From 9aada26e34f538310121f3db4bdc10bd0735b4b9 Mon Sep 17 00:00:00 2001
From: Pat Hickey <pat@galois.com>
Date: Thu, 11 Oct 2012 13:34:23 -0700
Subject: [PATCH] AP_Declination: translated to AP_HAL

---
 libraries/AP_Declination/AP_Declination.cpp   |  4 +-
 .../AP_Declination_test.pde                   | 45 ++++++-------------
 .../examples/AP_Declination_test/Arduino.h    |  0
 .../AP_Declination_test/nocore.inoflag        |  0
 4 files changed, 15 insertions(+), 34 deletions(-)
 create mode 100644 libraries/AP_Declination/examples/AP_Declination_test/Arduino.h
 create mode 100644 libraries/AP_Declination/examples/AP_Declination_test/nocore.inoflag

diff --git a/libraries/AP_Declination/AP_Declination.cpp b/libraries/AP_Declination/AP_Declination.cpp
index afe90db5fb..46ef5d6fd0 100644
--- a/libraries/AP_Declination/AP_Declination.cpp
+++ b/libraries/AP_Declination/AP_Declination.cpp
@@ -14,13 +14,13 @@
  * of the License, or (at your option) any later version.
  */
 
-#include <FastSerial.h>
 #include <AP_Common.h>
+#include <AP_Progmem.h>
+#include <AP_Math.h>
 #include <AP_Declination.h>
 #include <avr/pgmspace.h>
 #include <math.h>
 
-
 // 1 byte - 4 bits for value + 1 bit for sign + 3 bits for repeats => 8 bits
 struct row_value {
 
diff --git a/libraries/AP_Declination/examples/AP_Declination_test/AP_Declination_test.pde b/libraries/AP_Declination/examples/AP_Declination_test/AP_Declination_test.pde
index 25b9794d03..1eb3954dd5 100644
--- a/libraries/AP_Declination/examples/AP_Declination_test/AP_Declination_test.pde
+++ b/libraries/AP_Declination/examples/AP_Declination_test/AP_Declination_test.pde
@@ -1,34 +1,15 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
-// AVR runtime
-#include <FastSerial.h>
 #include <AP_Common.h>
 #include <AP_Param.h>
+#include <AP_HAL.h>
 #include <AP_Math.h>
 #include <AP_Declination.h>
-#include <Filter.h>
 #include <AP_Buffer.h>
-#include <I2C.h>
-#include <SPI.h>
-
-#ifdef DESKTOP_BUILD
-// all of this is needed to build with SITL
- #include <DataFlash.h>
- #include <AP_Semaphore.h>
- #include <APM_RC.h>
- #include <GCS_MAVLink.h>
- #include <Arduino_Mega_ISR_Registry.h>
- #include <AP_PeriodicProcess.h>
- #include <AP_ADC.h>
- #include <AP_Baro.h>
- #include <AP_Compass.h>
- #include <AP_GPS.h>
-Arduino_Mega_ISR_Registry isr_registry;
-AP_Baro_BMP085_HIL barometer;
-AP_Compass_HIL compass;
-#endif
+#include <Filter.h>
 
-FastSerialPort(Serial, 0);
+#include <AP_HAL_AVR.h>
+const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
 
 static const int16_t dec_tbl[37][73] = \
 { \
@@ -103,16 +84,15 @@ void setup(void)
     uint16_t pass = 0, fail = 0;
     uint32_t total_time=0;
 
-    Serial.begin(115200);
-    Serial.print("Beginning Test. Please wait...\n");
+    hal.console->print("Beginning Test. Please wait...\n");
 
     for(int16_t i = -90; i <= 90; i+=5)
     {
         for(int16_t j = -180; j <= 180; j+=5)
         {
-            uint32_t t1 = micros();
+            uint32_t t1 = hal.scheduler->micros();
             declination = AP_Declination::get_declination(i, j);
-            total_time += micros() - t1;
+            total_time += hal.scheduler->micros() - t1;
             declination_test = get_declination(i, j);
             if(declination == declination_test)
             {
@@ -121,15 +101,15 @@ void setup(void)
             }
             else
             {
-                Serial.printf("FAIL: %i, %i : %f, %f\n", i, j, declination, declination_test);
+                hal.console->printf("FAIL: %i, %i : %f, %f\n", i, j, declination, declination_test);
                 fail++;
             }
         }
     }
-    Serial.print("Ending Test.\n\n");
-    Serial.printf("Total Pass: %i\n", pass);
-    Serial.printf("Total Fail: %i\n", fail);
-    Serial.printf("Average time per call: %.1f usec\n",
+    hal.console->print("Ending Test.\n\n");
+    hal.console->printf("Total Pass: %i\n", pass);
+    hal.console->printf("Total Fail: %i\n", fail);
+    hal.console->printf("Average time per call: %.1f usec\n",
                   total_time/(float)(pass+fail));
 }
 
@@ -137,3 +117,4 @@ void loop(void)
 {
 }
 
+AP_HAL_MAIN();
diff --git a/libraries/AP_Declination/examples/AP_Declination_test/Arduino.h b/libraries/AP_Declination/examples/AP_Declination_test/Arduino.h
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/libraries/AP_Declination/examples/AP_Declination_test/nocore.inoflag b/libraries/AP_Declination/examples/AP_Declination_test/nocore.inoflag
new file mode 100644
index 0000000000..e69de29bb2