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delete unused ADCSIM

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- set BOARD_NUMBER_BRICKS to 0 for boards without analog power bricks
This commit is contained in:
Daniel Agar
2018-04-20 17:12:12 -04:00
parent ea3acb7121
commit 8404889098
42 changed files with 43 additions and 350 deletions
Download Patch File Download Diff File Expand all files Collapse all files
platforms/posix/include/system_config.h
+1 -5
View File
@@ -39,12 +39,8 @@
#pragma once
#define ADC_BATTERY_VOLTAGE_CHANNEL 10
#define ADC_BATTERY_CURRENT_CHANNEL ((uint8_t)(-1))
#define ADC_AIRSPEED_VOLTAGE_CHANNEL 11
#define ADCSIM0_DEVICE_PATH "/dev/adc0"
#define SIM_FORMATED_UUID "000000010000000200000003"
#define PX4_CPU_UUID_BYTE_LENGTH 12
#define PX4_CPU_UUID_WORD32_LENGTH 3
#define PX4_CPU_MFGUID_BYTE_LENGTH PX4_CPU_UUID_BYTE_LENGTH
posix-configs/SITL/README.md
-1
View File
@@ -74,7 +74,6 @@ tone_alarm start
gyrosim start
accelsim start
barosim start
adcsim start
commander start
sensors start
ekf_att_pos_estimator start
posix-configs/SITL/init/ekf2/hippocampus
-1
View File
@@ -19,7 +19,6 @@ mixer load /dev/pwm_output0 ROMFS/px4fmu_test/mixers/uuv_quad_x.mix
gyrosim start
accelsim start
barosim start
adcsim start
gpssim start
sleep 1
posix-configs/SITL/init/ekf2/iris
-1
View File
@@ -51,7 +51,6 @@ tone_alarm start
gyrosim start
accelsim start
barosim start
adcsim start
gpssim start
pwm_out_sim start
sensors start
posix-configs/SITL/init/ekf2/iris_1
-1
View File
@@ -53,7 +53,6 @@ tone_alarm start
gyrosim start
accelsim start
barosim start
adcsim start
gpssim start
pwm_out_sim start
sensors start
posix-configs/SITL/init/ekf2/iris_2
-1
View File
@@ -53,7 +53,6 @@ tone_alarm start
gyrosim start
accelsim start
barosim start
adcsim start
gpssim start
pwm_out_sim start
sensors start
posix-configs/SITL/init/ekf2/iris_irlock
-1
View File
@@ -52,7 +52,6 @@ tone_alarm start
gyrosim start
accelsim start
barosim start
adcsim start
gpssim start
pwm_out_sim start
sensors start
posix-configs/SITL/init/ekf2/iris_opt_flow
-1
View File
@@ -54,7 +54,6 @@ tone_alarm start
gyrosim start
accelsim start
barosim start
adcsim start
gpssim start
pwm_out_sim start
sensors start
posix-configs/SITL/init/ekf2/iris_rplidar
-1
View File
@@ -51,7 +51,6 @@ tone_alarm start
gyrosim start
accelsim start
barosim start
adcsim start
gpssim start
pwm_out_sim start
sensors start
posix-configs/SITL/init/ekf2/multiple_iris
-1
View File
@@ -51,7 +51,6 @@ tone_alarm start
gyrosim start
accelsim start
barosim start
adcsim start
gpssim start
pwm_out_sim start
sensors start
posix-configs/SITL/init/ekf2/plane
-1
View File
@@ -73,7 +73,6 @@ tone_alarm start
gyrosim start
accelsim start
barosim start
adcsim start
gpssim start
measairspeedsim start
pwm_out_sim start
posix-configs/SITL/init/ekf2/rover
-1
View File
@@ -54,7 +54,6 @@ tone_alarm start
gyrosim start
accelsim start
barosim start
adcsim start
gpssim start
measairspeedsim start
pwm_out_sim start
posix-configs/SITL/init/ekf2/solo
-1
View File
@@ -48,7 +48,6 @@ tone_alarm start
gyrosim start
accelsim start
barosim start
adcsim start
gpssim start
pwm_out_sim start
sensors start
posix-configs/SITL/init/ekf2/standard_vtol
-1
View File
@@ -66,7 +66,6 @@ tone_alarm start
gyrosim start
accelsim start
barosim start
