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https://github.com/ArduPilot/ardupilot
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Tools: port VARTest to AP_HAL
This commit is contained in:
Andrew Tridgell
parent
32afc3f9ae
commit
cd0258c6e8
@ -139,18 +139,18 @@ static void load_parameters(void)
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g.format_version != Parameters::k_format_version) {
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// erase all parameters
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Serial.printf_P(PSTR("Firmware change (%u -> %u): erasing EEPROM...\n"),
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cliSerial->printf_P(PSTR("Firmware change (%u -> %u): erasing EEPROM...\n"),
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g.format_version.get(), Parameters::k_format_version);
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AP_Param::erase_all();
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// save the current format version
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g.format_version.set_and_save(Parameters::k_format_version);
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Serial.println_P(PSTR("done."));
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cliSerial->println_P(PSTR("done."));
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} else {
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unsigned long before = micros();
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unsigned long before = hal.scheduler->micros();
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// Load all auto-loaded EEPROM variables
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AP_Param::load_all();
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Serial.printf_P(PSTR("load_all took %luus\n"), micros() - before);
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cliSerial->printf_P(PSTR("load_all took %luus\n"), hal.scheduler->micros() - before);
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}
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}
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@ -5,35 +5,52 @@
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Andrew Tridgell February 2012
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*/
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#include <FastSerial.h>
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#include <math.h>
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#include <stdarg.h>
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#include <stdio.h>
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#include <AP_Common.h>
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#include <Arduino_Mega_ISR_Registry.h>
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#include <PID.h> // PID library
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#include <APM_RC.h> // ArduPilot Mega RC Library
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#include <RC_Channel.h> // RC Channel Library
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#include <AP_Progmem.h>
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#include <AP_HAL.h>
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#include <AP_Menu.h>
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#include <AP_Param.h>
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#include <AP_GPS.h> // ArduPilot GPS library
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#include <AP_Baro.h> // ArduPilot barometer library
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#include <AP_Compass.h> // ArduPilot Mega Magnetometer Library
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#include <SPI.h> // Arduino SPI lib
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#include <I2C.h>
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#include <AP_Semaphore.h> // for removing conflict between optical flow and dataflash on SPI3 bus
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#include <DataFlash.h>
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#include <AP_AHRS.h>
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#include <AP_ADC.h>
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#include <AP_Baro.h>
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#include <Filter.h>
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#include <AP_Buffer.h>
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#include <GCS_MAVLink.h>
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#include <AP_PeriodicProcess.h>
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#include <AP_InertialSensor.h> // Inertial Sensor (uncalibated IMU) Library
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#include <AP_GPS.h>
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#include <AP_Math.h>
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#include <SITL.h>
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#include <GCS_MAVLink.h>
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#include <AP_Declination.h>
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#include <AP_AnalogSource.h>
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#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
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#include <AP_ADC.h> // ArduPilot Mega Analog to Digital Converter Library
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#include <AP_ADC_AnalogSource.h>
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#include <AP_InertialSensor.h> // Inertial Sensor Library
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#include <AP_AHRS.h> // ArduPilot Mega DCM Library
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#include <PID.h> // PID library
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#include <RC_Channel.h> // RC Channel Library
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#include <AP_RangeFinder.h> // Range finder library
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#include <Filter.h> // Filter library
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#include <AP_Buffer.h> // APM FIFO Buffer
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#include <AP_Relay.h> // APM relay
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#include <AP_Camera.h> // Photo or video camera
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#include <AP_Airspeed.h>
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#include <memcheck.h>
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#include <APM_OBC.h>
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#include <APM_Control.h>
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#include <GCS_MAVLink.h> // MAVLink GCS definitions
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#include <AP_Mount.h> // Camera/Antenna mount
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#include <AP_Declination.h> // ArduPilot Mega Declination Helper Library
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#include <DataFlash.h>
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#include <SITL.h>
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#include "config.h"
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#include "Parameters.h"
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#include <AP_HAL_AVR.h>
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#include <AP_HAL_AVR_SITL.h>
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#include <AP_HAL_Empty.h>
