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This commit is contained in:
Lorenz Meier
2013-01-06 11:25:17 +01:00
parent 0ef1d6d752 8eb8909a3c
commit d3fd3d8219
21 changed files with 891 additions and 220 deletions
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apps/drivers/boards/px4fmu/px4fmu_adc.c
-139
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@@ -1,139 +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 px4fmu_adc.c
*
* Board-specific ADC functions.
*/
/************************************************************************************
* Included Files
************************************************************************************/
#include <nuttx/config.h>
#include <errno.h>
#include <debug.h>
#include <stdio.h>
#include <nuttx/analog/adc.h>
#include <arch/board/board.h>
#include "chip.h"
#include "up_arch.h"
#include "stm32_adc.h"
#include "px4fmu_internal.h"
#define ADC3_NCHANNELS 4
/************************************************************************************
* Private Data
************************************************************************************/
/* The PX4FMU board has four ADC channels: ADC323 IN10-13
*/
/* Identifying number of each ADC channel: Variable Resistor. */
#ifdef CONFIG_STM32_ADC3
static const uint8_t g_chanlist[ADC3_NCHANNELS] = {10, 11, 12, 13};
/* Configurations of pins used byte each ADC channels */
static const uint32_t g_pinlist[ADC3_NCHANNELS] = {GPIO_ADC3_IN10, GPIO_ADC3_IN11, GPIO_ADC3_IN12, GPIO_ADC3_IN13};
#endif
/************************************************************************************
* Private Functions
************************************************************************************/
/************************************************************************************
* Public Functions
************************************************************************************/
/************************************************************************************
* Name: adc_devinit
*
* Description:
* All STM32 architectures must provide the following interface to work with
* examples/adc.
*
************************************************************************************/
int adc_devinit(void)
{
static bool initialized = false;
struct adc_dev_s *adc[ADC3_NCHANNELS];
int ret;
int i;
/* Check if we have already initialized */
if (!initialized) {
char name[11];
for (i = 0; i < ADC3_NCHANNELS; i++) {
stm32_configgpio(g_pinlist[i]);
}
for (i = 0; i < 1; i++) {
/* Configure the pins as analog inputs for the selected channels */
//stm32_configgpio(g_pinlist[i]);
/* Call stm32_adcinitialize() to get an instance of the ADC interface */
//multiple channels only supported with dma!
adc[i] = stm32_adcinitialize(3, (g_chanlist), 4);
if (adc == NULL) {
adbg("ERROR: Failed to get ADC interface\n");
return -ENODEV;
}
/* Register the ADC driver at "/dev/adc0" */
sprintf(name, "/dev/adc%d", i);
ret = adc_register(name, adc[i]);
if (ret < 0) {
adbg("adc_register failed for adc %s: %d\n", name, ret);
return ret;
}
}
/* Now we are initialized */
initialized = true;
}
return OK;
}
apps/drivers/boards/px4fmu/px4fmu_init.c
+5 -18
View File
@@ -95,8 +95,6 @@
* Protected Functions
****************************************************************************/
extern int adc_devinit(void);
/****************************************************************************
* Public Functions
****************************************************************************/
@@ -201,7 +199,7 @@ __EXPORT int nsh_archinitialize(void)
message("[boot] Successfully initialized SPI port 1\r\n");
/* Get the SPI port for the microsd slot */
/* Get the SPI port for the microSD slot */
message("[boot] Initializing SPI port 3\n");
spi3 = up_spiinitialize(3);
@@ -225,21 +223,10 @@ __EXPORT int nsh_archinitialize(void)
message("[boot] Successfully bound SPI port 3 to the MMCSD driver\n");
#ifdef CONFIG_ADC
int adc_state = adc_devinit();
if (adc_state != OK) {
/* Try again */
adc_state = adc_devinit();
if (adc_state != OK) {
/* Give up */
message("[boot] FAILED adc_devinit: %d\n", adc_state);
return -ENODEV;
}
}
#endif
stm32_configgpio(GPIO_ADC1_IN10);
stm32_configgpio(GPIO_ADC1_IN11);
stm32_configgpio(GPIO_ADC1_IN12);
//stm32_configgpio(GPIO_ADC1_IN13); // jumperable to MPU6000 DRDY on some boards
return OK;
}
apps/drivers/boards/px4io/px4io_init.c
+3
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@@ -92,4 +92,7 @@ __EXPORT void stm32_boardinitialize(void)
stm32_configgpio(GPIO_ACC_OC_DETECT);
stm32_configgpio(GPIO_SERVO_OC_DETECT);
stm32_configgpio(GPIO_BTN_SAFETY);
stm32_configgpio(GPIO_ADC_VBATT);
stm32_configgpio(GPIO_ADC_IN5);
}
apps/drivers/boards/px4io/px4io_internal.h
+5
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@@ -76,3 +76,8 @@
#define GPIO_RELAY1_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN13)
#define GPIO_RELAY2_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN12)
/* Analog inputs ********************************************************************/
#define GPIO_ADC_VBATT (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN4)
#define GPIO_ADC_IN5 (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN5)
apps/drivers/drv_adc.h
+52
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@@ -0,0 +1,52 @@
/****************************************************************************
*
* 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 drv_adc.h
*
* ADC driver interface.
