHWLOWPASS
|
||||
|
||||
case ACCELIOCGHWLOWPASS:
|
||||
return _dlpf_freq;
|
||||
#endif
|
||||
@@ -1027,19 +1026,21 @@ MPU9250::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
|
||||
return gyro_self_test();
|
||||
|
||||
#ifdef GYROIOCSHWLOWPASS
|
||||
|
||||
case GYROIOCSHWLOWPASS:
|
||||
_set_dlpf_filter(arg);
|
||||
return OK;
|
||||
#endif
|
||||
|
||||
#ifdef GYROIOCGHWLOWPASS
|
||||
|
||||
case GYROIOCGHWLOWPASS:
|
||||
return _dlpf_freq;
|
||||
#endif
|
||||
|
||||
default:
|
||||
/* give it to the superclass */
|
||||
return SPI::ioctl(filp, cmd, arg);
|
||||
/* give it to the superclass */
|
||||
return SPI::ioctl(filp, cmd, arg);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1312,8 +1313,6 @@ MPU9250::measure()
|
||||
check_registers();
|
||||
|
||||
if (check_duplicate(&mpu_report.accel_x[0])) {
|
||||
extern uint8_t cnt0;
|
||||
cnt0++;
|
||||
return;
|
||||
}
|
||||
|
||||
@@ -1361,7 +1360,7 @@ cnt0++;
|
||||
/*
|
||||
* Report buffers.
|
||||
*/
|
||||
accel_report arb;
|
||||
accel_report arb;
|
||||
gyro_report grb;
|
||||
|
||||
/*
|
||||
@@ -1419,7 +1418,7 @@ cnt0++;
|
||||
arb.y_integral = aval_integrated(1);
|
||||
arb.z_integral = aval_integrated(2);
|
||||
|
||||
arb.scaling = _accel_range_scale;
|
||||
arb.scaling = _accel_range_scale;
|
||||
arb.range_m_s2 = _accel_range_m_s2;
|
||||
|
||||
_last_temperature = (report.temp) / 361.0f + 35.0f;
|
||||
|
||||
@@ -1,45 +0,0 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2016 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
px4_add_module(
|
||||
MODULE systemcmds__mag
|
||||
MAIN mag
|
||||
PRIORITY "SCHED_PRIORITY_DEFAULT-30"
|
||||
STACK 1500
|
||||
COMPILE_FLAGS
|
||||
-Os
|
||||
SRCS
|
||||
mag.c
|
||||
DEPENDS
|
||||
platforms__common
|
||||
)
|
||||
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
|
||||
@@ -1,245 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2016 PX4 Development Team. All rights reserved.
|
||||
* Author: Robert Dickenson
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file mag.c
|
||||
*
|
||||
* Utility for viewing magnetometer ORB publications, specifically for
|
||||
* development work on the Invensense mpu9250 connected via SPI.