adcsim start
gpssim start
measairspeedsim start
pwm_out_sim start start
posix-configs/SITL/init/ekf2/tailsitter
-1
View File
@@ -49,7 +49,6 @@ tone_alarm start
gyrosim start
accelsim start
barosim start
adcsim start
gpssim start
measairspeedsim start
pwm_out_sim start
posix-configs/SITL/init/ekf2/tiltrotor
-1
View File
@@ -83,7 +83,6 @@ tone_alarm start
gyrosim start
accelsim start
barosim start
adcsim start
gpssim start
measairspeedsim start
pwm_out_sim start
posix-configs/SITL/init/ekf2/typhoon_h480
-1
View File
@@ -54,7 +54,6 @@ tone_alarm start
gyrosim start
accelsim start
barosim start
adcsim start
gpssim start
pwm_out_sim start
sensors start
posix-configs/SITL/init/inav/iris
-1
View File
@@ -49,7 +49,6 @@ tone_alarm start
gyrosim start
accelsim start
barosim start
adcsim start
gpssim start
pwm_out_sim start
sensors start
posix-configs/SITL/init/inav/iris_opt_flow
-1
View File
@@ -51,7 +51,6 @@ tone_alarm start
gyrosim start
accelsim start
barosim start
adcsim start
gpssim start
pwm_out_sim start
sensors start
posix-configs/SITL/init/lpe/hippocampus
-1
View File
@@ -19,7 +19,6 @@ mixer load /dev/pwm_output0 ROMFS/px4fmu_test/mixers/uuv_quad_x.mix
gyrosim start
accelsim start
barosim start
adcsim start
sleep 1
posix-configs/SITL/init/lpe/iris
-1
View File
@@ -51,7 +51,6 @@ tone_alarm start
gyrosim start
accelsim start
barosim start
adcsim start
gpssim start
pwm_out_sim start
sensors start
posix-configs/SITL/init/lpe/iris_1
-1
View File
@@ -53,7 +53,6 @@ tone_alarm start
gyrosim start
accelsim start
barosim start
adcsim start
gpssim start
pwm_out_sim start
sensors start
posix-configs/SITL/init/lpe/iris_2
-1
View File
@@ -53,7 +53,6 @@ tone_alarm start
gyrosim start
accelsim start
barosim start
adcsim start
gpssim start
pwm_out_sim start
sensors start
posix-configs/SITL/init/lpe/iris_irlock
-1
View File
@@ -59,7 +59,6 @@ tone_alarm start
gyrosim start
accelsim start
barosim start
adcsim start
gpssim start
pwm_out_sim start
sensors start
posix-configs/SITL/init/lpe/iris_opt_flow
-1
View File
@@ -69,7 +69,6 @@ tone_alarm start
gyrosim start
accelsim start
barosim start
adcsim start
gpssim start
pwm_out_sim start
sensors start
posix-configs/SITL/init/lpe/iris_rplidar
-1
View File
@@ -50,7 +50,6 @@ tone_alarm start
gyrosim start
accelsim start
barosim start
adcsim start
gpssim start
pwm_out_sim start
sleep 1
posix-configs/SITL/init/lpe/plane
-1
View File
@@ -56,7 +56,6 @@ tone_alarm start
gyrosim start
accelsim start
barosim start
adcsim start
gpssim start
measairspeedsim start
pwm_out_sim start
posix-configs/SITL/init/lpe/rover
-1
View File
@@ -50,7 +50,6 @@ tone_alarm start
gyrosim start
accelsim start
barosim start
adcsim start
gpssim start
measairspeedsim start
pwm_out_sim start
posix-configs/SITL/init/lpe/solo
-1
View File
@@ -51,7 +51,6 @@ tone_alarm start
gyrosim start
accelsim start
barosim start
adcsim start
gpssim start
pwm_out_sim start
sensors start
posix-configs/SITL/init/lpe/standard_vtol
-1
View File
@@ -60,7 +60,6 @@ tone_alarm start
gyrosim start
accelsim start
barosim start
adcsim start
gpssim start
measairspeedsim start
pwm_out_sim start
posix-configs/SITL/init/lpe/typhoon_h480
-1
View File
@@ -48,7 +48,6 @@ tone_alarm start
gyrosim start
accelsim start
barosim start
adcsim start
gpssim start
pwm_out_sim start
sensors start