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AP_HAL::BetterStream* cliSerial;
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const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
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// this sets up the parameter table, and sets the default values. This
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// must be the first AP_Param variable declared to ensure its
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// constructor runs before the constructors of the other AP_Param
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@ -43,45 +60,36 @@ AP_Param param_loader(var_info, WP_START_BYTE);
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static Parameters g;
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static AP_ADC_ADS7844 adc;
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static GPS *g_gps;
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AP_GPS_Auto g_gps_driver(&Serial1, &g_gps);
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# if CONFIG_IMU_TYPE == CONFIG_IMU_MPU6000
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AP_InertialSensor_MPU6000 ins( CONFIG_MPU6000_CHIP_SELECT_PIN );
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# else
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AP_InertialSensor_Oilpan ins( &adc );
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#endif // CONFIG_IMU_TYPE
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AP_GPS_Auto g_gps_driver(&g_gps);
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AP_InertialSensor_MPU6000 ins;
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AP_AHRS_DCM ahrs(&ins, g_gps);
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Arduino_Mega_ISR_Registry isr_registry;
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#ifdef DESKTOP_BUILD
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AP_Compass_HIL compass;
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#else
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static AP_Compass_HMC5843 compass;
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#endif
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static AP_Compass_HIL compass;
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AP_Baro_BMP085_HIL barometer;
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SITL sitl;
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FastSerialPort0(Serial);
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FastSerialPort1(Serial1); // GPS port
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#define SERIAL0_BAUD 115200
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#define Debug(fmt, args...) Serial.printf("%s:%d: " fmt "\n", __FUNCTION__, __LINE__ , ##args)
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#define Debug(fmt, args...) cliSerial->printf("%s:%d: " fmt "\n", __FUNCTION__, __LINE__ , ##args)
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void setup() {
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Serial.begin(SERIAL0_BAUD, 128, 128);
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cliSerial = hal.uartA;
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hal.uartA->begin(SERIAL0_BAUD, 128, 128);
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// load the default values of variables listed in var_info[]
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AP_Param::setup_sketch_defaults();
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load_parameters();
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// show some sizes
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Serial.printf_P(PSTR("sizeof(RC_Channel)=%u\n"), (unsigned)sizeof(RC_Channel));
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Serial.printf_P(PSTR("sizeof(g)=%u\n"), (unsigned)sizeof(g));
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Serial.printf_P(PSTR("sizeof(g.throttle_min)=%u\n"), (unsigned)sizeof(g.throttle_min));
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Serial.printf_P(PSTR("sizeof(g.channel_roll)=%u\n"), (unsigned)sizeof(g.channel_roll));
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Serial.printf_P(PSTR("throttle_max now: %u\n"), (unsigned)g.throttle_max);
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cliSerial->printf_P(PSTR("sizeof(RC_Channel)=%u\n"), (unsigned)sizeof(RC_Channel));
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cliSerial->printf_P(PSTR("sizeof(g)=%u\n"), (unsigned)sizeof(g));
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cliSerial->printf_P(PSTR("sizeof(g.throttle_min)=%u\n"), (unsigned)sizeof(g.throttle_min));
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cliSerial->printf_P(PSTR("sizeof(g.channel_roll)=%u\n"), (unsigned)sizeof(g.channel_roll));
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cliSerial->printf_P(PSTR("throttle_max now: %u\n"), (unsigned)g.throttle_max);
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// some ad-hoc testing
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@ -90,7 +98,7 @@ void setup() {
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g.throttle_min.save();
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g.throttle_min.set_and_save(g.throttle_min+1);
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Serial.printf_P(PSTR("throttle_min now: %u\n"), (unsigned)g.throttle_min);
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cliSerial->printf_P(PSTR("throttle_min now: %u\n"), (unsigned)g.throttle_min);
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// find a variable by name
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AP_Param *vp;
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@ -98,29 +106,29 @@ void setup() {
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vp = AP_Param::find("RLL2SRV_P", &type);
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((AP_Float *)vp)->set(23);
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Serial.printf_P(PSTR("RLL2SRV_P=%f\n"),
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cliSerial->printf_P(PSTR("RLL2SRV_P=%f\n"),
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g.pidServoRoll.kP());
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char s[AP_MAX_NAME_SIZE+1];
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g.throttle_min.copy_name(s, sizeof(s));
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s[AP_MAX_NAME_SIZE] = 0;
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Serial.printf_P(PSTR("THROTTLE_MIN.copy_name()->%s\n"), s);
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cliSerial->printf_P(PSTR("THROTTLE_MIN.copy_name()->%s\n"), s);
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g.channel_roll.radio_min.copy_name(s, sizeof(s));
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s[AP_MAX_NAME_SIZE] = 0;
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Serial.printf_P(PSTR("RC1_MIN.copy_name()->%s %p\n"), s, &g.channel_roll.radio_min);
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cliSerial->printf_P(PSTR("RC1_MIN.copy_name()->%s %p\n"), s, &g.channel_roll.radio_min);
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Vector3f ofs;
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ofs = compass.get_offsets();
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Serial.printf_P(PSTR("Compass: %f %f %f\n"),
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cliSerial->printf_P(PSTR("Compass: %f %f %f\n"),
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ofs.x, ofs.y, ofs.z);
