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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Significant work on mpu9250 driver to get magnetometer updates happening reliably. Improved 'mag' utility to aid driver development and testing.
This commit is contained in:
Robert Dickenson
committed by
Lorenz Meier
Lorenz Meier
parent
505f331c36
commit
5903891213
@@ -1,6 +1,6 @@
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############################################################################
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#
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# Copyright (c) 2015 PX4 Development Team. All rights reserved.
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# Copyright (c) 2016 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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+157
-38
@@ -1,7 +1,7 @@
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/****************************************************************************
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*
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* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
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* Author: Andrew Tridgell
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* Copyright (c) 2016 PX4 Development Team. All rights reserved.
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* Author: Robert Dickenson
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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@@ -34,6 +34,12 @@
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/**
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* @file mag.c
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*
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* Utility for viewing magnetometer ORB publications, specifically for
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* development work on the Invensense mpu9250 connected via SPI.
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*
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* @author Robert Dickenson
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*
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*/
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#include <px4_config.h>
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@@ -68,23 +74,17 @@ struct sensor_mag_s {
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};
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*/
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__EXPORT int mag_main(int argc, char *argv[]);
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int mag1(void);
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int mag2(void);
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int
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mag_main(int argc, char *argv[])
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mag1(void)
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{
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if (argc < 2) {
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printf("Usage: mag [update rate 1 - 10 hertz]\n");
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exit(1);
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}
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int rate = atoi(argv[1]);
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printf("mag %u\n", rate);
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if (rate > 10 || rate < 1) {
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rate = 1;
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}
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int16_t x_raw = 0;
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int16_t y_raw = 0;
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int16_t z_raw = 0;
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struct mag_report mrb;
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int mag_fd = orb_subscribe(ORB_ID(sensor_mag));
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struct mag_report mrp;
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while (true) {
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@@ -92,35 +92,154 @@ mag_main(int argc, char *argv[])
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orb_check(mag_fd, &updated);
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if (updated) {
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orb_copy(ORB_ID(sensor_mag), mag_fd, &mrp);
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orb_copy(ORB_ID(sensor_mag), mag_fd, &mrb);
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printf("magxyz %d %d %d\n", mrp.x_raw, mrp.y_raw, mrp.z_raw);
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}
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// usleep(100000);
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// printf("magxyz %d %d %d ", mrb.x_raw, mrb.y_raw, mrb.z_raw);
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printf("magxyz %8.4f %8.4f %8.4f ", (double)mrb.x, (double)mrb.y, (double)mrb.z);
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/* Sleep 100 ms waiting for user input five times ~ 1s */
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for (int k = 0; k < (11 - rate); k++) {
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struct pollfd fds;
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int ret;
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fds.fd = 0; /* stdin */
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fds.events = POLLIN;
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ret = poll(&fds, 1, 0);
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if (ret > 0) {
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char c;
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uint8_t cnt0 = (mrb.error_count & 0x000000FF00000000) >> 32;
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uint8_t cnt1 = (mrb.error_count & 0x00000000FF000000) >> 24;
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uint8_t cnt2 = (mrb.error_count & 0x0000000000FF0000) >> 16;
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uint8_t cnt3 = (mrb.error_count & 0x000000000000FF00) >> 8;
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uint8_t cnt4 = (mrb.error_count & 0x00000000000000FF);
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printf("[%x %x %x %x %x] ", cnt0, cnt1, cnt2, cnt3, cnt4);
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read(0, &c, 1);
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switch (c) {
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case 0x03: // ctrl-c
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case 0x1b: // esc
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case 'c':
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case 'q':
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return OK;
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/* not reached */
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}
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uint32_t mag_interval = (mrb.error_count & 0xFFFFFF0000000000) >> 40;
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printf("%u ", mag_interval);
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if ((mag_interval) < 5000) {
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printf("* ");
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}
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usleep(100000);
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if ((mag_interval) > 15000) {
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printf("! ");
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}
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if (mrb.x_raw == x_raw && mrb.y_raw == y_raw && mrb.z_raw == z_raw ) {
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printf("dup "); // duplicate magnetometer xyz data
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}
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x_raw = mrb.x_raw;
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y_raw = mrb.y_raw;
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z_raw = mrb.z_raw;
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printf("\n");
