From fc566096de923e683805dcf45bfbd3910f795c7d Mon Sep 17 00:00:00 2001
From: John Arne Birkeland <johnarne@gmail.com>
Date: Fri, 1 Mar 2013 11:24:36 +0100
Subject: [PATCH] AVR HAL: RCJitterTest example Used to test jitter on the PPM
 R/C input system.

---
 .../AP_HAL_AVR/examples/RCJitterTest/Makefile |   1 +
 .../examples/RCJitterTest/RCJitterTest.pde    | 110 ++++++++++++++++++
 .../examples/RCJitterTest/nocore.inoflag      |   0
 3 files changed, 111 insertions(+)
 create mode 100644 libraries/AP_HAL_AVR/examples/RCJitterTest/Makefile
 create mode 100644 libraries/AP_HAL_AVR/examples/RCJitterTest/RCJitterTest.pde
 create mode 100644 libraries/AP_HAL_AVR/examples/RCJitterTest/nocore.inoflag

diff --git a/libraries/AP_HAL_AVR/examples/RCJitterTest/Makefile b/libraries/AP_HAL_AVR/examples/RCJitterTest/Makefile
new file mode 100644
index 0000000000..f5daf25151
--- /dev/null
+++ b/libraries/AP_HAL_AVR/examples/RCJitterTest/Makefile
@@ -0,0 +1 @@
+include ../../../../mk/apm.mk
diff --git a/libraries/AP_HAL_AVR/examples/RCJitterTest/RCJitterTest.pde b/libraries/AP_HAL_AVR/examples/RCJitterTest/RCJitterTest.pde
new file mode 100644
index 0000000000..ce11513605
--- /dev/null
+++ b/libraries/AP_HAL_AVR/examples/RCJitterTest/RCJitterTest.pde
@@ -0,0 +1,110 @@
+#include <AP_Common.h>
+#include <AP_Math.h>
+#include <AP_Param.h>
+#include <AP_Progmem.h>
+
+#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
+
+uint16_t ppm_center[ 8 ];
+uint16_t ppm_min[ 8 ];
+uint16_t ppm_max[ 8 ];
+uint16_t ppm_delta[ 8 ];
+uint16_t ppm_mark[ 8 ];
+
+
+void setup (void) {
+    hal.console->printf_P(PSTR("\fRC input jitter test - Do not move sticks: \r\n"));
+ 
+    hal.scheduler->delay(2000);
+    
+    for( uint8_t rep = 0; rep < 10; rep++ )
+    {
+        for( uint8_t i = 0; i < 8; i++ )
+        {
+            uint16_t ppm_tmp = hal.rcin->read( i ); 
+            ppm_center[ i ] += ppm_tmp;
+        }
+        hal.scheduler->delay( 100 );        
+    }
+
+    for( uint8_t i = 0; i < 8; i++ )
+    {
+        uint16_t ppm_tmp = ppm_center[ i ] / 10;
+        ppm_center[ i ] = ppm_tmp;
+        ppm_min[ i ] = ppm_tmp;
+        ppm_max[ i ] = ppm_tmp;
+        ppm_delta[ i ] = 0;
+    }    
+
+}
+
+void loop (void) {
+    
+    
+    static bool update = true;
+    static uint32_t time_trigger;
+
+    for( uint8_t i = 0; i < 8; i++ )
+    {
+        uint16_t ppm_tmp = hal.rcin->read( i );
+        
+        // min?
+        if( ppm_tmp < ppm_min[ i ] )
+        {
+            uint16_t delta_tmp = ppm_center[ i ] - ppm_tmp;
+            if( delta_tmp > ppm_delta[ i ] ) ppm_delta[ i ] = delta_tmp;
+            
+            ppm_min[ i ] = ppm_tmp;
+            ppm_mark[ i ] = ppm_tmp;
+            
+            update = true;
+        }
+        
+        // max?
+        if( ppm_tmp > ppm_max[ i ] )
+        {
+            uint16_t delta_tmp = ppm_tmp - ppm_center[ i ];
+            if( delta_tmp > ppm_delta[ i ] ) ppm_delta[ i ] = delta_tmp;
+
+            ppm_max[ i ] = ppm_tmp;
+            ppm_mark[ i ] = ppm_tmp;
+            
+            update = true;
+        }
+
+    }
+    
+    if( update && hal.scheduler->millis() > time_trigger )
+    {
+        update = false;
+        time_trigger = hal.scheduler->millis() + 5000;
+
+        //hal.console->printf_P( PSTR("%c%c%c\r\n"), 0x1B, 0x5B, 0x48 ); // Terminal home position
+        hal.console->printf_P( PSTR("--------------------------------------------\r\n") );
+        for( uint8_t i = 0; i < 8; i++ )    
+        {
+            hal.console->printf_P( PSTR("ch%d: center:%d min:%d max:%d delta:%d"),
+                                   i + 1, ppm_center[ i ], ppm_min[ i ],ppm_max[ i ], ppm_delta[ i ] );     
+
+            if( ppm_mark[ i ] > 0 )
+            {
+                hal.console->printf_P( PSTR(" [%d]"), ppm_mark[ i ] );
+                ppm_mark[ i ] = 0;
+            }
+
+            hal.console->printf_P( PSTR("     \r\n") );
+        }
+    }
+
+    hal.scheduler->delay( 10 );
+}
+
+AP_HAL_MAIN();
+
diff --git a/libraries/AP_HAL_AVR/examples/RCJitterTest/nocore.inoflag b/libraries/AP_HAL_AVR/examples/RCJitterTest/nocore.inoflag
new file mode 100644
index 0000000000..e69de29bb2