Merge branch 'master' of git.ece.iastate.edu:danc/MicroCART_17-18

controls/.gitignore

+*.asv
\ No newline at end of file

controls/MATLAB/IMU/accelerometer_noise_analysis.m

+close all; clear all; clc; 
+
+filename = 'imu.csv';
+data = load_IMU_data_from_csv( filename ) ; 
+
+t = data.t; 
+ax = data.ax; 
+ay = data.ay; 
+az = data.az; 
+gx = data.gx; 
+gy = data.gy; 
+gz = data.gz; 
+
+% analyze the noise (deviation from mean) on each axis and compare the
+% emperical distribution to one generated from a quantized Gaussian
+% distrubtuion with the same variance. 
+quantized_accel_noise_gauss_anal( ax , 'x-axis')
+quantized_accel_noise_gauss_anal( ay , 'y-axis')
+quantized_accel_noise_gauss_anal( az , 'z-axis')
\ No newline at end of file

controls/MATLAB/IMU/load_IMU_data_from_csv.m

+function data = load_IMU_data_from_csv( filename )
+% load_IMU_data_from_csv load data from csv file into workspace 
+%
+%SYNTAX
+% data = load_IMU_data_from_csv( filename )
+% 
+%DESCRIPTION
+% ...to be written...
+%
+%
+%Inputs:
+% filename - string specifying the file 
+%
+%Options:
+% none 
+%
+%Outputs:
+% data - IMU data loaded into a structure (specify more later)  
+%
+%EXAMPLES
+%
+%NOTES
+% This function currently assumes the csv format that was used as of the 
+% date: 11/15/2016 (m/d/y) 
+%
+%AUTHORS
+% Matt Rich - m87rich@iastate.edu
+%
+%DEVELOPERS
+%
+
+%
+%DEVELOPMENT NOTES
+%
+% dates are in m-d-y format 
+%
+% Initial bare bones function. 
+% - Matt Rich 11-15-2016
+%
+delimiter = ',';
+formatSpec = '%f%f%f%f%f%f%f%[^\n\r]';
+fileID = fopen(filename,'r');
+dataArray = textscan(fileID, formatSpec, 'Delimiter', delimiter, 'EmptyValue' ,NaN, 'ReturnOnError', false);
+fclose(fileID);
+data.t = dataArray{:, 1};
+data.ax = dataArray{:, 2};
+data.ay = dataArray{:, 3};
+data.az = dataArray{:, 4};
+data.gx = dataArray{:, 5};
+data.gy = dataArray{:, 6};
+data.gz = dataArray{:, 7};
+
+
+end
+

