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HAL_Chibios: optional ADC debugging

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this debugging capability is very useful on board bringup. It outputs
the first 6 analog channels as an AP_ADC MAVLink message
This commit is contained in:
Andrew Tridgell 2018-01-08 18:12:21 +11:00
parent c863681849
commit ba3cdf74b5
1 changed files with 19 additions and 0 deletions
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19
libraries/AP_HAL_ChibiOS/AnalogIn.cpp
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@ -23,6 +23,13 @@
extern AP_IOMCU iomcu;
#endif
#ifndef CHIBIOS_ADC_MAVLINK_DEBUG
// this allows the first 6 analog channels to be reported by mavlink for debugging purposes
#define CHIBIOS_ADC_MAVLINK_DEBUG 0
#endif
#include <GCS_MAVLink/GCS_MAVLink.h>
#define ANLOGIN_DEBUGGING 0
// base voltage scaling for 12 bit 3.3V ADC
@ -274,6 +281,18 @@ void AnalogIn::_timer_tick(void)
// now handle special inputs from IOMCU
_servorail_voltage = iomcu.get_vservo();
#endif
#if CHIBIOS_ADC_MAVLINK_DEBUG
static uint8_t count;
if (AP_HAL::millis() > 5000 && count++ == 10) {
count = 0;
uint16_t adc[6] {};
for (uint8_t i=0; i < ADC_GRP1_NUM_CHANNELS; i++) {
adc[i] = buf_adc[i];
}
mavlink_msg_ap_adc_send(MAVLINK_COMM_0, adc[0], adc[1], adc[2], adc[3], adc[4], adc[5]);
}
#endif
}
AP_HAL::AnalogSource* AnalogIn::channel(int16_t pin)