mirror of https://github.com/ArduPilot/ardupilot
55 lines
2.4 KiB
C++
55 lines
2.4 KiB
C++
/*
|
|
This program is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
This program is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
/*
|
|
Analogin.cpp : We loop through the 16 pins and output the analog voltage of the pins
|
|
*/
|
|
#include <AP_HAL/AP_HAL.h>
|
|
|
|
void setup(); //declaration of the setup() function
|
|
void loop(); //declaration of the loop() function
|
|
|
|
const AP_HAL::HAL& hal = AP_HAL::get_HAL(); //create a reference to AP_HAL::HAL object to get access to hardware specific functions. For more info see <https://ardupilot.org/dev/docs/learning-ardupilot-the-example-sketches.html/>
|
|
|
|
AP_HAL::AnalogSource* chan; //declare a pointer to AnalogSource object. AnalogSource class can be found in : AP_HAL->AnalogIn.h
|
|
|
|
// the setup function runs once when the board powers up
|
|
void setup(void) {
|
|
hal.console->printf("Starting AP_HAL::AnalogIn test\r\n"); //print a starting message
|
|
chan = hal.analogin->channel(0); //initialization of chan variable. AnalogIn class can be found in : AP_HAL->AnalogIn.h
|
|
}
|
|
|
|
static int8_t pin; //8 bit integer to hold the pin number.Pin number range is [0,15]
|
|
|
|
//the loop function runs over and over again forever
|
|
void loop(void) {
|
|
//get the average voltage reading
|
|
float v = chan->voltage_average(); //note:the voltage value is divided into 1024 segments
|
|
//start a new line after going through the 16 pins
|
|
if (pin == 0) {
|
|
hal.console->printf("\n");
|
|
}
|
|
//print the voltage value(3 decimal places) alongside the pin number
|
|
hal.console->printf("[%u %.3f] ",
|
|
(unsigned)pin, (double)v);
|
|
//increment the pin number
|
|
pin = (pin+1) % 16;
|
|
//set pin corresponding to the new pin value
|
|
IGNORE_RETURN(chan->set_pin(pin));
|
|
//give a delay of 100ms
|
|
hal.scheduler->delay(100);
|
|
}
|
|
|
|
AP_HAL_MAIN(); //HAL Macro that declares the main function. For more info see <https://ardupilot.org/dev/docs/learning-ardupilot-the-example-sketches.html/>
|