mirror of https://github.com/ArduPilot/ardupilot
143 lines
4.3 KiB
Plaintext
143 lines
4.3 KiB
Plaintext
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#include <AP_Common.h>
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#include <AP_Progmem.h>
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#include <AP_HAL.h>
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#include <AP_HAL_AVR.h>
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#include <AP_Common.h>
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#include <AP_Progmem.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_ADC.h> // ArduPilot Mega Analog to Digital Converter Library
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#include <AP_Baro.h>
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#include <AP_Declination.h>
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#include <AP_Compass.h> // ArduPilot Mega Magnetometer Library
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#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
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#include <AP_Curve.h> // Curve used to linearlise throttle pwm to thrust
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#include <AP_InertialSensor.h> // ArduPilot Mega Inertial Sensor (accel & gyro) Library
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// (only included for makefile libpath to work)
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#include <AP_AHRS.h>
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#include <APM_PI.h> // PI library
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#include <AC_PID.h> // PID library
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#include <RC_Channel.h> // RC Channel Library
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#include <AP_Motors.h> // AP Motors library
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#include <AP_ADC_AnalogSource.h>
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#include <AP_RangeFinder.h> // Range finder library
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#include <AP_OpticalFlow.h> // Optical Flow 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_LeadFilter.h> // GPS Lead filter
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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_Mount.h> // Camera/Antenna mount
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#include <AP_Airspeed.h> // needed for AHRS build
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#include <AP_InertialNav.h> // ArduPilot Mega inertial navigation library
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#include <GCS_MAVLink.h>
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#include <memcheck.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
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const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
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#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
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const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
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#endif
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void stream_loopback(AP_HAL::Stream* s, uint32_t time) {
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uint32_t end = hal.scheduler->millis() + time;
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for(;;) {
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if (hal.scheduler->millis() >= end && time != 0) {
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return;
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}
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if (s->available() > 0) {
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int c;
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c = s->read();
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if (-1 != c) {
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s->write((uint8_t)c);
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}
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}
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}
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}
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void stream_console_loopback(AP_HAL::Stream* s, AP_HAL::ConsoleDriver* c,
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uint32_t time) {
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uint32_t end = hal.scheduler->millis() + time;
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for(;;) {
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if (hal.scheduler->millis() >= end && time != 0) {
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return;
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}
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/* Read the uart, write to the console backend. */
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if (s->available() > 0) {
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int b;
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b = s->read();
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if (-1 != b) {
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uint8_t tmp[1];
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tmp[0] = (uint8_t) b;
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c->backend_write(tmp, 1);
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}
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}
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/* Loop back the console upon itself. */
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{
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int b;
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b = c->read();
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if (-1 != b) {
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c->write((uint8_t)b);
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}
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}
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/* Read the console backend, print to the uart. */
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{
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uint8_t tmp[1];
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int readback = c->backend_read(tmp, 1);
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if (readback > 0) {
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s->write(tmp[0]);
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}
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}
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}
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}
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void setup(void)
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{
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//
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// Test printing things
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//
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hal.console->print("test");
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hal.console->println(" begin");
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hal.console->println(1000);
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hal.console->println(1000, 8);
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hal.console->println(1000, 10);
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hal.console->println(1000, 16);
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hal.console->println_P(PSTR("progmem"));
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hal.console->printf("printf %d %u %#x %p %f %S\n", -1000, 1000, 1000, 1000, 1.2345, PSTR("progmem"));
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hal.console->printf_P(PSTR("printf_P %d %u %#x %p %f %S\n"), -1000, 1000, 1000, 1000, 1.2345, PSTR("progmem"));
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hal.console->println("loopback for 10sec:");
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stream_loopback(hal.console, 10000);
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hal.console->println("loopback done");
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hal.console->println("opening backend:");
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hal.console->backend_open();
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const char hello[] = "hello world\r\n";
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hal.console->backend_write((const uint8_t*)hello, strlen(hello));
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hal.console->println("loopback for 10sec:");
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stream_console_loopback(hal.console, hal.console, 10000);
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hal.console->println("loopback done");
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hal.console->backend_close();
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hal.console->println("closed backend.");
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hal.console->println("done.");
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for(;;);
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}
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void loop(void){}
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AP_HAL_MAIN();
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