controls/MATLAB/IMU/microcart_imu_analysis_1.m

+% function microcart_imu_analysis_1
+
+close all;  clc; 
+filename = 'imu.csv';
+delimiter = ',';
+formatSpec = '%f%f%f%f%f%f%f%[^\n\r]';
+fileID = fopen(filename,'r');
+dataArray = textscan(fileID, formatSpec, 'Delimiter', delimiter, 'EmptyValue' ,NaN, 'ReturnOnError', false);
+fclose(fileID);
+t = dataArray{:, 1};
+ax = dataArray{:, 2};
+ay = dataArray{:, 3};
+az = dataArray{:, 4};
+gx = dataArray{:, 5};
+gy = dataArray{:, 6};
+gz = dataArray{:, 7};
+clearvars filename delimiter formatSpec fileID dataArray ans;
+
+% magnitude of acceleration in gs 
+a = ( ax.^2 + ay.^2 + az.^2 ).^0.5 ; 
+
+% magnitude of deviation from ideal 
+ea1 = 1 - a ;
+
+% magnitude of deviation from mean 
+ea2 = a - mean(a) ; 
+
+% RMS error 
+ea1rms = sqrt(1/length(ea1)*(ea1')*ea1) ; 
+ea2rms = sqrt(1/length(ea2)*(ea2')*ea2) ; 
+
+subplot(3,1,1); 
+plot(t, a , t , ones(length(t),1)); axis([min(t),max(t),min([a;1])-0.01,max([a;1])+0.01]); grid;
+xlabel('Time (s)'); ylabel('Acceleration (gs)'); 
+legend('Measured','Ideal'); 
+
+
+subplot(3,1,2); 
+plot(t, ea1 ); axis([min(t),max(t),min(ea1)-0.01,max(ea1)+0.01]); grid;
+xlabel('Time (s)'); ylabel('Error From Ideal (gs)'); 
+
+subplot(3,1,3); 
+plot(t, ea2 ); axis([min(t),max(t),min(ea2)-0.01,max(ea2)+0.01]); grid;
+xlabel('Time (s)'); ylabel('Error From Mean (gs)'); 
+
+% 
+figure; 
+X = fft(ea2); 
+N = length(ea2); 
+fs = 1/(t(2)-t(1)); 
+F = ([-N/2:N/2-1]/N)*fs; %frequency axis for plotting FFTs 
+% subplot(2,1,1); 
+plot(F,fftshift(abs(X))); grid; 
+xlabel('frequency (Hz)');
+ylabel(['|FFT(x)|']);
+% subplot(2,1,2); 
+% plot(F,20*log10(fftshift(abs(X)))); grid; 
+% xlabel('frequency (Hz)');
+% ylabel('|FFT(x)| dB');
+suptitle('x = Error From Mean (gs)'); 
+
+
+eax = ax - mean(ax); 
+
+vx = var(ax); 
+sigmax = sqrt(vx);  
+
+figure; 
+
+bins = unique(eax) ; 
+dbins = bins(2)-bins(1); % the quantization levels consistent 
+
+bins_right = bins + dbins/2; 
+bins_left = bins - dbins/2; 
+cgauss_right = normcdf(bins_right,0,sigmax); 
+cgauss_left = normcdf(bins_left,0,sigmax); 
+
+empf = length(eax)*(cgauss_right-cgauss_left); 
+stairs(bins_left,empf,'r','LineWidth',1) ; 
+xlabel('Error From Mean (gs)'); 
+ylabel('Occurences'); 
+
+grid; 
+hold on; 
+h = hist(eax,bins); 
+stem(bins,h); 
+
+legend(['Quantized Gaussian Noise: N(0,',num2str(vx),')'],'Emperical Distribution')
+
+
+quantized_accel_noise_gauss_anal( ax )
+
+
+
+% end
+
+
+

controls/MATLAB/IMU/quantized_accel_noise_gauss_anal.m

+function varargout = quantized_accel_noise_gauss_anal( a , axis )
+% quantized_accel_noise_gauss_anal analysis for quantized acelerometer data 
+%
+%SYNTAX
+% quantized_accel_noise_gauss_anal( a , axis )
+% 
+%DESCRIPTION
+% ...to be written...
+%
+%
+%Inputs:
+%    a - vector of a single axis accelerometer reading 
+% axis - string specifying the axis label 
+%
+%Options:
+% none 
+%
+%Outputs:
+% none 
+%
+%EXAMPLES
+%
+%NOTES
+% This function is only really meaningful for a static (not moving) test. 
+%
+%AUTHORS
+% Matt Rich - m87rich@iastate.edu
+%
+%DEVELOPERS
+%
+
+%
+%DEVELOPMENT NOTES
+%
+% dates are in m-d-y format 
+%
+% Initial bare bones function. 
+% - Matt Rich 11-15-2016
+%
+
+mu = mean(a); 
+v = var(a); 
+sigma = sqrt(v); 
+
+ea = a - mu; 
+
+mue = mean(ea); %calculate the mean of the error from mean
+
+
+figure; 
+
+bins = unique(ea) ; 
+dbins = bins(2)-bins(1); % assuming the quantization levels consistent 
+
+bins_right = bins + dbins/2; 
+bins_left = bins - dbins/2; 
+cgauss_right = normcdf(bins_right,mue,sigma); 
+cgauss_left = normcdf(bins_left,mue,sigma); 
+
+emp_dist = length(ea)*(cgauss_right-cgauss_left); 
+stairs(bins_left,emp_dist,'r','LineWidth',1) ; 
+xlabel('Error From Mean (gs)'); 
+ylabel('Occurences'); 
+grid; 
+hold on; 
+h = hist(ea,bins); 
+stem(bins,h); 
+legend(['Quantized Gaussian Noise: N(',num2str(mue),',',num2str(v),')'],'Emperical Distribution'); 
+title(['Accelerometer deviation from mean on ',axis]); 
+
+
+end
+

groundStation/src/backend/backend.c

@@ -567,6 +567,7 @@ static void client_recv(int fd) {
 	}
 	buffer[len_pre + r] = '\0';
 
