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Rover: always build sonar code 

can use enabled/disabled parameter for runtime control
This commit is contained in:
Andrew Tridgell 2013-03-01 07:14:08 +11:00
parent 7b524d15fa
commit 06dd6c2790
5 changed files with 18 additions and 46 deletions
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14
APMrover2/APMrover2.pde
View File

@ -269,10 +269,8 @@ AP_HAL::AnalogSource * batt_curr_pin;
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// //
ModeFilterInt16_Size5 sonar_mode_filter(2); ModeFilterInt16_Size5 sonar_mode_filter(2);
#if CONFIG_SONAR == ENABLED AP_HAL::AnalogSource *sonar_analog_source;
AP_HAL::AnalogSource *sonar_analog_source; AP_RangeFinder_MaxsonarXL *sonar;
AP_RangeFinder_MaxsonarXL *sonar;
#endif
// relay support // relay support
AP_Relay relay; AP_Relay relay;
@ -582,19 +580,15 @@ void setup() {
batt_volt_pin = hal.analogin->channel(g.battery_volt_pin); batt_volt_pin = hal.analogin->channel(g.battery_volt_pin);
batt_curr_pin = hal.analogin->channel(g.battery_curr_pin); batt_curr_pin = hal.analogin->channel(g.battery_curr_pin);
#if CONFIG_SONAR == ENABLED
#if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC #if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC
sonar_analog_source = new AP_ADC_AnalogSource( sonar_analog_source = new AP_ADC_AnalogSource(
&adc, CONFIG_SONAR_SOURCE_ADC_CHANNEL, 0.25); &adc, CONFIG_SONAR_SOURCE_ADC_CHANNEL, 0.25);
#elif CONFIG_SONAR_SOURCE == SONAR_SOURCE_ANALOG_PIN #elif CONFIG_SONAR_SOURCE == SONAR_SOURCE_ANALOG_PIN
sonar_analog_source = hal.analogin->channel( sonar_analog_source = hal.analogin->channel(
CONFIG_SONAR_SOURCE_ANALOG_PIN); CONFIG_SONAR_SOURCE_ANALOG_PIN);
#else
#warning "Invalid CONFIG_SONAR_SOURCE"
#endif
sonar = new AP_RangeFinder_MaxsonarXL(sonar_analog_source, sonar = new AP_RangeFinder_MaxsonarXL(sonar_analog_source,
&sonar_mode_filter); &sonar_mode_filter);
#endif #endif
init_ardupilot(); init_ardupilot();
} }
@ -676,7 +670,6 @@ static void fast_loop()
#endif #endif
// Read Sonar // Read Sonar
// ---------- // ----------
#if CONFIG_SONAR == ENABLED
if(g.sonar_enabled){ if(g.sonar_enabled){
sonar_dist = sonar->read(); sonar_dist = sonar->read();
@ -686,7 +679,6 @@ static void fast_loop()
obstacle = false; obstacle = false;
} }
} }
#endif
// uses the yaw from the DCM to give more accurate turns // uses the yaw from the DCM to give more accurate turns
calc_bearing_error(); calc_bearing_error();

13
APMrover2/config.h
View File

@ -76,6 +76,7 @@
# define CONFIG_RELAY ENABLED # define CONFIG_RELAY ENABLED
# define BATTERY_PIN_1 0 # define BATTERY_PIN_1 0
# define CURRENT_PIN_1 1 # define CURRENT_PIN_1 1
# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ADC
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2 #elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
# define CONFIG_INS_TYPE CONFIG_INS_MPU6000 # define CONFIG_INS_TYPE CONFIG_INS_MPU6000
# define CONFIG_PUSHBUTTON DISABLED # define CONFIG_PUSHBUTTON DISABLED
@ -129,10 +130,6 @@
# define MAG_ORIENTATION ROTATION_NONE # define MAG_ORIENTATION ROTATION_NONE
#endif #endif
#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
#define CONFIG_SONAR DISABLED
#endif
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
// IMU Selection // IMU Selection
// //
@ -184,14 +181,6 @@
# define SONAR_ENABLED DISABLED # define SONAR_ENABLED DISABLED
#endif #endif
#ifndef CONFIG_SONAR
# define CONFIG_SONAR ENABLED
#endif
#ifndef SONAR_TRIGGER
# define SONAR_TRIGGER 60 // trigger distance in cm
#endif
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
// HIL_MODE OPTIONAL // HIL_MODE OPTIONAL

