mirror of https://github.com/ArduPilot/ardupilot
uncrustify libraries/AP_ADC/examples/AP_ADC_test/AP_ADC_test.pde
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uncrustify
Pat Hickey
parent
6c5757e775
commit
796d23277c
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@ -1,35 +1,35 @@
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/*
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Example of APM_ADC library.
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Code by Jordi Muñoz and Jose Julio. DIYDrones.com
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*/
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/*
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* Example of APM_ADC library.
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* Code by Jordi Muñoz and Jose Julio. DIYDrones.com
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*/
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#include <FastSerial.h>
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#include <Arduino_Mega_ISR_Registry.h>
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#include <AP_PeriodicProcess.h>
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#include <AP_ADC.h> // ArduPilot Mega ADC Library
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#include <AP_ADC.h> // ArduPilot Mega ADC Library
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FastSerialPort0(Serial); // FTDI/console
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Arduino_Mega_ISR_Registry isr_registry;
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AP_TimerProcess adc_scheduler;
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AP_TimerProcess adc_scheduler;
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unsigned long timer;
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AP_ADC_ADS7844 adc;
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void setup()
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AP_ADC_ADS7844 adc;
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void setup()
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{
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Serial.begin(115200, 128, 128);
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Serial.println("ArduPilot Mega ADC library test");
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delay(1000);
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Serial.begin(115200, 128, 128);
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Serial.println("ArduPilot Mega ADC library test");
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delay(1000);
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isr_registry.init();
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adc_scheduler.init(&isr_registry);
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adc.Init(&adc_scheduler); // APM ADC initialization
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delay(1000);
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timer = millis();
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adc.Init(&adc_scheduler); // APM ADC initialization
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delay(1000);
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timer = millis();
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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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@ -38,67 +38,67 @@ uint32_t last_usec = 0;
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static void show_timing()
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{
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uint32_t mint = (uint32_t)-1, maxt = 0, totalt=0;
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uint32_t start_time = millis();
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uint16_t result[6];
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uint32_t count = 0;
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uint32_t mint = (uint32_t)-1, maxt = 0, totalt=0;
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uint32_t start_time = millis();
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uint16_t result[6];
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uint32_t count = 0;
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Serial.println("Starting timing test");
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Serial.println("Starting timing test");
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adc.Ch6(channel_map, result);
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adc.Ch6(channel_map, result);
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do {
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uint32_t deltat = adc.Ch6(channel_map, result);
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if (deltat > maxt) maxt = deltat;
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if (deltat < mint) mint = deltat;
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totalt += deltat;
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count++;
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} while ((millis() - start_time) < 5000);
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do {
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uint32_t deltat = adc.Ch6(channel_map, result);
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if (deltat > maxt) maxt = deltat;
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if (deltat < mint) mint = deltat;
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totalt += deltat;
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count++;
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} while ((millis() - start_time) < 5000);
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Serial.printf("timing: mint=%lu maxt=%lu avg=%lu\n", mint, maxt, totalt/count);
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Serial.printf("timing: mint=%lu maxt=%lu avg=%lu\n", mint, maxt, totalt/count);
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}
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static void show_data()
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{
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uint16_t result[6];
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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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uint16_t result[6];
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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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for (i=0;i<6;i++) {
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min[i] = 0xFFFF;
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max[i] = 0;
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}
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for (i=0; i<6; i++) {
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min[i] = 0xFFFF;
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max[i] = 0;
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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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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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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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void loop()
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{
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if (millis() < 5000) {
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show_timing();
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} else {
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show_data();
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}
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if (millis() < 5000) {
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show_timing();
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} else {
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show_data();
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}
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}
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