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ofs.x += 1.1;
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ofs.y += 1.2;
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ofs.z += 1.3;
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compass.set_offsets(ofs);
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compass.save_offsets();
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Serial.printf_P(PSTR("Compass: %f %f %f\n"),
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cliSerial->printf_P(PSTR("Compass: %f %f %f\n"),
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ofs.x, ofs.y, ofs.z);
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test_vector3f();
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@ -135,7 +143,7 @@ void setup() {
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AP_Param::show_all();
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Serial.println_P(PSTR("All done."));
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cliSerial->println_P(PSTR("All done."));
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}
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void loop()
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@ -163,13 +171,13 @@ void test_vector3f(void)
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v->load();
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vec = *v;
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Serial.printf_P(PSTR("vec %f %f %f\n"),
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cliSerial->printf_P(PSTR("vec %f %f %f\n"),
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vec.x, vec.y, vec.z);
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if (vec.x != 10 ||
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vec.y != 11 ||
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vec.z != 12) {
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Serial.printf_P(PSTR("wrong value for compass vector\n"));
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cliSerial->printf_P(PSTR("wrong value for compass vector\n"));
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}
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}
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@ -183,7 +191,7 @@ void test_variable(AP_Param *ap, enum ap_var_type type)
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value++;
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ap->copy_name(s, sizeof(s), type==AP_PARAM_FLOAT);
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Serial.printf_P(PSTR("Testing variable '%s' of type %u\n"),
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cliSerial->printf_P(PSTR("Testing variable '%s' of type %u\n"),
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s, type);
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enum ap_var_type type2;
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if (AP_Param::find(s, &type2) != ap ||
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@ -364,3 +372,5 @@ void test_variable(AP_Param *ap, enum ap_var_type type)
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break;
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}
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}
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AP_HAL_MAIN();
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@ -46,20 +46,6 @@
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// APM HARDWARE
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//
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#ifndef CONFIG_APM_HARDWARE
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# define CONFIG_APM_HARDWARE APM_HARDWARE_APM1
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#endif
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#if defined( __AVR_ATmega1280__ )
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#define CLI_ENABLED DISABLED
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#define LOGGING_ENABLED DISABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// APM2 HARDWARE DEFAULTS
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//
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#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
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# define CONFIG_IMU_TYPE CONFIG_IMU_MPU6000
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# define CONFIG_PUSHBUTTON DISABLED
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# define CONFIG_RELAY DISABLED
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@ -67,29 +53,8 @@
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# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
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# define CONFIG_PITOT_SOURCE PITOT_SOURCE_ANALOG_PIN
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# define MAGNETOMETER ENABLED
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# ifdef APM2_BETA_HARDWARE
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# define CONFIG_BARO AP_BARO_BMP085
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# else // APM2 Production Hardware (default)
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# define CONFIG_BARO AP_BARO_MS5611
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# endif
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#endif
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# define CONFIG_BARO AP_BARO_MS5611
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//////////////////////////////////////////////////////////////////////////////
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// LED and IO Pins
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//
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#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM1
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# define A_LED_PIN 37
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# define B_LED_PIN 36
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# define C_LED_PIN 35
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# define LED_ON HIGH
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# define LED_OFF LOW
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# define SLIDE_SWITCH_PIN 40
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# define PUSHBUTTON_PIN 41
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# define USB_MUX_PIN -1
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# define CONFIG_RELAY ENABLED
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# define BATTERY_PIN_1 0
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# define CURRENT_PIN_1 1
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#elif CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
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# define A_LED_PIN 27
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# define B_LED_PIN 26
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# define C_LED_PIN 25
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@ -101,7 +66,6 @@
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# define USB_MUX_PIN 23
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# define BATTERY_PIN_1 1
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# define CURRENT_PIN_1 2
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// AIRSPEED_SENSOR
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0
Tools/VARTest/nocore.inoflag
Normal file
0
Tools/VARTest/nocore.inoflag
Normal file
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