Examples: fix examples for px4

The change to use AP_BoardConfig messed up the examples. Here are some updated but there are plenty more to do.
James-T1 · Oct 4, 2016 · 0d113b2 · 0d113b2
1 parent 467da77
commit 0d113b2
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Showing 14 changed files with 58 additions and 46 deletions.
diff --git a/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp b/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp
@@ -7,6 +7,7 @@
 #include <AP_ADC/AP_ADC.h>
 #include <AP_AHRS/AP_AHRS.h>
 #include <AP_HAL/AP_HAL.h>
+#include <AP_BoardConfig/AP_BoardConfig.h>
 
 const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 
@@ -29,6 +30,8 @@ AP_AHRS_DCM  ahrs(ins, baro, gps);
 
 void setup(void)
 {
+    AP_BoardConfig{}.init();
+
     ins.init(100);
     ahrs.init();
     serial_manager.init();

diff --git a/libraries/AP_AHRS/examples/AHRS_Test/make.inc b/libraries/AP_AHRS/examples/AHRS_Test/make.inc
@@ -26,3 +26,4 @@ LIBRARIES += Filter
 LIBRARIES += GCS_MAVLink
 LIBRARIES += RC_Channel
 LIBRARIES += StorageManager
+LIBRARIES += AP_BoardConfig
diff --git a/libraries/AP_Airspeed/examples/Airspeed/Airspeed.cpp b/libraries/AP_Airspeed/examples/Airspeed/Airspeed.cpp
@@ -22,20 +22,36 @@
 #include <AP_ADC/AP_ADC.h>
 #include <AP_Airspeed/AP_Airspeed.h>
 #include <AP_HAL/AP_HAL.h>
+#include <AP_BoardConfig/AP_BoardConfig.h>
 
 const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 
 float temperature;
 
 AP_Airspeed airspeed;
 
+namespace {
+// try to set the object value but provide diagnostic if it failed
+void set_object_value(const void *object_pointer,
+                      const struct AP_Param::GroupInfo *group_info,
+                      const char *name, float value)
+{
+    if (!AP_Param::set_object_value(object_pointer, group_info, name, value)) {
+        hal.console->printf("WARNING: AP_Param::set object value \"%s::%s\" Failed.\n",
+                            group_info->name, name);
+    }
+}
+}
+
 void setup()
 {
     hal.console->println("ArduPilot Airspeed library test");
 
-    AP_Param::set_object_value(&airspeed, airspeed.var_info, "_PIN", 65);
-    AP_Param::set_object_value(&airspeed, airspeed.var_info, "_ENABLE", 1);
-    AP_Param::set_object_value(&airspeed, airspeed.var_info, "_USE", 1);
+    set_object_value(&airspeed, airspeed.var_info, "PIN", 65);
+    set_object_value(&airspeed, airspeed.var_info, "ENABLE", 1);
+    set_object_value(&airspeed, airspeed.var_info, "USE", 1);
+
+    AP_BoardConfig{}.init();
 
     airspeed.init();
     airspeed.calibrate(false);
@@ -44,12 +60,13 @@ void setup()
 void loop(void)
 {
     static uint32_t timer;
-    if((AP_HAL::millis() - timer) > 100) {
+    if ((AP_HAL::millis() - timer) > 100) {
         timer = AP_HAL::millis();
         airspeed.read();
         airspeed.get_temperature(temperature);
 
-        hal.console->printf("airspeed %5.2f temperature %6.2f healthy = %u\n", airspeed.get_airspeed(), temperature, airspeed.healthy());
+        hal.console->printf("airspeed %5.2f temperature %6.2f healthy = %u\n",
+                            airspeed.get_airspeed(), temperature, airspeed.healthy());
     }
     hal.scheduler->delay(1);
 }

diff --git a/libraries/AP_Airspeed/examples/Airspeed/make.inc b/libraries/AP_Airspeed/examples/Airspeed/make.inc
@@ -23,3 +23,4 @@ LIBRARIES += DataFlash
 LIBRARIES += Filter
 LIBRARIES += GCS_MAVLink
 LIBRARIES += StorageManager
+LIBRARIES += AP_BoardConfig
diff --git a/libraries/AP_Baro/examples/BARO_generic/BARO_generic.cpp b/libraries/AP_Baro/examples/BARO_generic/BARO_generic.cpp
@@ -4,6 +4,7 @@
 
