C++ AP_ADC_ADS7844::Init方法代码示例

bool AP_InertialSensor_Oilpan::_init_sensor(void)
{
    apm1_adc.Init();

    switch (_imu.get_sample_rate()) {
    case AP_InertialSensor::RATE_50HZ:
        _sample_threshold = 20;
        break;
    case AP_InertialSensor::RATE_100HZ:
        _sample_threshold = 10;
        break;
    case AP_InertialSensor::RATE_200HZ:
        _sample_threshold = 5;
        break;
    default:
        // can't do this speed
        return false;
    }

    _gyro_instance = _imu.register_gyro();
    _accel_instance = _imu.register_accel();

    _product_id = AP_PRODUCT_ID_APM1_2560;

    return true;
}

void setup()
{
    hal.console->println("ArduPilot Mega ADC library test");
    hal.scheduler->delay(1000);

    adc.Init();       // APM ADC initialization

    hal.scheduler->delay(1000);
    timer = AP_HAL::millis();
}

void Plane::init_ardupilot()
{
    // initialise serial port
    serial_manager.init_console();

    cliSerial->printf_P(PSTR("\n\nInit " FIRMWARE_STRING
                         "\n\nFree RAM: %u\n"),
                        hal.util->available_memory());


    //
    // Check the EEPROM format version before loading any parameters from EEPROM
    //
    load_parameters();

    if (g.hil_mode == 1) {
        // set sensors to HIL mode
        ins.set_hil_mode();
        compass.set_hil_mode();
        barometer.set_hil_mode();
    }

#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
    // this must be before BoardConfig.init() so if
    // BRD_SAFETYENABLE==0 then we don't have safety off yet
    for (uint8_t tries=0; tries<10; tries++) {
        if (setup_failsafe_mixing()) {
            break;
        }
        hal.scheduler->delay(10);
    }
#endif

    BoardConfig.init();

    // initialise serial ports
    serial_manager.init();

    // allow servo set on all channels except first 4
    ServoRelayEvents.set_channel_mask(0xFFF0);

    set_control_channels();

    // keep a record of how many resets have happened. This can be
    // used to detect in-flight resets
    g.num_resets.set_and_save(g.num_resets+1);

    // init baro before we start the GCS, so that the CLI baro test works
    barometer.init();

    // initialise rangefinder
    init_rangefinder();

    // initialise battery monitoring
    battery.init();

    // init the GCS
    gcs[0].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_Console, 0);

    // we start by assuming USB connected, as we initialed the serial
    // port with SERIAL0_BAUD. check_usb_mux() fixes this if need be.    
    usb_connected = true;
    check_usb_mux();

    // setup serial port for telem1
    gcs[1].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 0);

#if MAVLINK_COMM_NUM_BUFFERS > 2
    // setup serial port for telem2
    gcs[2].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 1);
#endif

#if MAVLINK_COMM_NUM_BUFFERS > 3
    // setup serial port for fourth telemetry port (not used by default)
    gcs[3].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 2);
#endif

    // setup frsky
#if FRSKY_TELEM_ENABLED == ENABLED
    frsky_telemetry.init(serial_manager);
#endif

    mavlink_system.sysid = g.sysid_this_mav;

#if LOGGING_ENABLED == ENABLED
    log_init();
#endif

#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
    apm1_adc.Init();      // APM ADC library initialization
#endif

    // initialise airspeed sensor
    airspeed.init();

    if (g.compass_enabled==true) {
        if (!compass.init() || !compass.read()) {
            cliSerial->println_P(PSTR("Compass initialisation failed!"));
            g.compass_enabled = false;
        } else {
//.........这里部分代码省略.........

void Rover::init_ardupilot()
{
    // initialise console serial port
    serial_manager.init_console();

	cliSerial->printf_P(PSTR("\n\nInit " FIRMWARE_STRING
						 "\n\nFree RAM: %u\n"),
                        hal.util->available_memory());
                    
	//
	// Check the EEPROM format version before loading any parameters from EEPROM.
	//
	
    load_parameters();

    BoardConfig.init();

    // initialise serial ports
    serial_manager.init();

    ServoRelayEvents.set_channel_mask(0xFFF0);

    set_control_channels();

    battery.init();

    // keep a record of how many resets have happened. This can be
    // used to detect in-flight resets
    g.num_resets.set_and_save(g.num_resets+1);

    // init baro before we start the GCS, so that the CLI baro test works
    barometer.init();

	// init the GCS
    gcs[0].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_Console, 0);

    // we start by assuming USB connected, as we initialed the serial
    // port with SERIAL0_BAUD. check_usb_mux() fixes this if need be.    
    usb_connected = true;
    check_usb_mux();

    // setup serial port for telem1
    gcs[1].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 0);

#if MAVLINK_COMM_NUM_BUFFERS > 2
    // setup serial port for telem2
    gcs[2].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 1);
#endif

#if MAVLINK_COMM_NUM_BUFFERS > 3
    // setup serial port for fourth telemetry port (not used by default)
    gcs[3].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 2);
#endif

    // setup frsky telemetry
#if FRSKY_TELEM_ENABLED == ENABLED
    frsky_telemetry.init(serial_manager);
#endif

	mavlink_system.sysid = g.sysid_this_mav;

#if LOGGING_ENABLED == ENABLED
    log_init();
#endif

    // Register mavlink_delay_cb, which will run anytime you have
    // more than 5ms remaining in your call to hal.scheduler->delay
    hal.scheduler->register_delay_callback(mavlink_delay_cb_static, 5);

#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
    apm1_adc.Init();      // APM ADC library initialization
#endif

	if (g.compass_enabled==true) {
		if (!compass.init()|| !compass.read()) {
            cliSerial->println_P(PSTR("Compass initialisation failed!"));
            g.compass_enabled = false;
        } else {
            ahrs.set_compass(&compass);
            //compass.get_offsets();						// load offsets to account for airframe magnetic interference
        }
	}

	// initialise sonar
    init_sonar();

    // and baro for EKF
    init_barometer();

	// Do GPS init
    gps.init(&DataFlash, serial_manager);

    rc_override_active = hal.rcin->set_overrides(rc_override, 8);

	init_rc_in();		// sets up rc channels from radio
	init_rc_out();		// sets up the timer libs

    relay.init();

#if MOUNT == ENABLED
//.........这里部分代码省略.........