|
||||
*
|
||||
* @author Robert Dickenson
|
||||
*
|
||||
*/
|
||||
|
||||
#include <px4_config.h>
|
||||
#include <termios.h>
|
||||
#include <stdbool.h>
|
||||
#include <stdio.h>
|
||||
#include <stdarg.h>
|
||||
#include <unistd.h>
|
||||
#include <stdlib.h>
|
||||
#include <errno.h>
|
||||
#include <apps/nsh.h>
|
||||
#include <fcntl.h>
|
||||
#include <poll.h>
|
||||
#include <systemlib/err.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
|
||||
#include <uORB/topics/sensor_mag.h>
|
||||
#define mag_report sensor_mag_s
|
||||
/*
|
||||
struct sensor_mag_s {
|
||||
uint64_t timestamp;
|
||||
uint64_t error_count;
|
||||
float x;
|
||||
float y;
|
||||
float z;
|
||||
float range_ga;
|
||||
float scaling;
|
||||
float temperature;
|
||||
int16_t x_raw;
|
||||
int16_t y_raw;
|
||||
int16_t z_raw;
|
||||
};
|
||||
*/
|
||||
|
||||
int mag1(void);
|
||||
int mag2(void);
|
||||
|
||||
int
|
||||
mag1(void)
|
||||
{
|
||||
int16_t x_raw = 0;
|
||||
int16_t y_raw = 0;
|
||||
int16_t z_raw = 0;
|
||||
struct mag_report mrb;
|
||||
int mag_fd = orb_subscribe(ORB_ID(sensor_mag));
|
||||
|
||||
while (true) {
|
||||
|
||||
bool updated = false;
|
||||
orb_check(mag_fd, &updated);
|
||||
|
||||
if (updated) {
|
||||
orb_copy(ORB_ID(sensor_mag), mag_fd, &mrb);
|
||||
|
||||
// printf("magxyz %d %d %d ", mrb.x_raw, mrb.y_raw, mrb.z_raw);
|
||||
printf("magxyz %8.4f %8.4f %8.4f ", (double)mrb.x, (double)mrb.y, (double)mrb.z);
|
||||
|
||||
uint8_t cnt0 = (mrb.error_count & 0x000000FF00000000) >> 32;
|
||||
uint8_t cnt1 = (mrb.error_count & 0x00000000FF000000) >> 24;
|
||||
uint8_t cnt2 = (mrb.error_count & 0x0000000000FF0000) >> 16;
|
||||
uint8_t cnt3 = (mrb.error_count & 0x000000000000FF00) >> 8;
|
||||
uint8_t cnt4 = (mrb.error_count & 0x00000000000000FF);
|
||||
printf("[%x %x %x %x %x] ", cnt0, cnt1, cnt2, cnt3, cnt4);
|
||||
|
||||
uint32_t mag_interval = (mrb.error_count & 0xFFFFFF0000000000) >> 40;
|
||||
printf("%u ", mag_interval);
|
||||
if ((mag_interval) < 5000) {
|
||||
printf("* ");
|
||||
}
|
||||
if ((mag_interval) > 15000) {
|
||||
printf("! ");
|
||||
}
|
||||
|
||||
if (mrb.x_raw == x_raw && mrb.y_raw == y_raw && mrb.z_raw == z_raw ) {
|
||||
printf("dup "); // duplicate magnetometer xyz data
|
||||
}
|
||||
x_raw = mrb.x_raw;
|
||||
y_raw = mrb.y_raw;
|
||||
z_raw = mrb.z_raw;
|
||||
printf("\n");
|
||||
}
|
||||
|
||||
struct pollfd fds;
|
||||
int ret;
|
||||
fds.fd = 0; /* stdin */
|
||||
fds.events = POLLIN;
|
||||
ret = poll(&fds, 1, 0);
|
||||
if (ret > 0) {
|
||||
char c;
|
||||
|
||||
read(0, &c, 1);
|
||||
switch (c) {
|
||||
case 0x03: // ctrl-c
|
||||
case 0x1b: // esc
|
||||
case 'c':
|
||||
case 'q':
|
||||
return OK;
|
||||
}
|
||||
}
|
||||
}
|
||||
return OK;
|
||||
}
|
||||
|
||||
#define MAX_SAMPLES 100
|
||||
static struct mag_report mrb[MAX_SAMPLES];
|
||||
static uint64_t last_timestamp;
|
||||
|
||||
int
|
||||
mag2(void)
|
||||
{
|
||||
int i = 0;
|