*
* This defines additional operations over and above the standard NuttX
* ADC API.
*/
#pragma once
#include <stdint.h>
#include <sys/ioctl.h>
#define ADC_DEVICE_PATH "/dev/adc0"
/*
* ioctl definitions
*/
apps/drivers/px4io/px4io.cpp
+25
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@@ -78,6 +78,7 @@
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/rc_channels.h>
#include <uORB/topics/battery_status.h>
#include <px4io/protocol.h>
#include "uploader.h"
@@ -127,6 +128,9 @@ private:
orb_advert_t _to_input_rc; ///< rc inputs from io
rc_input_values _input_rc; ///< rc input values
orb_advert_t _to_battery; ///< battery status / voltage
battery_status_s _battery_status;///< battery status data
orb_advert_t _t_outputs; ///< mixed outputs topic
actuator_outputs_s _outputs; ///< mixed outputs
@@ -379,6 +383,10 @@ PX4IO::task_main()
memset(&_input_rc, 0, sizeof(_input_rc));
_to_input_rc = orb_advertise(ORB_ID(input_rc), &_input_rc);
/* do not advertise the battery status until its clear that a battery is connected */
memset(&_battery_status, 0, sizeof(_battery_status));
_to_battery = -1;
/* poll descriptor */
pollfd fds[4];
fds[0].fd = _serial_fd;
@@ -559,6 +567,23 @@ PX4IO::rx_callback(const uint8_t *buffer, size_t bytes_received)
/* remember the latched arming switch state */
_switch_armed = rep->armed;
/* publish battery information */
/* only publish if battery has a valid minimum voltage */
if (rep->battery_mv > 3300) {
_battery_status.timestamp = hrt_absolute_time();
_battery_status.voltage_v = rep->battery_mv / 1000.0f;
/* current and discharge are unknown */
_battery_status.current_a = -1.0f;
_battery_status.discharged_mah = -1.0f;
/* announce the battery voltage if needed, just publish else */
if (_to_battery > 0) {
orb_publish(ORB_ID(battery_status), _to_battery, &_battery_status);
} else {
_to_battery = orb_advertise(ORB_ID(battery_status), &_battery_status);
}
}
_send_needed = true;
/* if monitoring, dump the received info */
apps/drivers/stm32/adc/Makefile
+43
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@@ -0,0 +1,43 @@
############################################################################
#
# 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.
#
############################################################################
#
# STM32 ADC driver
#
APPNAME = adc
PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 2048
INCLUDES = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
include $(APPDIR)/mk/app.mk
apps/drivers/stm32/adc/adc.cpp
+387
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@@ -0,0 +1,387 @@
/****************************************************************************
*
* 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 adc.cpp
*
* Driver for the STM32 ADC.
*
* This is a low-rate driver, designed for sampling things like voltages
* and so forth. It avoids the gross complexity of the NuttX ADC driver.
