mirror of https://github.com/ArduPilot/ardupilot
66 lines
1.7 KiB
C++
66 lines
1.7 KiB
C++
/*
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* RangeFinder test code
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*/
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#include <AP_HAL/AP_HAL.h>
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#include <AP_RangeFinder/AP_RangeFinder_Backend.h>
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#include <GCS_MAVLink/GCS_Dummy.h>
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const struct AP_Param::GroupInfo GCS_MAVLINK_Parameters::var_info[] = {
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AP_GROUPEND
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};
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GCS_Dummy _gcs;
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void setup();
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void loop();
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const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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static AP_SerialManager serial_manager;
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static RangeFinder sonar;
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void setup()
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{
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// print welcome message
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hal.console->printf("Range Finder library test\n");
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// setup for analog pin 13
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AP_Param::set_object_value(&sonar, sonar.var_info, "_TYPE", (uint8_t)RangeFinder::Type::PLI2C);
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AP_Param::set_object_value(&sonar, sonar.var_info, "_PIN", -1.0f);
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AP_Param::set_object_value(&sonar, sonar.var_info, "_SCALING", 1.0f);
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// initialise sensor, delaying to make debug easier
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hal.scheduler->delay(2000);
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sonar.init(ROTATION_PITCH_270);
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hal.console->printf("RangeFinder: %d devices detected\n", sonar.num_sensors());
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}
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void loop()
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{
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// Delay between reads
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hal.scheduler->delay(100);
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sonar.update();
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bool had_data = false;
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for (uint8_t i=0; i<sonar.num_sensors(); i++) {
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AP_RangeFinder_Backend *sensor = sonar.get_backend(i);
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if (sensor == nullptr) {
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continue;
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}
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if (!sensor->has_data()) {
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continue;
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}
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hal.console->printf("All: device_%u type %d status %d distance_cm %d\n",
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i,
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(int)sensor->type(),
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(int)sensor->status(),
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sensor->distance_cm());
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had_data = true;
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}
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if (!had_data) {
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hal.console->printf("All: no data on any sensor\n");
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}
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}
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AP_HAL_MAIN();
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