||||
|
||||
int mag_fd = orb_subscribe(ORB_ID(sensor_mag));
|
||||
|
||||
while (i < MAX_SAMPLES) {
|
||||
|
||||
bool updated = false;
|
||||
orb_check(mag_fd, &updated);
|
||||
|
||||
if (updated) {
|
||||
orb_copy(ORB_ID(sensor_mag), mag_fd, &mrb[i++]);
|
||||
}
|
||||
/*
|
||||
struct pollfd fds;
|
||||
int ret;
|
||||
fds.fd = 0; // stdin
|
||||
fds.events = POLLIN;
|
||||
ret = poll(&fds, 1, 0);
|
||||
if (ret > 0) {
|
||||
char c;
|
||||
read(0, &c, 1);
|
||||
switch (c) {
|
||||
case 0x03: // ctrl-c
|
||||
case 0x1b: // esc
|
||||
case 'c':
|
||||
case 'q':
|
||||
return OK;
|
||||
}
|
||||
}
|
||||
*/
|
||||
}
|
||||
|
||||
uint32_t total_time = 0;
|
||||
last_timestamp = mrb[0].timestamp;
|
||||
|
||||
for (i = 0; i < MAX_SAMPLES; i++) {
|
||||
|
||||
// printf("magxyz %d %d %d ", mrb[i].x_raw, mrb[i].y_raw, mrb[i].z_raw);
|
||||
printf("magxyz %8.4f %8.4f %8.4f ", (double)mrb[i].x, (double)mrb[i].y, (double)mrb[i].z);
|
||||
|
||||
uint8_t cnt0 = (mrb[i].error_count & 0x000000FF00000000) >> 32;
|
||||
uint8_t cnt1 = (mrb[i].error_count & 0x00000000FF000000) >> 24;
|
||||
uint8_t cnt2 = (mrb[i].error_count & 0x0000000000FF0000) >> 16;
|
||||
uint8_t cnt3 = (mrb[i].error_count & 0x000000000000FF00) >> 8;
|
||||
uint8_t cnt4 = (mrb[i].error_count & 0x00000000000000FF);
|
||||
printf("[%x %x %x %x %x] ", cnt0, cnt1, cnt2, cnt3, cnt4);
|
||||
|
||||
uint32_t mag_interval = (mrb[i].error_count & 0xFFFFFF0000000000) >> 40;
|
||||
printf("%u ", mag_interval);
|
||||
if ((mag_interval) < 5000) {
|
||||
printf("* ");
|
||||
}
|
||||
if ((mag_interval) > 15000) {
|
||||
printf("! ");
|
||||
}
|
||||
|
||||
uint32_t orb_interval = mrb[i].timestamp - last_timestamp;
|
||||
if (orb_interval != mag_interval) {
|
||||
printf("orb ", orb_interval); // missed some orb publications
|
||||
}
|
||||
last_timestamp = mrb[i].timestamp;
|
||||
total_time += orb_interval;
|
||||
|
||||
if (mrb[i].x_raw == mrb[i-1].x_raw && mrb[i].y_raw == mrb[i-1].y_raw && mrb[i].z_raw == mrb[i-1].z_raw ) {
|
||||
printf("dup "); // duplicate magnetometer xyz data
|
||||
}
|
||||
|
||||
printf("\n");
|
||||
}
|
||||
double t = (double)total_time / 1000000.0;
|
||||
printf("total_time: %.3f s\n", t);
|
||||
return OK;
|
||||
}
|
||||
|
||||
|
||||
__EXPORT int mag_main(int argc, char *argv[]);
|
||||
|
||||
int
|
||||
mag_main(int argc, char *argv[])
|
||||
{
|
||||
if (argc < 2) {
|
||||
mag1();
|
||||
} else {
|
||||
int reps = atoi(argv[1]);
|
||||
if (reps > 20 || reps < 1) {
|
||||
reps = 1;
|
||||
}
|
||||
while (reps--) {
|
||||
mag2();
|
||||
}
|
||||
}
|
||||
return OK;
|
||||
}
|
||||
@@ -1,45 +0,0 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#
|
||||
# Build mag utility
|
||||
#
|
||||
|
||||
MODULE_COMMAND = mag
|
||||
SRCS = mag.c
|
||||
|
||||
MODULE_STACKSIZE = 1500
|
||||
|
||||
MAXOPTIMIZATION = -Os
|
||||
|
||||
MODULE_PRIORITY = "SCHED_PRIORITY_DEFAULT-30"
|
||||
Reference in New Issue
Block a user