*/
#include <nuttx/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 <arch/stm32/chip.h>
#include <stm32_internal.h>
#include <stm32_gpio.h>
#include <systemlib/err.h>
#include <systemlib/perf_counter.h>
/*
* Register accessors.
* For now, no reason not to just use ADC1.
*/
#define REG(_reg) (*(volatile uint32_t *)(STM32_ADC1_BASE + _reg))
#define rSR REG(STM32_ADC_SR_OFFSET)
#define rCR1 REG(STM32_ADC_CR1_OFFSET)
#define rCR2 REG(STM32_ADC_CR2_OFFSET)
#define rSMPR1 REG(STM32_ADC_SMPR1_OFFSET)
#define rSMPR2 REG(STM32_ADC_SMPR2_OFFSET)
#define rJOFR1 REG(STM32_ADC_JOFR1_OFFSET)
#define rJOFR2 REG(STM32_ADC_JOFR2_OFFSET)
#define rJOFR3 REG(STM32_ADC_JOFR3_OFFSET)
#define rJOFR4 REG(STM32_ADC_JOFR4_OFFSET)
#define rHTR REG(STM32_ADC_HTR_OFFSET)
#define rLTR REG(STM32_ADC_LTR_OFFSET)
#define rSQR1 REG(STM32_ADC_SQR1_OFFSET)
#define rSQR2 REG(STM32_ADC_SQR2_OFFSET)
#define rSQR3 REG(STM32_ADC_SQR3_OFFSET)
#define rJSQR REG(STM32_ADC_JSQR_OFFSET)
#define rJDR1 REG(STM32_ADC_JDR1_OFFSET)
#define rJDR2 REG(STM32_ADC_JDR2_OFFSET)
#define rJDR3 REG(STM32_ADC_JDR3_OFFSET)
#define rJDR4 REG(STM32_ADC_JDR4_OFFSET)
#define rDR REG(STM32_ADC_DR_OFFSET)
#ifdef STM32_ADC_CCR
# define rCCR REG(STM32_ADC_CCR_OFFSET)
#endif
class ADC : public device::CDev
{
public:
ADC(uint32_t channels);
~ADC();
virtual int init();
virtual int ioctl(file *filp, int cmd, unsigned long arg);
virtual ssize_t read(file *filp, char *buffer, size_t len);
protected:
virtual int open_first(struct file *filp);
virtual int close_last(struct file *filp);
private:
static const hrt_abstime _tickrate = 10000; /**< 100Hz base rate */
hrt_call _call;
perf_counter_t _sample_perf;
unsigned _channel_count;
adc_msg_s *_samples; /**< sample buffer */
/** work trampoline */
static void _tick_trampoline(void *arg);
/** worker function */
void _tick();
/**
* 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);
};
ADC::ADC(uint32_t channels) :
CDev("adc", ADC_DEVICE_PATH),
_sample_perf(perf_alloc(PC_ELAPSED, "ADC samples")),
_channel_count(0),
_samples(nullptr)
{
_debug_enabled = true;
/* 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 adc_msg_s[_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++;
}
}
}
}
ADC::~ADC()
{
if (_samples != nullptr)
delete _samples;
}
int
ADC::init()
{
/* do calibration if supported */
#ifdef ADC_CR2_CAL
rCR2 |= ADC_CR2_CAL;
usleep(100);
if (rCR2 & ADC_CR2_CAL)
return -1;
#endif
/* arbitrarily configure all channels for 55 cycle sample time */
rSMPR1 = 0b00000011011011011011011011011011;
rSMPR2 = 0b00011011011011011011011011011011;
/* XXX for F2/4, might want to select 12-bit mode? */
rCR1 = 0;
/* enable the temperature sensor / Vrefint channel if supported*/
rCR2 =
#ifdef ADC_CR2_TSVREFE
/* enable the temperature sensor in CR2 */
ADC_CR2_TSVREFE |
#endif
0;
#ifdef ADC_CCR_TSVREFE
/* enable temperature sensor in CCR */
rCCR = ADC_CCR_TSVREFE;
#endif
/* configure for a single-channel sequence */
rSQR1 = 0;
rSQR2 = 0;
rSQR3 = 0; /* will be updated with the channel each tick */
/* power-cycle the ADC and turn it on */