2
APMrover2/sensors.pde
View File

@ -1,5 +1,4 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#if CONFIG_SONAR == ENABLED
static void init_sonar(void) static void init_sonar(void)
{ {
/* /*
@ -10,7 +9,6 @@ static void init_sonar(void)
#endif #endif
*/ */
} }
#endif
#if LITE == DISABLED #if LITE == DISABLED
// Sensors are not available in HIL_MODE_ATTITUDE // Sensors are not available in HIL_MODE_ATTITUDE

3
APMrover2/system.pde
View File

@ -221,10 +221,7 @@ static void init_ardupilot()
#endif #endif
// initialise sonar // initialise sonar
#if CONFIG_SONAR == ENABLED
init_sonar(); init_sonar();
#endif
#endif #endif
// Do GPS init // Do GPS init
g_gps = &g_gps_driver; g_gps = &g_gps_driver;

20
APMrover2/test.pde
View File

@ -16,9 +16,7 @@ static int8_t test_ins(uint8_t argc, const Menu::arg *argv);
static int8_t test_battery(uint8_t argc, const Menu::arg *argv); static int8_t test_battery(uint8_t argc, const Menu::arg *argv);
static int8_t test_relay(uint8_t argc, const Menu::arg *argv); static int8_t test_relay(uint8_t argc, const Menu::arg *argv);
static int8_t test_wp(uint8_t argc, const Menu::arg *argv); static int8_t test_wp(uint8_t argc, const Menu::arg *argv);
#if CONFIG_SONAR == ENABLED
static int8_t test_sonar(uint8_t argc, const Menu::arg *argv); static int8_t test_sonar(uint8_t argc, const Menu::arg *argv);
#endif
static int8_t test_mag(uint8_t argc, const Menu::arg *argv); static int8_t test_mag(uint8_t argc, const Menu::arg *argv);
static int8_t test_modeswitch(uint8_t argc, const Menu::arg *argv); static int8_t test_modeswitch(uint8_t argc, const Menu::arg *argv);
static int8_t test_logging(uint8_t argc, const Menu::arg *argv); static int8_t test_logging(uint8_t argc, const Menu::arg *argv);
@ -45,9 +43,7 @@ static const struct Menu::command test_menu_commands[] PROGMEM = {
#endif #endif
{"gps", test_gps}, {"gps", test_gps},
{"ins", test_ins}, {"ins", test_ins},
#if CONFIG_SONAR == ENABLED
{"sonartest", test_sonar}, {"sonartest", test_sonar},
#endif
{"compass", test_mag}, {"compass", test_mag},
#elif HIL_MODE == HIL_MODE_SENSORS #elif HIL_MODE == HIL_MODE_SENSORS
{"adc", test_adc}, {"adc", test_adc},
@ -546,28 +542,28 @@ test_mag(uint8_t argc, const Menu::arg *argv)
//------------------------------------------------------------------------------------------- //-------------------------------------------------------------------------------------------
// real sensors that have not been simulated yet go here // real sensors that have not been simulated yet go here
#if CONFIG_SONAR == ENABLED
static int8_t static int8_t
test_sonar(uint8_t argc, const Menu::arg *argv) test_sonar(uint8_t argc, const Menu::arg *argv)
{ {
if (!g.sonar_enabled) {
cliSerial->println_P(PSTR("Sonar is not enabled"));
return 0;
}
print_hit_enter(); print_hit_enter();
delay(1000); delay(1000);
init_sonar(); init_sonar();
delay(1000); delay(1000);
while(1){ while (true) {
delay(20); delay(20);
if(g.sonar_enabled){
sonar_dist = sonar->read(); sonar_dist = sonar->read();
} cliSerial->printf_P(PSTR("sonar distance = %d cm\n"), (int)sonar_dist);
cliSerial->printf_P(PSTR("sonar_dist = %d\n"), (int)sonar_dist); if (cliSerial->available() > 0) {
if(cliSerial->available() > 0){
break; break;
} }
} }
return (0); return (0);
} }
#endif // SONAR == ENABLED
#endif // CLI_ENABLED #endif // CLI_ENABLED