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Baro/AP_Baro.h>
+#include <AP_BoardConfig/AP_BoardConfig.h>
 
 const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 
@@ -16,6 +17,8 @@ void setup()
 {
     hal.console->println("Barometer library test");
 
+    AP_BoardConfig{}.init();
+
     hal.scheduler->delay(1000);
 
     barometer.init();

diff --git a/libraries/AP_Baro/examples/BARO_generic/make.inc b/libraries/AP_Baro/examples/BARO_generic/make.inc
@@ -24,3 +24,4 @@ LIBRARIES += DataFlash
 LIBRARIES += Filter
 LIBRARIES += GCS_MAVLink
 LIBRARIES += StorageManager
+LIBRARIES += AP_BoardConfig
diff --git a/libraries/AP_Compass/examples/AP_Compass_test/AP_Compass_test.cpp b/libraries/AP_Compass/examples/AP_Compass_test/AP_Compass_test.cpp
@@ -5,16 +5,20 @@
 
 #include <AP_Compass/AP_Compass.h>
 #include <AP_HAL/AP_HAL.h>
+#include <AP_BoardConfig/AP_BoardConfig.h>
 
 const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 
 static Compass compass;
 
 uint32_t timer;
 
-void setup() {
+static void setup()
+{
     hal.console->println("Compass library test");
 
+    AP_BoardConfig{}.init(); // initialise the board drivers
+
     if (!compass.init()) {
         AP_HAL::panic("compass initialisation failed!");
     }
@@ -29,7 +33,7 @@ void setup() {
     timer = AP_HAL::micros();
 }
 
-void loop()
+static void loop()
 {
     static const uint8_t compass_count = compass.get_count();
     static float min[COMPASS_MAX_INSTANCES][3];

diff --git a/libraries/AP_Compass/examples/AP_Compass_test/make.inc b/libraries/AP_Compass/examples/AP_Compass_test/make.inc
@@ -1,25 +1,9 @@
-LIBRARIES += AP_ADC
-LIBRARIES += AP_AHRS
-LIBRARIES += AP_Airspeed
-LIBRARIES += AP_Baro
-LIBRARIES += AP_BattMonitor
 LIBRARIES += AP_Common
 LIBRARIES += AP_Compass
 LIBRARIES += AP_Declination
-LIBRARIES += AP_GPS
-LIBRARIES += AP_InertialSensor
-LIBRARIES += AP_AccelCal
 LIBRARIES += AP_Math
-LIBRARIES += AP_Mission
-LIBRARIES += AP_NavEKF
-LIBRARIES += AP_Notify
 LIBRARIES += AP_Param
-LIBRARIES += AP_Rally
-LIBRARIES += AP_RangeFinder
-LIBRARIES += AP_Scheduler
-LIBRARIES += AP_Terrain
-LIBRARIES += AP_Vehicle
 LIBRARIES += DataFlash
-LIBRARIES += Filter
 LIBRARIES += GCS_MAVLink
 LIBRARIES += StorageManager
+LIBRARIES += AP_BoardConfig
diff --git a/libraries/AP_GPS/examples/GPS_AUTO_test/GPS_AUTO_test.cpp b/libraries/AP_GPS/examples/GPS_AUTO_test/GPS_AUTO_test.cpp
@@ -32,6 +32,7 @@
 #include <AP_BattMonitor/AP_BattMonitor.h>
 #include <AP_SerialManager/AP_SerialManager.h>
 #include <AP_RangeFinder/AP_RangeFinder.h>
+#include <AP_BoardConfig/AP_BoardConfig.h>
 
 const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 
@@ -51,6 +52,8 @@ void setup()
 {
     hal.console->println("GPS AUTO library test");
 
+    AP_BoardConfig{}.init();
+
     // Initialise the leds
     board_led.init();
 

diff --git a/libraries/AP_GPS/examples/GPS_AUTO_test/make.inc b/libraries/AP_GPS/examples/GPS_AUTO_test/make.inc
@@ -24,3 +24,4 @@ LIBRARIES += DataFlash
 LIBRARIES += Filter
 LIBRARIES += GCS_MAVLink
 LIBRARIES += StorageManager
+LIBRARIES += AP_BoardConfig
diff --git a/libraries/AP_Param/AP_Param.cpp b/libraries/AP_Param/AP_Param.cpp
@@ -1168,20 +1168,24 @@ void AP_Param::setup_object_defaults(const void *object_pointer, const struct Gr
 
