mirror of https://github.com/ArduPilot/ardupilot
show noise levels in ADC test
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@ -23,30 +23,41 @@ void setup()
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}
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}
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static const uint8_t channel_map[6] = { 1, 2, 0, 4, 5, 6};
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static const uint8_t channel_map[6] = { 1, 2, 0, 4, 5, 6};
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static uint16_t sin_count;
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float v;
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float v;
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uint32_t last_usec = 0;
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uint32_t last_usec = 0;
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void loop()
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void loop()
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{
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{
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v = sin(millis());
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uint16_t result[6];
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sin_count++;
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uint32_t deltat = 0;
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uint16_t ch3;
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uint16_t min[6], max[6];
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uint8_t i;
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if ((millis() - timer) > 200) {
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for (i=0;i<6;i++) {
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uint16_t result[6];
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min[i] = 0xFFFF;
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uint32_t deltat;
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max[i] = 0;
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uint16_t ch3;
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timer = millis();
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ch3 = adc.Ch(3);
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deltat = adc.Ch6(channel_map, result);
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Serial.printf("gx=%u gy=%u gz=%u ax=%u ay=%u az=%u gt=%u deltat=%lu sin_count=%u\n",
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result[0], result[1], result[2],
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result[3], result[4], result[5],
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ch3, deltat, sin_count);
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sin_count = 0;
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}
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}
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do {
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ch3 = adc.Ch(3);
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deltat += adc.Ch6(channel_map, result);
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for (i=0;i<6;i++) {
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if (result[i] < min[i]) min[i] = result[i];
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if (result[i] > max[i]) max[i] = result[i];
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if (result[i] & 0x8000) {
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Serial.printf("result[%u]=0x%04x\n", (unsigned)i, result[i]);
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}
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}
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} while ((millis() - timer) < 200);
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timer = millis();
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Serial.printf("g=(%u,%u,%u) a=(%u,%u,%u) +/-(%u,%u,%u,%u,%u,%u) gt=%u dt=%u\n",
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result[0], result[1], result[2],
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result[3], result[4], result[5],
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(max[0]-min[0]), (max[1]-min[1]), (max[2]-min[2]),
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(max[3]-min[3]), (max[4]-min[4]), (max[5]-min[5]),
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ch3, (unsigned)(deltat/1000));
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}
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}
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