posix-configs/SITL/init/rcS_gazebo_delta_wing
-1
View File
@@ -32,7 +32,6 @@ tone_alarm start
gyrosim start
accelsim start
barosim start
adcsim start
gpssim start
measairspeedsim start
pwm_out_sim start
posix-configs/SITL/init/test/cmd_template.in
-1
View File
@@ -10,7 +10,6 @@ tone_alarm start
gyrosim start
accelsim start
barosim start
adcsim start
gpssim start
measairspeedsim start
pwm_out_sim start
posix-configs/SITL/init/test/tests_template.in
-1
View File
@@ -10,7 +10,6 @@ tone_alarm start
gyrosim start
accelsim start
barosim start
adcsim start
gpssim start
measairspeedsim start
pwm_out_sim start
src/drivers/boards/bebop/board_config.h
+3 -2
View File
@@ -43,11 +43,12 @@
#define BOARD_OVERRIDE_MFGUID BOARD_OVERRIDE_UUID
#define BOARD_NAME "BEBOP"
#define BOARD_BATTERY1_V_DIV (10.177939394f)
#define BOARD_BATTERY1_A_PER_V (15.391030303f)
#define BOARD_HAS_NO_RESET
#define BOARD_HAS_NO_BOOTLOADER
#define BOARD_NUMBER_BRICKS 0
/*
* I2C busses
*/
src/drivers/boards/common/board_common.h
+3 -1
View File
@@ -170,7 +170,9 @@
# endif
#endif
#if BOARD_NUMBER_BRICKS == 1
#if BOARD_NUMBER_BRICKS == 0
/* allow SITL to disable all bricks */
#elif BOARD_NUMBER_BRICKS == 1
# define BOARD_BATT_V_LIST {ADC_BATTERY_VOLTAGE_CHANNEL}
# define BOARD_BATT_I_LIST {ADC_BATTERY_CURRENT_CHANNEL}
# define BOARD_BRICK_VALID_LIST {BOARD_ADC_BRICK_VALID}
src/drivers/boards/eagle/board_config.h
+3 -2
View File
@@ -43,11 +43,12 @@
#define BOARD_OVERRIDE_MFGUID BOARD_OVERRIDE_UUID
#define BOARD_NAME "EAGLE"
#define BOARD_BATTERY1_V_DIV (10.177939394f)
#define BOARD_BATTERY1_A_PER_V (15.391030303f)
#define BOARD_HAS_NO_RESET
#define BOARD_HAS_NO_BOOTLOADER
#define BOARD_NUMBER_BRICKS 0
#define CONFIG_ARCH_BOARD_SITL 1
/*
src/drivers/boards/rpi/board_config.h
+5
View File
@@ -43,8 +43,13 @@
#define BOARD_OVERRIDE_MFGUID BOARD_OVERRIDE_UUID
#define BOARD_NAME "RPI"
#define ADC_BATTERY_VOLTAGE_CHANNEL 2
#define ADC_BATTERY_CURRENT_CHANNEL 3
#define BOARD_BATTERY1_V_DIV (10.177939394f)
#define BOARD_BATTERY1_A_PER_V (15.391030303f)
#define BOARD_HAS_NO_RESET
#define BOARD_HAS_NO_BOOTLOADER
src/drivers/boards/sitl/board_config.h
+2
View File
@@ -54,5 +54,7 @@
#define PX4_I2C_BUS_ONBOARD 2
#define PX4_NUMBER_I2C_BUSES 1
#define BOARD_NUMBER_BRICKS 0
#include <system_config.h>
#include "../common/board_common.h"
src/modules/sensors/sensors.cpp
+26 -10
View File
@@ -173,14 +173,18 @@ private:
orb_advert_t _sensor_pub{nullptr}; /**< combined sensor data topic */
orb_advert_t _airdata_pub{nullptr}; /**< combined sensor data topic */
orb_advert_t _magnetometer_pub{nullptr}; /**< combined sensor data topic */
#if BOARD_NUMBER_BRICKS > 0
orb_advert_t _battery_pub[BOARD_NUMBER_BRICKS] {}; /**< battery status */
Battery _battery[BOARD_NUMBER_BRICKS]; /**< Helper lib to publish battery_status topic. */
#endif /* BOARD_NUMBER_BRICKS > 0 */
#if BOARD_NUMBER_BRICKS > 1
int _battery_pub_intance0ndx {0}; /**< track the index of instance 0 */
#endif
#endif /* BOARD_NUMBER_BRICKS > 1 */
orb_advert_t _airspeed_pub{nullptr}; /**< airspeed */
orb_advert_t _diff_pres_pub{nullptr}; /**< differential_pressure */
orb_advert_t _sensor_preflight{nullptr}; /**< sensor preflight topic */
perf_counter_t _loop_perf; /**< loop performance counter */
@@ -189,9 +193,9 @@ private:
#ifdef ADC_AIRSPEED_VOLTAGE_CHANNEL
