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AP_HAL: use AP_HAL_BOARD_DRIVER in remaining test sketches

This commit is contained in:
Andrew Tridgell 2012-12-19 12:26:58 +11:00
parent 4c715bfd04
commit a1187519a8
23 changed files with 25 additions and 98 deletions
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6
libraries/AC_PID/examples/AC_PID_test/AC_PID_test.pde
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@ -11,11 +11,7 @@
#include <AP_Param.h>
#include <AC_PID.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
#endif
const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
// default PID values
#define TEST_P 1.0

6
libraries/APM_OBC/examples/trivial_APM_OBC/trivial_APM_OBC.pde
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@ -8,11 +8,7 @@
#include <AP_HAL_AVR.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
#endif
const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
void setup () {
hal.console->println_P(PSTR("Unit test for APM_OBC. This sketch"

2
libraries/AP_ADC/examples/AP_ADC_test/AP_ADC_test.pde
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@ -20,7 +20,7 @@ uint32_t timer;
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
/* Only build this sketch for APM1 */
const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
AP_ADC_ADS7844 adc;

6
libraries/AP_Airspeed/examples/Airspeed/Airspeed.pde
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@ -19,11 +19,7 @@
#include <AP_Buffer.h>
#include <AP_Airspeed.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
#endif
const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
AP_Airspeed airspeed;

2
libraries/AP_Baro/examples/AP_Baro_BMP085_test/AP_Baro_BMP085_test.pde
View File

@ -20,7 +20,7 @@
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
/* Build this example sketch only for the APM1. */
const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
AP_Baro_BMP085 bmp085;

3
libraries/AP_Baro/examples/AP_Baro_MS5611_test/AP_Baro_MS5611_test.pde
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@ -9,9 +9,9 @@
#include <AP_Baro.h>
#include <AP_HAL_AVR.h>
const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
AP_Baro_MS5611 baro;
static uint32_t timer;
@ -58,7 +58,6 @@ void loop()
#else // Non-APM2
#warning AP_Baro_MS5611_test built as stub for APM1
const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
void setup () {}
void loop () {}
#endif

6
libraries/AP_Compass/examples/AP_Compass_test/AP_Compass_test.pde
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@ -13,11 +13,7 @@
#include <AP_Declination.h>
#include <AP_Compass.h> // Compass Library
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
#endif
const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
AP_Compass_HMC5843 compass;
uint32_t timer;

6
libraries/AP_Declination/examples/AP_Declination_test/AP_Declination_test.pde
View File

@ -11,11 +11,7 @@
#include <AP_HAL_AVR.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
#endif
const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
static const int16_t dec_tbl[37][73] = \
{ \

4
libraries/AP_InertialNav/examples/AP_InertialNav_test/AP_InertialNav_test.pde
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@ -21,19 +21,19 @@
#include <AP_Buffer.h> // ArduPilot general purpose FIFO buffer
#include <AP_InertialNav.h>
const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
#define A_LED_PIN 27
#define C_LED_PIN 25
const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
AP_InertialSensor_MPU6000 ins;
AP_Baro_MS5611 baro;
#else
#define A_LED_PIN 37
#define C_LED_PIN 35
const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
AP_ADC_ADS7844 adc;
AP_InertialSensor_Oilpan ins(&adc);
AP_Baro_BMP085 baro;

6
libraries/AP_LeadFilter/examples/AP_LeadFilter/AP_LeadFilter.pde
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@ -14,11 +14,7 @@
#include <AP_LeadFilter.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
#endif
const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
AP_LeadFilter xLeadFilter; // GPS lag filter

6
libraries/AP_Math/examples/eulers/eulers.pde
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@ -11,11 +11,7 @@
#include <AP_HAL.h>
#include <AP_HAL_AVR.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
#endif
const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
static float rad_diff(float rad1, float rad2)
{

6
libraries/AP_Math/examples/location/location.pde
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@ -10,11 +10,7 @@
#include <AP_Math.h>
#include <AP_HAL_AVR.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
#endif
const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
static const struct {
Vector2f wp1, wp2, location;

6
libraries/AP_Math/examples/polygon/polygon.pde
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@ -10,11 +10,7 @@
#include <AP_HAL.h>
#include <AP_HAL_AVR.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
#endif
const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
/*
* this is the boundary of the 2010 outback challenge

6
libraries/AP_Math/examples/rotations/rotations.pde
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@ -11,11 +11,7 @@
#include <AP_Declination.h> // ArduPilot Mega Declination Helper Library
#include <AP_HAL_AVR.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
#endif
const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
// standard rotation matrices (these are the originals from the old code)
#define MATRIX_ROTATION_NONE Matrix3f(1, 0, 0, 0, 1, 0, 0,0, 1)

6
libraries/AP_Menu/examples/menu/menu.pde
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@ -8,11 +8,7 @@
#include <AP_HAL.h>
#include <AP_HAL_AVR.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
#endif
const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
int8_t
menu_test(uint8_t argc, const Menu::arg *argv)

6
libraries/AP_Motors/examples/AP_Motors_test/AP_Motors_test.pde
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@ -14,11 +14,7 @@
#include <AP_Curve.h>
#include <AP_HAL_AVR.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
#endif
const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
RC_Channel rc1(0), rc2(1), rc3(2), rc4(3);

6
libraries/AP_Mount/examples/trivial_AP_Mount/trivial_AP_Mount.pde
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@ -21,11 +21,7 @@
#include <AP_Mount.h>
#include <AP_HAL_AVR.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
#endif
const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
void setup () {
hal.console->println_P(PSTR("Unit test for AP_Mount. This sketch"

6
libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.pde
View File

@ -12,11 +12,7 @@
#include <AP_OpticalFlow.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
#endif
const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
AP_OpticalFlow_ADNS3080 flowSensor;

4
libraries/DataFlash/examples/DataFlash_test/DataFlash_test.pde
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@ -17,11 +17,11 @@
#define HEAD_BYTE1 0xA3
#define HEAD_BYTE2 0x95
const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
#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

6
libraries/Filter/examples/Derivative/Derivative.pde
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@ -13,11 +13,7 @@
#include <DerivativeFilter.h>
#include <AP_Buffer.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
#endif
const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
#ifdef DESKTOP_BUILD
#error Desktop build not supported with AP_HAL

6
libraries/Filter/examples/Filter/Filter.pde
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@ -15,11 +15,7 @@
#include <AverageFilter.h> // AverageFilter class (inherits from Filter class)
#include <AP_Buffer.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
#endif
const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
int16_t rangevalue[] = {31000, 31000, 50, 55, 60, 55, 10, 0, 31000};

6
libraries/Filter/examples/LowPassFilter/LowPassFilter.pde
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@ -13,11 +13,7 @@
#include <LowPassFilter.h> // LowPassFilter class (inherits from Filter class)
#include <AP_Buffer.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
#endif
const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
// create a global instance of the class
LowPassFilterFloat low_pass_filter;

6
libraries/GCS_Console/examples/Console/Console.pde
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@ -18,11 +18,7 @@
#include "simplegcs.h"
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
#endif
const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
void flush_console_to_statustext() {
uint8_t data[50];