From 0dc0d9ddf085a0893e3aa38812db5efcad544617 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Wed, 18 Jan 2012 21:25:19 +1100
Subject: [PATCH] added a simple DCM library example

---
 .../AP_DCM/examples/DCM_Test/DCM_Test.pde     | 110 ++++++++++++++++++
 libraries/AP_DCM/examples/DCM_Test/Makefile   |   1 +
 2 files changed, 111 insertions(+)
 create mode 100644 libraries/AP_DCM/examples/DCM_Test/DCM_Test.pde
 create mode 100644 libraries/AP_DCM/examples/DCM_Test/Makefile

diff --git a/libraries/AP_DCM/examples/DCM_Test/DCM_Test.pde b/libraries/AP_DCM/examples/DCM_Test/DCM_Test.pde
new file mode 100644
index 0000000000..3f9c6da226
--- /dev/null
+++ b/libraries/AP_DCM/examples/DCM_Test/DCM_Test.pde
@@ -0,0 +1,110 @@
+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
+
+//
+// Simple test for the AP_DCM library
+//
+
+#include <FastSerial.h>
+#include <SPI.h>
+#include <I2C.h>
+#include <Arduino_Mega_ISR_Registry.h>
+#include <AP_PeriodicProcess.h>
+#include <AP_InertialSensor.h>
+#include <AP_ADC.h>
+#include <AP_IMU.h>
+#include <AP_DCM.h>
+#include <AP_Math.h>
+#include <AP_Common.h>
+#include <AP_Compass.h>
+
+// uncomment this for a APM2 board
+// #define APM2_HARDWARE
+
+
+FastSerialPort(Serial, 0);
+
+Arduino_Mega_ISR_Registry isr_registry;
+AP_TimerProcess  scheduler;
+AP_Compass_HMC5843 compass(AP_Var::k_key_none);
+
+#ifdef APM2_HARDWARE
+  AP_InertialSensor_MPU6000 ins( 53 );
+# else
+  AP_ADC_ADS7844          adc;
+  AP_InertialSensor_Oilpan ins( &adc );
+#endif // CONFIG_IMU_TYPE
+
+static GPS         *g_gps;
+
+AP_IMU_INS imu( &ins, AP_Var::k_key_none );
+AP_DCM  dcm(&imu, g_gps);
+
+
+#ifdef APM2_HARDWARE
+# define A_LED_PIN        27
+# define C_LED_PIN        25
+# define LED_ON           LOW
+# define LED_OFF          HIGH
+# define MAG_ORIENTATION  AP_COMPASS_APM2_SHIELD
+#else
+# define A_LED_PIN        37
+# define C_LED_PIN        35
+# define LED_ON           HIGH
+# define LED_OFF          LOW
+# define MAG_ORIENTATION  AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
+#endif
+
+
+static void flash_leds(bool on)
+{
+    digitalWrite(A_LED_PIN, on?LED_OFF:LED_ON);
+    digitalWrite(C_LED_PIN, on?LED_ON:LED_OFF);
+}
+
+void setup(void)
+{
+	Serial.begin(115200);
+	Serial.println("Starting up...");
+
+	isr_registry.init();
+	scheduler.init(&isr_registry);
+
+    I2c.begin();
+    I2c.timeOut(5);
+    I2c.setSpeed(true);
+
+    SPI.begin();
+    SPI.setClockDivider(SPI_CLOCK_DIV16);
+
+	imu.init(IMU::COLD_START, delay, flash_leds, &scheduler);
+	imu.init_accel(delay, flash_leds);
+
+	compass.set_orientation(MAG_ORIENTATION);
+	if (compass.init()) {
+		printf("Enabling compass\n");
+		compass.null_offsets_enable();
+		dcm.set_compass(&compass);
+	}
+}
+
+void loop(void)
+{
+	Vector3f	accel;
+	Vector3f	gyro;
+	static uint8_t counter;
+
+	delay(20);
+
+	dcm.update_DCM();
+	if (counter++ == 10) {
+		counter = 0;
+		gyro  = imu.get_gyro();
+		accel = imu.get_accel();
+		Serial.printf_P(PSTR("r:%4d  p:%4d  y:%3d  g=(%5.1f %5.1f %5.1f)  a=(%5.1f %5.1f %5.1f)\n"),
+				(int)dcm.roll_sensor / 100,
+				(int)dcm.pitch_sensor / 100,
+				(uint16_t)dcm.yaw_sensor / 100,
+				gyro.x, gyro.y, gyro.z,
+				accel.x, accel.y, accel.z);
+	}
+}
diff --git a/libraries/AP_DCM/examples/DCM_Test/Makefile b/libraries/AP_DCM/examples/DCM_Test/Makefile
new file mode 100644
index 0000000000..d1f40fd90f
--- /dev/null
+++ b/libraries/AP_DCM/examples/DCM_Test/Makefile
@@ -0,0 +1 @@
+include ../../../AP_Common/Arduino.mk