+	int index = 0;
 	/* Parse buffer and handle commands */
 	while (1) {
 		/* not using strtok because reasons */
@@ -584,31 +585,20 @@ static void client_recv(int fd) {
 			break;
 		}
 		buffer[newline] = '\0';
+		
 		printf("Client(%d) : '%s'\n",fd, buffer);
 		unsigned char * packet;
-		// printf("newline =%li, Client sent: '%s'\n", newline, buffer);
 		if(formatCommand(buffer, &packet) == -1) {
 			printf("Could not recognize command '%s'\n", buffer);
+		} else {
+			int datalen = (packet[6] << 8) | (packet[5]);
+			writeQuad((char *) packet, datalen +7);
 		}
-
-		int datalen = (packet[6] << 8) | (packet[5]);
-		printf("data length = %d\n", datalen);
-		printf("packet = '");
-		for (int i = 0; i < datalen+7+1; ++i)
-		{
-			printf("%x ", packet[i]);
-		}
-		printf("'\n");
-		
-		writeQuad((char *) packet, datalen +7);
-		//free(packet);
 		
 		char * rest = &buffer[newline] + 1;
 		size_t restLen = (strlen(rest) == 0) ? 1 : strlen(rest);
 		/* Delete parsed data and move the rest to the left */
-		memmove(buffer, rest, restLen);
-
-		break;
+		memmove(buffer, rest, restLen + 1);
 	}
 }
 

groundStation/src/backend/communication.c

@@ -182,7 +182,7 @@ int formatPacket(metadata_t *metadata, void *data, unsigned char **formattedComm
 	{
 		data_checksum ^= (*formattedCommand)[i];
 	}
-	printf("checksum = %x\n", (unsigned )data_checksum);
+	
 	(*formattedCommand)[7 + metadata->data_len] = data_checksum;
 	
 	return 0;

groundStation/src/cli/cli.c

 #include <stdio.h>
 #include <string.h>
 #include <err.h>
-#include <unistd.h>
+#include <libgen.h>
 
 #include "cli.h"
 
@@ -12,7 +12,7 @@ int main(int argc, char **argv)
 	int i , useSymlink = 0;
 	struct backend_conn  *conn;
 
-	command = argv[0];
+	command = basename(argv[0]);
 	for(i = 0; i < MAX_COMMANDS; ++i) {
 		if (strncmp(command, commandNames[i], strlen(commandNames[i])) == 0)
 		{
@@ -43,12 +43,11 @@ int main(int argc, char **argv)
 	}
 
 	if(useSymlink) {
-		//TODO Call correct command function pointer with (argv[1] ... argc[argc])
+		(*cli_functions[cmdID]) (conn, argc, &argv[0]);
 	}else {
-		(*cli_functions[0]) (conn, argc-1, &argv[1]);
+		(*cli_functions[cmdID]) (conn, argc-1, &argv[1]);
 	}
-	sleep(1);
 
 	ucart_backendDisconnect(conn);
     return 0;
-}
\ No newline at end of file
+}

groundStation/src/cli/cli.h

@@ -6,7 +6,6 @@
 // #include "cli_setpid.h"
 #include "cli_getpid.h"
 // #include "cli_getimu.h"
-
 enum CommandNameIds{
 	CMD_MONITOR,
 	CMD_SETPID,
@@ -31,4 +30,4 @@ static char* commandNames[MAX_COMMANDS] = {
 };
 
 
-#endif
\ No newline at end of file
+#endif

groundStation/src/cli/cli_getpid.c

@@ -75,6 +75,8 @@ int getValues(struct backend_conn * conn, struct frontend_pid_data * pid_data) {
 		return 1;
 	}
 
+	return 0;
+
 	switch(pid_data->pid) {
 		case PITCH :
 			printf("Pitch Constants: P = %f\tI = %f\tD = %f\n",

groundStation/src/frontend/frontend_getpid.c

@@ -22,22 +22,23 @@
 int frontend_getpid(
 		struct backend_conn * conn, struct frontend_pid_data * pid_data) {
 	
-	char line[100];
+	char line[100] = "";
 	switch (pid_data->pid) {
 		case PITCH :
-			strncpy(line, "getpitchp\ngetpitchd\n\0", 21);
+			strncpy(line, "getpitchp\ngetpitchd\n", 20);
 			break;
 		case ROLL :
-			strncpy(line, "getrollp\ngetrolld\n\0", 19);
+			strncpy(line, "getrollp\ngetrolld\n", 18);
 			break;
 		case YAW :
-			strncpy(line, "getyawp\ngetyawd\n\0", 17);
+			strncpy(line, "getyawp\ngetyawd\n", 17);
 			break;
 		default :
 			return 1;
 	}
 
 	int size;
+	printf("sending '%s'\n",line);
 	if((size = ucart_backendWrite(conn, line)) < 0 ) {
 		return 1;
 	}