DataFlash_test ported to AP_HAL

libraries/DataFlash/examples/DataFlash_test/DataFlash_test.pde

@@ -4,54 +4,50 @@
  */
 
 // Libraries
-#include <FastSerial.h>
 #include <AP_Common.h>
+#include <AP_Param.h>
+#include <AP_Progmem.h>
 #include <AP_Math.h>            // ArduPilot Mega Vector/Matrix math Library
-#include <SPI.h>                        // Arduino SPI lib
-#include <AP_Semaphore.h> // Required by DataFlash library
 #include <DataFlash.h>
 
-////////////////////////////////////////////////////////////////////////////////
-// Serial ports
-////////////////////////////////////////////////////////////////////////////////
-//
-// Note that FastSerial port buffers are allocated at ::begin time,
-// so there is not much of a penalty to defining ports that we don't
-// use.
-//
-FastSerialPort0(Serial);        // FTDI/console
+#include <AP_HAL.h>
+#include <AP_HAL_AVR.h>
+
 
 #define HEAD_BYTE1 0xA3
 #define HEAD_BYTE2 0x95
 
-// NOTE:  You must uncomment one of the following two lines
-DataFlash_APM2 DataFlash;                       // Uncomment this line if using APM2 hardware
-//DataFlash_APM1	DataFlash;			// Uncomment this line if using APM1 hardware
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
+const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
+DataFlash_APM2 DataFlash;
+#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
+const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
+DataFlash_APM1 DataFlash;
+#endif
 
 
 void setup()
 {
-    Serial.begin(115200);
     DataFlash.Init();                            // DataFlash initialization
 
-    Serial.println("Dataflash Log Test 1.0");
+    hal.console->println("Dataflash Log Test 1.0");
 
     // Test
-    delay(20);
+    hal.scheduler->delay(20);
     DataFlash.ReadManufacturerID();
-    delay(10);
-    Serial.print("Manufacturer:");
-    Serial.print(int(DataFlash.df_manufacturer));
-    Serial.print(",");
-    Serial.print(DataFlash.df_device);
-    Serial.println();
+    hal.scheduler->delay(10);
+    hal.console->print("Manufacturer:");
+    hal.console->print(int(DataFlash.df_manufacturer));
+    hal.console->print(",");
+    hal.console->print(DataFlash.df_device);
+    hal.console->println();
 
     // We start to write some info (sequentialy) starting from page 1
     // This is similar to what we will do...
     DataFlash.StartWrite(1);
-    Serial.println("After testing perform erase before using DataFlash for logging!");
-    Serial.println("");
-    Serial.println("Writing to flash... wait...");
+    hal.console->println("After testing perform erase before using DataFlash for logging!");
+    hal.console->println("");
+    hal.console->println("Writing to flash... wait...");
     for (int i = 0; i < 40; i++) {     // Write 1000 packets...
         // We write packets of binary data... (without worry about nothing more)
         DataFlash.WriteByte(HEAD_BYTE1);
@@ -64,18 +60,18 @@ void setup()
         DataFlash.WriteLong((long)i * 16268);
         DataFlash.WriteByte(0xA2);               // 2 bytes of checksum (example)
         DataFlash.WriteByte(0x4E);
-        delay(10);
+        hal.scheduler->delay(10);
     }
-    delay(100);
+    hal.scheduler->delay(100);
 }
 
 void loop()
 {
     int i, tmp_int;
-    byte tmp_byte1, tmp_byte2;
+    uint8_t tmp_byte1, tmp_byte2;
     long tmp_long;
 
-    Serial.println("Start reading page 1...");
+    hal.console->println("Start reading page 1...");
 
     DataFlash.StartRead(1);      // We start reading from page 1
 
@@ -84,39 +80,41 @@ void loop()
         tmp_byte1 = DataFlash.ReadByte();
         tmp_byte2 = DataFlash.ReadByte();
 
-        Serial.print("PACKET:");
+        hal.console->print("PACKET:");
 
         if ((tmp_byte1 == HEAD_BYTE1) && (tmp_byte1 == HEAD_BYTE1)) {
             // Read 4 ints...
             tmp_int = DataFlash.ReadInt();
-            Serial.print(tmp_int);
-            Serial.print(",");
+            hal.console->print(tmp_int);
+            hal.console->print(",");
             tmp_int = DataFlash.ReadInt();
-            Serial.print(tmp_int);
-            Serial.print(",");
+            hal.console->print(tmp_int);
+            hal.console->print(",");
             tmp_int = DataFlash.ReadInt();
-            Serial.print(tmp_int);
-            Serial.print(",");
+            hal.console->print(tmp_int);
+            hal.console->print(",");
             tmp_int = DataFlash.ReadInt();
-            Serial.print(tmp_int);
-            Serial.print(",");
+            hal.console->print(tmp_int);
+            hal.console->print(",");
 
             // Read 2 longs...
             tmp_long = DataFlash.ReadLong();
-            Serial.print(tmp_long);
-            Serial.print(",");
+            hal.console->print(tmp_long);
+            hal.console->print(",");
             tmp_long = DataFlash.ReadLong();
-            Serial.print(tmp_long);
-            Serial.print(";");
+            hal.console->print(tmp_long);
+            hal.console->print(";");
 
             // Read the checksum...
             tmp_byte1 = DataFlash.ReadByte();
             tmp_byte2 = DataFlash.ReadByte();
         }
-        Serial.println();
+        hal.console->println();
     }
-    Serial.println("");
-    Serial.println("Test complete.  Test will repeat in 20 seconds");
-    Serial.println("");
-    delay(20000);
+    hal.console->println("");
+    hal.console->println("Test complete.  Test will repeat in 20 seconds");
+    hal.console->println("");
+    hal.scheduler->delay(20000);
 }
+
+AP_HAL_MAIN();