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Useful bits for high-rate logging

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This commit is contained in:
Lorenz Meier
2013-12-20 14:25:35 +01:00
parent 6dce57170e
commit 8c518aa237
5 changed files with 304 additions and 36 deletions
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src/systemcmds/tests/test_sensors.c
+51 -36
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@@ -78,7 +78,8 @@ static int accel(int argc, char *argv[]);
static int gyro(int argc, char *argv[]);
static int mag(int argc, char *argv[]);
static int baro(int argc, char *argv[]);
static int mpu6k(int argc, char *argv[]);
static int accel1(int argc, char *argv[]);
static int gyro1(int argc, char *argv[]);
/****************************************************************************
* Private Data
@@ -93,7 +94,8 @@ struct {
{"gyro", "/dev/gyro", gyro},
{"mag", "/dev/mag", mag},
{"baro", "/dev/baro", baro},
{"mpu6k", "/dev/mpu6k", mpu6k},
{"accel1", "/dev/accel1", accel1},
{"gyro1", "/dev/gyro1", gyro1},
{NULL, NULL, NULL}
};
@@ -137,7 +139,7 @@ accel(int argc, char *argv[])
}
if (fabsf(buf.x) > 30.0f || fabsf(buf.y) > 30.0f || fabsf(buf.z) > 30.0f) {
warnx("MPU6K acceleration values out of range!");
warnx("ACCEL1 acceleration values out of range!");
return ERROR;
}
@@ -149,20 +151,19 @@ accel(int argc, char *argv[])
}
static int
mpu6k(int argc, char *argv[])
accel1(int argc, char *argv[])
{
printf("\tMPU6K: test start\n");
printf("\tACCEL1: test start\n");
fflush(stdout);
int fd;
struct accel_report buf;
struct gyro_report gyro_buf;
int ret;
fd = open("/dev/accel_mpu6k", O_RDONLY);
fd = open("/dev/accel1", O_RDONLY);
if (fd < 0) {
printf("\tMPU6K: open fail, run <mpu6000 start> first.\n");
printf("\tACCEL1: open fail, run <mpu6000 start> or <lsm303d start> first.\n");
return ERROR;
}
@@ -173,45 +174,21 @@ mpu6k(int argc, char *argv[])
ret = read(fd, &buf, sizeof(buf));
if (ret != sizeof(buf)) {
printf("\tMPU6K: read1 fail (%d)\n", ret);
printf("\tACCEL1: read1 fail (%d)\n", ret);
return ERROR;
} else {
printf("\tMPU6K accel: x:%8.4f\ty:%8.4f\tz:%8.4f m/s^2\n", (double)buf.x, (double)buf.y, (double)buf.z);
printf("\tACCEL1 accel: x:%8.4f\ty:%8.4f\tz:%8.4f m/s^2\n", (double)buf.x, (double)buf.y, (double)buf.z);
}
if (fabsf(buf.x) > 30.0f || fabsf(buf.y) > 30.0f || fabsf(buf.z) > 30.0f) {
warnx("MPU6K acceleration values out of range!");
warnx("ACCEL1 acceleration values out of range!");
return ERROR;
}
/* Let user know everything is ok */
printf("\tOK: MPU6K ACCEL passed all tests successfully\n");
printf("\tOK: ACCEL1 passed all tests successfully\n");
close(fd);
fd = open("/dev/gyro_mpu6k", O_RDONLY);
if (fd < 0) {
printf("\tMPU6K GYRO: open fail, run <l3gd20 start> or <mpu6000 start> first.\n");
return ERROR;
}
/* wait at least 5 ms, sensor should have data after that */
usleep(5000);
/* read data - expect samples */
ret = read(fd, &gyro_buf, sizeof(gyro_buf));
if (ret != sizeof(gyro_buf)) {
printf("\tMPU6K GYRO: read fail (%d)\n", ret);
return ERROR;
} else {
printf("\tMPU6K GYRO rates: x:%8.4f\ty:%8.4f\tz:%8.4f rad/s\n", (double)gyro_buf.x, (double)gyro_buf.y, (double)gyro_buf.z);
}
/* Let user know everything is ok */
printf("\tOK: MPU6K GYRO passed all tests successfully\n");
close(fd);
return OK;
@@ -255,6 +232,44 @@ gyro(int argc, char *argv[])
return OK;
}
static int
gyro1(int argc, char *argv[])
{
printf("\tGYRO1: test start\n");
fflush(stdout);
int fd;
struct gyro_report buf;
int ret;
fd = open("/dev/gyro1", O_RDONLY);
if (fd < 0) {
printf("\tGYRO1: open fail, run <l3gd20 start> or <mpu6000 start> first.\n");
return ERROR;
}
/* wait at least 5 ms, sensor should have data after that */
usleep(5000);
/* read data - expect samples */
ret = read(fd, &buf, sizeof(buf));
if (ret != sizeof(buf)) {
printf("\tGYRO1: read fail (%d)\n", ret);
return ERROR;
} else {
printf("\tGYRO1 rates: x:%8.4f\ty:%8.4f\tz:%8.4f rad/s\n", (double)buf.x, (double)buf.y, (double)buf.z);
}
/* Let user know everything is ok */
printf("\tOK: GYRO1 passed all tests successfully\n");
close(fd);
return OK;
}
static int
mag(int argc, char *argv[])
{