mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-17 05:23:34 +08:00
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 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
|
||||
# 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
|
||||
|
||||
+157
-38
@@ -1,7 +1,7 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
|
||||
* Author: Andrew Tridgell
|
||||
* 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
|
||||
@@ -34,6 +34,12 @@
|
||||
|
||||
/**
|
||||
* @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>
|
||||
@@ -68,23 +74,17 @@ struct sensor_mag_s {
|
||||
};
|
||||
*/
|
||||
|
||||
__EXPORT int mag_main(int argc, char *argv[]);
|
||||
int mag1(void);
|
||||
int mag2(void);
|
||||
|
||||
int
|
||||
mag_main(int argc, char *argv[])
|
||||
mag1(void)
|
||||
{
|
||||
if (argc < 2) {
|
||||
printf("Usage: mag [update rate 1 - 10 hertz]\n");
|
||||
exit(1);
|
||||
}
|
||||
int rate = atoi(argv[1]);
|
||||
printf("mag %u\n", rate);
|
||||
if (rate > 10 || rate < 1) {
|
||||
rate = 1;
|
||||
}
|
||||
|
||||
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));
|
||||
struct mag_report mrp;
|
||||
|
||||
while (true) {
|
||||
|
||||
@@ -92,35 +92,154 @@ mag_main(int argc, char *argv[])
|
||||
orb_check(mag_fd, &updated);
|
||||
|
||||
if (updated) {
|
||||
orb_copy(ORB_ID(sensor_mag), mag_fd, &mrp);
|
||||
orb_copy(ORB_ID(sensor_mag), mag_fd, &mrb);
|
||||
|
||||
printf("magxyz %d %d %d\n", mrp.x_raw, mrp.y_raw, mrp.z_raw);
|
||||
}
|
||||
// usleep(100000);
|
||||
// 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);
|
||||
|
||||
/* Sleep 100 ms waiting for user input five times ~ 1s */
|
||||
for (int k = 0; k < (11 - rate); k++) {
|
||||
struct pollfd fds;
|
||||
int ret;
|
||||
fds.fd = 0; /* stdin */
|
||||
fds.events = POLLIN;
|
||||
ret = poll(&fds, 1, 0);
|
||||
if (ret > 0) {
|
||||
char c;
|
||||
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);
|
||||
|
||||
read(0, &c, 1);
|
||||
switch (c) {
|
||||
case 0x03: // ctrl-c
|
||||
case 0x1b: // esc
|
||||
case 'c':
|
||||
case 'q':
|
||||
return OK;
|
||||
/* not reached */
|
||||
}
|
||||
uint32_t mag_interval = (mrb.error_count & 0xFFFFFF0000000000) >> 40;
|
||||
printf("%u ", mag_interval);
|
||||
if ((mag_interval) < 5000) {
|
||||
printf("* ");
|
||||
}
|
||||
usleep(100000);
|
||||
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;
|
||||
}
|
||||
|
||||
@@ -32,7 +32,7 @@
|
||||
############################################################################
|
||||
|
||||
#
|
||||
# Build nshterm utility
|
||||
# Build mag utility
|
||||
#
|
||||
|
||||
MODULE_COMMAND = mag
|
||||
|
||||
Reference in New Issue
Block a user