differential_pressure_s _diff_pres {};
#endif /* ADC_AIRSPEED_VOLTAGE_CHANNEL */
Battery _battery[BOARD_NUMBER_BRICKS]; /**< Helper lib to publish battery_status topic. */
orb_advert_t _diff_pres_pub{nullptr}; /**< differential_pressure */
#endif /* ADC_AIRSPEED_VOLTAGE_CHANNEL */
Parameters _parameters{}; /**< local copies of interesting parameters */
ParameterHandles _parameter_handles{}; /**< handles for interesting parameters */
@@ -249,9 +253,13 @@ Sensors::Sensors(bool hil_enabled) :
_airspeed_validator.set_timeout(300000);
_airspeed_validator.set_equal_value_threshold(100);
#if BOARD_NUMBER_BRICKS > 0
for (int b = 0; b < BOARD_NUMBER_BRICKS; b++) {
_battery[b].setParent(this);
}
#endif /* BOARD_NUMBER_BRICKS > 0 */
}
int
@@ -425,6 +433,7 @@ Sensors::adc_poll()
/* read all channels available */
int ret = _h_adc.read(&buf_adc, sizeof(buf_adc));
#if BOARD_NUMBER_BRICKS > 0
//todo:abosorb into new class Power
/* For legacy support we publish the battery_status for the Battery that is
@@ -433,19 +442,16 @@ Sensors::adc_poll()
* Like in the FMUv4
*/
/* The ADC channela that are associated with each brick, in power controller
/* The ADC channels that are associated with each brick, in power controller
* priority order highest to lowest, as defined by the board config.
*/
int bat_voltage_v_chan[BOARD_NUMBER_BRICKS] = BOARD_BATT_V_LIST;
int bat_voltage_i_chan[BOARD_NUMBER_BRICKS] = BOARD_BATT_I_LIST;
/* The valid signals (HW dependent) are associated with each brick */
bool valid_chan[BOARD_NUMBER_BRICKS] = BOARD_BRICK_VALID_LIST;
/* Per Brick readings with default unread channels at 0 */
float bat_current_a[BOARD_NUMBER_BRICKS] = {0.0f};
float bat_voltage_v[BOARD_NUMBER_BRICKS] = {0.0f};
@@ -456,6 +462,8 @@ Sensors::adc_poll()
int selected_source = -1;
#endif /* BOARD_NUMBER_BRICKS > 0 */
if (ret >= (int)sizeof(buf_adc[0])) {
/* Read add channels we got */
@@ -489,6 +497,9 @@ Sensors::adc_poll()
} else
#endif /* ADC_AIRSPEED_VOLTAGE_CHANNEL */
{
#if BOARD_NUMBER_BRICKS > 0
for (int b = 0; b < BOARD_NUMBER_BRICKS; b++) {
/* Once we have subscriptions, Do this once for the lowest (highest priority
@@ -512,7 +523,7 @@ Sensors::adc_poll()
_battery_pub_intance0ndx = selected_source;
}
#endif
#endif /* BOARD_NUMBER_BRICKS > 1 */
}
// todo:per brick scaling
@@ -526,9 +537,13 @@ Sensors::adc_poll()
- _parameters.battery_current_offset) * _parameters.battery_a_per_v;
}
}
#endif /* BOARD_NUMBER_BRICKS > 0 */
}
}
#if BOARD_NUMBER_BRICKS > 0
if (_parameters.battery_source == 0) {
for (int b = 0; b < BOARD_NUMBER_BRICKS; b++) {
@@ -557,8 +572,9 @@ Sensors::adc_poll()
}
}
_last_adc = t;
#endif /* BOARD_NUMBER_BRICKS > 0 */
_last_adc = t;
}
}
}
src/platforms/posix/drivers/adcsim/CMakeLists.txt
-42
View File
@@ -1,42 +0,0 @@
############################################################################
#
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
px4_add_module(
MODULE platforms__posix__drivers__adcsim
MAIN adcsim
COMPILE_FLAGS
SRCS
adcsim.cpp
DEPENDS
git_driverframework
df_driver_framework
)
src/platforms/posix/drivers/adcsim/adcsim.cpp
-255
View File
@@ -1,255 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file adcsim.cpp
*
* Driver for the ADCSIM.
*
* This is a designed for simulating sampling things like voltages
* and so forth.
