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remove AP_RangeFinder_test: deprecated by AP_HAL

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Pat Hickey 2012-12-12 14:15:12 -08:00 committed by Andrew Tridgell
parent d6cb240468
commit a4fdfd999c
1 changed files with 0 additions and 115 deletions
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115
libraries/AP_RangeFinder/examples/AP_RangeFinder_test/AP_RangeFinder_test.pde
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/*
* AP_RangeFinder_test
* Code by DIYDrones.com
*/
// includes
#include <FastSerial.h>
#include <AP_Common.h>
#include <AP_Param.h>
#include <AP_Math.h>
#include <Filter.h>
#include <I2C.h> // Arduino I2C lib
#include <AP_RangeFinder.h> // Range finder library
#include <Arduino_Mega_ISR_Registry.h>
#include <AP_PeriodicProcess.h>
#include <AP_ADC.h> // ArduPilot Mega Analog to Digital Converter Library
#include <AP_AnalogSource.h>
#include <ModeFilter.h> // mode filter
#include <AP_Buffer.h>
#define APM_HARDWARE_APM1 1
#define APM_HARDWARE_APM2 2
// uncomment appropriate line for your APM hardware type
//#define CONFIG_APM_HARDWARE APM_HARDWARE_APM1
#define CONFIG_APM_HARDWARE APM_HARDWARE_APM2 // also applies to APM2.5
// uncomment appropriate line corresponding to your sonar
#define SONAR_TYPE AP_RANGEFINDER_MAXSONARXL // 0 - XL (default)
//#define SONAR_TYPE AP_RANGEFINDER_MAXSONARLV // 1 - LV (cheaper)
//#define SONAR_TYPE AP_RANGEFINDER_MAXSONARXLL // 2 - XLL (XL with 10m range)
//#define SONAR_TYPE AP_RANGEFINDER_MAXSONARHRLV // 3 - HRLV-MaxSonar-EZ0 (5m range)
//#define SONAR_TYPE AP_RANGEFINDER_MAXSONARI2CXL // 4 - XLI2C (XL with I2C interface and 7m range)
// For APM1 we use built in ADC for sonar reads from an analog pin
#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM1 && SONAR_TYPE <= AP_RANGEFINDER_MAXSONARHRLV
# define USE_ADC_ADS7844 // use APM1's built in ADC and connect sonar to pitot tube
#endif
////////////////////////////////////////////////////////////////////////////////
// Serial ports
////////////////////////////////////////////////////////////////////////////////
FastSerialPort0(Serial); // FTDI/console
// define Pitot tube's ADC Channel
#define AP_RANGEFINDER_PITOT_TYPE_ADC_CHANNEL 7
// declare global instances
Arduino_Mega_ISR_Registry isr_registry;
ModeFilterInt16_Size5 mode_filter(2);
AP_TimerProcess timer_scheduler;
#ifdef USE_ADC_ADS7844
AP_ADC_ADS7844 adc;
AP_AnalogSource_ADC adc_source(&adc, AP_RANGEFINDER_PITOT_TYPE_ADC_CHANNEL, 0.25); // use Pitot tube
#else
AP_AnalogSource_Arduino adc_source(A0); // use AN0 analog pin for APM2 on left
#endif
// create the range finder object
//AP_RangeFinder_SharpGP2Y aRF(&adc_source, &mode_filter);
// declare maxbotix sensors using analog pin
#if SONAR_TYPE >= AP_RANGEFINDER_MAXSONARXL && SONAR_TYPE <= AP_RANGEFINDER_MAXSONARHRLV
AP_RangeFinder_MaxsonarXL aRF(&adc_source, &mode_filter);
#endif
// declare I2C maxbotix sensor
#if SONAR_TYPE == AP_RANGEFINDER_MAXSONARI2CXL
AP_RangeFinder_MaxsonarI2CXL aRF(&mode_filter);
#endif
void setup()
{
Serial.begin(115200);
Serial.println("Range Finder Test v1.1");
Serial.print("Sonar Type: ");
Serial.println(SONAR_TYPE);
isr_registry.init();
timer_scheduler.init(&isr_registry);
// initialise communication method (analog read or i2c)
#if SONAR_TYPE == AP_RANGEFINDER_MAXSONARI2CXL
I2c.begin();
I2c.timeOut(5);
I2c.setSpeed(true); // initially set a fast I2c speed, and drop it on first failures
#else
# ifdef USE_ADC_ADS7844
adc.Init(&timer_scheduler); // APM ADC initialization
aRF.calculate_scaler(SONAR_TYPE,3.3); // setup scaling for sonar
# else
// initialise the analog port reader
AP_AnalogSource_Arduino::init_timer(&timer_scheduler);
aRF.calculate_scaler(SONAR_TYPE,5.0); // setup scaling for sonar
# endif
#endif
}
void loop()
{
Serial.print("dist:");
Serial.print(aRF.read());
Serial.print("\traw:");
Serial.print(aRF.raw_value);
Serial.println();
#if SONAR_TYPE == AP_RANGEFINDER_MAXSONARI2CXL
if( !aRF.healthy ) {
Serial.println("not healthy!");
}
aRF.take_reading();
#endif
delay(100);
}