rCR2 &= ~ADC_CR2_ADON;
usleep(10);
rCR2 |= ADC_CR2_ADON;
usleep(10);
rCR2 |= ADC_CR2_ADON;
usleep(10);
/* kick off a sample and wait for it to complete */
hrt_abstime now = hrt_absolute_time();
rCR2 |= ADC_CR2_SWSTART;
while (!(rSR & ADC_SR_EOC)) {
/* don't wait for more than 500us, since that means something broke - should reset here if we see this */
if ((hrt_absolute_time() - now) > 500) {
log("sample timeout");
return -1;
return 0xffff;
}
}
debug("init done");
/* create the device node */
return CDev::init();
}
int
ADC::ioctl(file *filp, int cmd, unsigned long arg)
{
return -ENOTTY;
}
ssize_t
ADC::read(file *filp, char *buffer, size_t len)
{
const size_t maxsize = sizeof(adc_msg_s) * _channel_count;
if (len > maxsize)
len = maxsize;
/* block interrupts while copying samples to avoid racing with an update */
irqstate_t flags = irqsave();
memcpy(buffer, _samples, len);
irqrestore(flags);
return len;
}
int
ADC::open_first(struct file *filp)
{
/* get fresh data */
_tick();
/* and schedule regular updates */
hrt_call_every(&_call, _tickrate, _tickrate, _tick_trampoline, this);
return 0;
}
int
ADC::close_last(struct file *filp)
{
hrt_cancel(&_call);
return 0;
}
void
ADC::_tick_trampoline(void *arg)
{
((ADC *)arg)->_tick();
}
void
ADC::_tick()
{
/* scan the channel set and sample each */
for (unsigned i = 0; i < _channel_count; i++)
_samples[i].am_data = _sample(_samples[i].am_channel);
}
uint16_t
ADC::_sample(unsigned channel)
{
perf_begin(_sample_perf);
/* clear any previous EOC */
if (rSR & ADC_SR_EOC)
rSR &= ~ADC_SR_EOC;
/* run a single conversion right now - should take about 60 cycles (a few microseconds) max */
rSQR3 = channel;
rCR2 |= ADC_CR2_SWSTART;
/* wait for the conversion to complete */
hrt_abstime now = hrt_absolute_time();
while (!(rSR & ADC_SR_EOC)) {
/* don't wait for more than 50us, since that means something broke - should reset here if we see this */
if ((hrt_absolute_time() - now) > 50) {
log("sample timeout");
return 0xffff;
}
}
/* read the result and clear EOC */
uint16_t result = rDR;
perf_end(_sample_perf);
return result;
}
/*
* Driver 'main' command.
*/
extern "C" __EXPORT int adc_main(int argc, char *argv[]);
namespace
{
ADC *g_adc;
void
test(void)
{
int fd = open(ADC_DEVICE_PATH, O_RDONLY);
if (fd < 0)
err(1, "can't open ADC device");
for (unsigned i = 0; i < 50; i++) {
adc_msg_s data[8];
ssize_t count = read(fd, data, sizeof(data));
if (count < 0)
errx(1, "read error");
unsigned channels = count / sizeof(data[0]);
for (unsigned j = 0; j < channels; j++) {
printf ("%d: %u ", data[j].am_channel, data[j].am_data);
}
printf("\n");
usleep(500000);
}
exit(0);
}
}
int
adc_main(int argc, char *argv[])
{
if (g_adc == nullptr) {
/* XXX this hardcodes the minimum channel set for PX4FMU - should be configurable */
g_adc = new ADC((1 << 10) | (1 << 11));
if (g_adc == nullptr)
errx(1, "couldn't allocate the ADC driver");
if (g_adc->init() != OK) {
delete g_adc;
errx(1, "ADC init failed");
}
}
if (argc > 1) {
if (!strcmp(argv[1], "test"))
test();
}
exit(0);
}