*/
#include <px4_config.h>
#include <px4_time.h>
#include <board_config.h>
#include <drivers/device/device.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <stdlib.h>
#include <string.h>
#include <fcntl.h>
#include <errno.h>
#include <stdio.h>
#include <unistd.h>
#include <arch/board/board.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_adc.h>
#include <systemlib/err.h>
#include <perf/perf_counter.h>
#include <uORB/topics/system_power.h>
#include "SyncObj.hpp"
#include "VirtDevObj.hpp"
using namespace DriverFramework;
#define ADC_BASE_DEV_PATH "/dev/adc"
class ADCSIM : public VirtDevObj
{
public:
ADCSIM(uint32_t channels);
virtual ~ADCSIM();
virtual ssize_t devRead(void *buffer, size_t len);
private:
perf_counter_t _sample_perf;
unsigned _channel_count;
px4_adc_msg_t *_samples; /**< sample buffer */
/** worker function */
virtual void _measure();
/**
* Sample a single channel and return the measured value.
*
* @param channel The channel to sample.
* @return The sampled value, or 0xffff if
* sampling failed.
*/
uint16_t _sample(unsigned channel);
SyncObj m_lock;
};
ADCSIM::ADCSIM(uint32_t channels) :
VirtDevObj("adcsim", "/dev/adcsim", ADC_BASE_DEV_PATH, 10000),
_sample_perf(perf_alloc(PC_ELAPSED, "adc_samples")),
_channel_count(0),
_samples(nullptr)
{
/* always enable the temperature sensor */
channels |= 1 << 16;
/* allocate the sample array */
for (unsigned i = 0; i < 32; i++) {
if (channels & (1 << i)) {
_channel_count++;
}
}
_samples = new px4_adc_msg_t[_channel_count];
/* prefill the channel numbers in the sample array */
if (_samples != nullptr) {
unsigned index = 0;
for (unsigned i = 0; i < 32; i++) {
if (channels & (1 << i)) {
_samples[index].am_channel = i;
_samples[index].am_data = 0;
index++;
}
}
}
}
ADCSIM::~ADCSIM()
{
if (_samples != nullptr) {
delete _samples;
}
}
ssize_t
ADCSIM::devRead(void *buffer, size_t len)
{
const size_t maxsize = sizeof(px4_adc_msg_t) * _channel_count;
if (len > maxsize) {
len = maxsize;
}
/* block interrupts while copying samples to avoid racing with an update */
m_lock.lock();
memcpy(buffer, _samples, len);
m_lock.unlock();
return len;
}
void
ADCSIM::_measure()
{
m_lock.lock();
/* scan the channel set and sample each */
for (unsigned i = 0; i < _channel_count; i++) {
_samples[i].am_data = _sample(_samples[i].am_channel);
}
m_lock.unlock();
}
uint16_t
ADCSIM::_sample(unsigned channel)
{
perf_begin(_sample_perf);
uint16_t result = 1;
perf_end(_sample_perf);
return result;
}
/*
* Driver 'main' command.
*/
extern "C" __EXPORT int adcsim_main(int argc, char *argv[]);
namespace
{
ADCSIM *g_adc;
int
test()
{
DevHandle h;
DevMgr::getHandle(ADCSIM0_DEVICE_PATH, h);
if (!h.isValid()) {
PX4_ERR("can't open ADCSIM device (%d)", h.getError());
return 1;
}
for (unsigned i = 0; i < 50; i++) {
px4_adc_msg_t data[PX4_MAX_ADC_CHANNELS];
ssize_t count = h.read(data, sizeof(data));
if (count < 0) {
PX4_ERR("read error (%d)", h.getError());
return 1;
}
unsigned channels = count / sizeof(data[0]);
for (unsigned j = 0; j < channels; j++) {
PX4_INFO("%d: %lu ", data[j].am_channel, (unsigned long)data[j].am_data);
}
usleep(500000);
}
DevMgr::releaseHandle(h);
return 0;
}
}
int
adcsim_main(int argc, char *argv[])
{
int ret = 0;
if (g_adc == nullptr) {
/* FIXME - this hardcodes the default channel set for SITL - should be configurable */
g_adc = new ADCSIM((1 << 10) | (1 << 11) | (1 << 12) | (1 << 13));
if (g_adc == nullptr) {
PX4_ERR("couldn't allocate the ADCSIM driver");
return 1;
}
ret = g_adc->init();
if (ret != 0) {
PX4_ERR("ADCSIM init failed (%d)", ret);
return 1;
}
}
if (argc > 1 && g_adc) {
if (!strcmp(argv[1], "test")) {
ret = test();
}
}
return ret;
}