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}
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struct pollfd fds;
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int ret;
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fds.fd = 0; /* stdin */
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fds.events = POLLIN;
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ret = poll(&fds, 1, 0);
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if (ret > 0) {
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char c;
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read(0, &c, 1);
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switch (c) {
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case 0x03: // ctrl-c
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case 0x1b: // esc
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case 'c':
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case 'q':
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return OK;
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}
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}
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}
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return OK;
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}
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#define MAX_SAMPLES 100
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static struct mag_report mrb[MAX_SAMPLES];
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static uint64_t last_timestamp;
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int
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mag2(void)
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{
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int i = 0;
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int mag_fd = orb_subscribe(ORB_ID(sensor_mag));
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while (i < MAX_SAMPLES) {
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bool updated = false;
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orb_check(mag_fd, &updated);
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if (updated) {
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orb_copy(ORB_ID(sensor_mag), mag_fd, &mrb[i++]);
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}
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/*
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struct pollfd fds;
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int ret;
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fds.fd = 0; // stdin
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fds.events = POLLIN;
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ret = poll(&fds, 1, 0);
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if (ret > 0) {
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char c;
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read(0, &c, 1);
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switch (c) {
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case 0x03: // ctrl-c
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case 0x1b: // esc
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case 'c':
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case 'q':
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return OK;
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}
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}
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*/
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}
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uint32_t total_time = 0;
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last_timestamp = mrb[0].timestamp;
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for (i = 0; i < MAX_SAMPLES; i++) {
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// printf("magxyz %d %d %d ", mrb[i].x_raw, mrb[i].y_raw, mrb[i].z_raw);
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printf("magxyz %8.4f %8.4f %8.4f ", (double)mrb[i].x, (double)mrb[i].y, (double)mrb[i].z);
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uint8_t cnt0 = (mrb[i].error_count & 0x000000FF00000000) >> 32;
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uint8_t cnt1 = (mrb[i].error_count & 0x00000000FF000000) >> 24;
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uint8_t cnt2 = (mrb[i].error_count & 0x0000000000FF0000) >> 16;
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uint8_t cnt3 = (mrb[i].error_count & 0x000000000000FF00) >> 8;
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uint8_t cnt4 = (mrb[i].error_count & 0x00000000000000FF);
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printf("[%x %x %x %x %x] ", cnt0, cnt1, cnt2, cnt3, cnt4);
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uint32_t mag_interval = (mrb[i].error_count & 0xFFFFFF0000000000) >> 40;
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printf("%u ", mag_interval);
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if ((mag_interval) < 5000) {
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printf("* ");
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}
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if ((mag_interval) > 15000) {
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printf("! ");
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}
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uint32_t orb_interval = mrb[i].timestamp - last_timestamp;
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if (orb_interval != mag_interval) {
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printf("orb ", orb_interval); // missed some orb publications
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}
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last_timestamp = mrb[i].timestamp;
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total_time += orb_interval;
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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 ) {
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printf("dup "); // duplicate magnetometer xyz data
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}
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printf("\n");
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}
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double t = (double)total_time / 1000000.0;
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printf("total_time: %.3f s\n", t);
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return OK;
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}
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__EXPORT int mag_main(int argc, char *argv[]);
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int
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mag_main(int argc, char *argv[])
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{
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if (argc < 2) {
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mag1();
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} else {
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int reps = atoi(argv[1]);
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if (reps > 20 || reps < 1) {
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reps = 1;
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}
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while (reps--) {
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mag2();
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}
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}
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return OK;
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}
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@@ -32,7 +32,7 @@
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############################################################################
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#
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# Build nshterm utility
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# Build mag utility
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#
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MODULE_COMMAND = mag
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