 // set a value directly in an object. This should only be used by
 // example code, not by mainline vehicle code
-void AP_Param::set_object_value(const void *object_pointer, 
-                                const struct GroupInfo *group_info, 
+bool AP_Param::set_object_value(const void *object_pointer,
+                                const struct GroupInfo *group_info,
                                 const char *name, float value)
 {
     ptrdiff_t base = (ptrdiff_t)object_pointer;
     uint8_t type;
+    bool found = false;
     for (uint8_t i=0;
          (type=group_info[i].type) != AP_PARAM_NONE;
          i++) {
         if (strcmp(name, group_info[i].name) == 0 && type <= AP_PARAM_FLOAT) {
             void *ptr = (void *)(base + group_info[i].offset);
             set_value((enum ap_var_type)type, ptr, value);
+            // return true here ?
+            found = true;
         }
     }
+    return found;
 }
 
 

diff --git a/libraries/AP_Param/AP_Param.h b/libraries/AP_Param/AP_Param.h
@@ -278,10 +278,11 @@ class AP_Param
     // load default values for scalars in a group
     static void         setup_object_defaults(const void *object_pointer, const struct GroupInfo *group_info);
 
-    // set a value directly in an object. This should only be used by
-    // example code, not by mainline vehicle code
-    static void set_object_value(const void *object_pointer, 
-                                 const struct GroupInfo *group_info, 
+    // set a value directly in an object.
+    // return true if the name was found and set, else false.
+    // This should only be used by example code, not by mainline vehicle code
+    static bool set_object_value(const void *object_pointer,
+                                 const struct GroupInfo *group_info,
                                  const char *name, float value);
 
     // load default values for all scalars in the main sketch. This

diff --git a/libraries/AP_Scheduler/examples/Scheduler_test/Scheduler_test.cpp b/libraries/AP_Scheduler/examples/Scheduler_test/Scheduler_test.cpp
@@ -7,6 +7,7 @@
 #include <AP_HAL/AP_HAL.h>
 #include <AP_InertialSensor/AP_InertialSensor.h>
 #include <AP_Scheduler/AP_Scheduler.h>
+#include <AP_BoardConfig/AP_BoardConfig.h>
 
 const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 
@@ -46,6 +47,9 @@ const AP_Scheduler::Task SchedTest::scheduler_tasks[] = {
 
 void SchedTest::setup(void)
 {
+
+    AP_BoardConfig{}.init();
+
     ins.init(scheduler.get_loop_rate_hz());
 
     // initialise the scheduler

diff --git a/libraries/AP_Scheduler/examples/Scheduler_test/make.inc b/libraries/AP_Scheduler/examples/Scheduler_test/make.inc
@@ -1,27 +1,12 @@
-LIBRARIES += AP_ADC
-LIBRARIES += AP_AHRS
-LIBRARIES += AP_Airspeed
-LIBRARIES += AP_Baro
-LIBRARIES += AP_BattMonitor
-LIBRARIES += AP_Buffer
 LIBRARIES += AP_Common
-LIBRARIES += AP_Compass
-LIBRARIES += AP_Declination
-LIBRARIES += AP_GPS
 LIBRARIES += AP_InertialSensor
 LIBRARIES += AP_AccelCal
 LIBRARIES += AP_Math
-LIBRARIES += AP_Mission
-LIBRARIES += AP_NavEKF
 LIBRARIES += AP_Notify
 LIBRARIES += AP_Param
-LIBRARIES += AP_Rally
-LIBRARIES += AP_RangeFinder
 LIBRARIES += AP_Scheduler
-LIBRARIES += AP_Terrain
-LIBRARIES += AP_Vehicle
 LIBRARIES += DataFlash
 LIBRARIES += Filter
 LIBRARIES += GCS_MAVLink
 LIBRARIES += StorageManager
-LIBRARIES += AP_OpticalFlow
+LIBRARIES += AP_BoardConfig