ardupilot/libraries/DataFlash/examples/DataFlash_test/DataFlash_test.pde

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/*
* Example of DataFlash library.
* Code by Jordi MuÒoz and Jose Julio. DIYDrones.com
*/
// Libraries
#include <AP_Common.h>
#include <AP_Param.h>
#include <AP_Progmem.h>
#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
#include <DataFlash.h>
#include <AP_HAL.h>
#include <AP_HAL_AVR.h>
#define HEAD_BYTE1 0xA3
#define HEAD_BYTE2 0x95
const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
DataFlash_APM2 DataFlash;
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
DataFlash_APM1 DataFlash;
#endif
void setup()
{
DataFlash.Init(); // DataFlash initialization
hal.console->println("Dataflash Log Test 1.0");
// Test
hal.scheduler->delay(20);
DataFlash.ReadManufacturerID();
hal.scheduler->delay(10);
hal.console->print("Manufacturer:");
hal.console->print(int(DataFlash.df_manufacturer));
hal.console->print(",");
hal.console->print(DataFlash.df_device);
hal.console->println();
// We start to write some info (sequentialy) starting from page 1
// This is similar to what we will do...
DataFlash.StartWrite(1);
hal.console->println("After testing perform erase before using DataFlash for logging!");
hal.console->println("");
hal.console->println("Writing to flash... wait...");
for (int i = 0; i < 40; i++) { // Write 1000 packets...
// We write packets of binary data... (without worry about nothing more)
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteInt(2000 + i);
DataFlash.WriteInt(2001 + i);
DataFlash.WriteInt(2002 + i);
DataFlash.WriteInt(2003 + i);
DataFlash.WriteLong((long)i * 5000);
DataFlash.WriteLong((long)i * 16268);
DataFlash.WriteByte(0xA2); // 2 bytes of checksum (example)
DataFlash.WriteByte(0x4E);
hal.scheduler->delay(10);
}
hal.scheduler->delay(100);
}
void loop()
{
int i, tmp_int;
uint8_t tmp_byte1, tmp_byte2;
long tmp_long;
hal.console->println("Start reading page 1...");
DataFlash.StartRead(1); // We start reading from page 1
for (i = 0; i < 40; i++) { // Read 200 packets...
tmp_byte1 = DataFlash.ReadByte();
tmp_byte2 = DataFlash.ReadByte();
hal.console->print("PACKET:");
if ((tmp_byte1 == HEAD_BYTE1) && (tmp_byte1 == HEAD_BYTE1)) {
// Read 4 ints...
tmp_int = DataFlash.ReadInt();
hal.console->print(tmp_int);
hal.console->print(",");
tmp_int = DataFlash.ReadInt();
hal.console->print(tmp_int);
hal.console->print(",");
tmp_int = DataFlash.ReadInt();
hal.console->print(tmp_int);
hal.console->print(",");
tmp_int = DataFlash.ReadInt();
hal.console->print(tmp_int);
hal.console->print(",");
// Read 2 longs...
tmp_long = DataFlash.ReadLong();
hal.console->print(tmp_long);
hal.console->print(",");
tmp_long = DataFlash.ReadLong();
hal.console->print(tmp_long);
hal.console->print(";");
// Read the checksum...
tmp_byte1 = DataFlash.ReadByte();
tmp_byte2 = DataFlash.ReadByte();
}
hal.console->println();
}
hal.console->println("");
hal.console->println("Test complete. Test will repeat in 20 seconds");
hal.console->println("");
hal.scheduler->delay(20000);
}
AP_HAL_MAIN();