diff options
author | Lorenz Meier <lm@inf.ethz.ch> | 2012-11-27 12:45:17 +0100 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-11-27 12:45:17 +0100 |
commit | 4d6fb3a037e1f58b02daa2e582931ab91d9b0f8b (patch) | |
tree | 25c285d166ff94e9775b0a039c2d55c0b881a14e | |
parent | dc72d467d4abe3d18bbf02091eb4eaddb4f491d2 (diff) | |
download | px4-firmware-4d6fb3a037e1f58b02daa2e582931ab91d9b0f8b.tar.gz px4-firmware-4d6fb3a037e1f58b02daa2e582931ab91d9b0f8b.tar.bz2 px4-firmware-4d6fb3a037e1f58b02daa2e582931ab91d9b0f8b.zip |
Added delay test to measure comm delays with a led / scope
-rw-r--r-- | apps/systemcmds/delay_test/Makefile | 42 | ||||
-rw-r--r-- | apps/systemcmds/delay_test/delay_test.c | 160 | ||||
-rw-r--r-- | nuttx/configs/px4fmu/nsh/appconfig | 2 |
3 files changed, 203 insertions, 1 deletions
diff --git a/apps/systemcmds/delay_test/Makefile b/apps/systemcmds/delay_test/Makefile new file mode 100644 index 000000000..d30fcba27 --- /dev/null +++ b/apps/systemcmds/delay_test/Makefile @@ -0,0 +1,42 @@ +############################################################################ +# +# Copyright (C) 2012 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. +# +############################################################################ + +# +# Delay test +# + +APPNAME = delay_test +PRIORITY = SCHED_PRIORITY_DEFAULT +STACKSIZE = 2048 + +include $(APPDIR)/mk/app.mk diff --git a/apps/systemcmds/delay_test/delay_test.c b/apps/systemcmds/delay_test/delay_test.c new file mode 100644 index 000000000..51cce38fc --- /dev/null +++ b/apps/systemcmds/delay_test/delay_test.c @@ -0,0 +1,160 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: Lorenz Meier <lm@inf.ethz.ch> + * + * 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 delay_test.c + * + * Simple but effective delay test using leds and a scope to measure + * communication delays end-to-end accurately. + * + * @author Lorenz Meier <lm@inf.ethz.ch> + */ + +#include <nuttx/config.h> +#include <unistd.h> +#include <stdlib.h> +#include <stdio.h> +#include <fcntl.h> +#include <errno.h> +#include <poll.h> +#include <string.h> + +#include <systemlib/err.h> + +#include <drivers/drv_led.h> +#include <drivers/drv_hrt.h> +#include <drivers/drv_tone_alarm.h> + +#include <uORB/topics/vehicle_vicon_position.h> +#include <uORB/topics/vehicle_command.h> + +__EXPORT int delay_test_main(int argc, char *argv[]); +static int led_on(int leds, int led); +static int led_off(int leds, int led); + +int delay_test_main(int argc, char *argv[]) +{ + bool vicon_msg = false; + bool command_msg = false; + + if (argc > 1 && !strcmp(argv[1], "--help")) { + warnx("usage: delay_test [vicon] [command]\n"); + exit(1); + } + + if (argc > 1 && !strcmp(argv[1], "vicon")) { + vicon_msg = true; + } + + if (argc > 1 && !strcmp(argv[1], "command")) { + command_msg = true; + } + + int buzzer = open("/dev/tone_alarm", O_WRONLY); + int leds = open(LED_DEVICE_PATH, 0); + + /* prepare use of amber led */ + led_off(leds, LED_AMBER); + + int topic; + + /* subscribe to topic */ + if (vicon_msg) { + topic = orb_subscribe(ORB_ID(vehicle_vicon_position)); + } else if (command_msg) { + topic = orb_subscribe(ORB_ID(vehicle_command)); + } else { + errx(1, "No topic selected for delay test, use --help for a list of topics."); + } + + const int testcount = 20; + + warnx("running %d iterations..\n", testcount); + + struct pollfd fds[1]; + fds[0].fd = topic; + fds[0].events = POLLIN; + + /* display and sound error */ + for (int i = 0; i < testcount; i++) + { + /* wait for topic */ + int ret = poll(&fds[0], 1, 2000); + + /* this would be bad... */ + if (ret < 0) { + warnx("poll error %d", errno); + usleep(1000000); + continue; + } + + /* do we have a topic update? */ + if (fds[0].revents & POLLIN) { + + /* copy object to disable poll ready state */ + if (vicon_msg) { + struct vehicle_vicon_position_s vicon_position; + orb_copy(ORB_ID(vehicle_vicon_position), topic, &vicon_position); + } else if (command_msg) { + struct vehicle_command_s vehicle_command; + orb_copy(ORB_ID(vehicle_command), topic, &vehicle_command); + } + + led_on(leds, LED_AMBER); + ioctl(buzzer, TONE_SET_ALARM, 4); + /* keep led on for 50 ms to make it barely visible */ + usleep(50000); + led_off(leds, LED_AMBER); + } + } + + /* stop alarm */ + ioctl(buzzer, TONE_SET_ALARM, 0); + + /* switch on leds */ + led_on(leds, LED_BLUE); + led_on(leds, LED_AMBER); + + exit(0); +} + +static int led_off(int leds, int led) +{ + return ioctl(leds, LED_OFF, led); +} + +static int led_on(int leds, int led) +{ + return ioctl(leds, LED_ON, led); +}
\ No newline at end of file diff --git a/nuttx/configs/px4fmu/nsh/appconfig b/nuttx/configs/px4fmu/nsh/appconfig index 5833e3575..d32ca5ef7 100644 --- a/nuttx/configs/px4fmu/nsh/appconfig +++ b/nuttx/configs/px4fmu/nsh/appconfig @@ -55,7 +55,7 @@ CONFIGURED_APPS += systemcmds/eeprom CONFIGURED_APPS += systemcmds/param CONFIGURED_APPS += systemcmds/bl_update CONFIGURED_APPS += systemcmds/preflight_check -#CONFIGURED_APPS += systemcmds/calibration +CONFIGURED_APPS += systemcmds/delay_test # Tutorial code from # https://pixhawk.ethz.ch/px4/dev/hello_sky |