GPS_AUTO_test.cpp

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
//
// Test for AP_GPS_AUTO
//

#include <stdlib.h>
#include <stdio.h>
#include <fcntl.h>

#include <AP_Common/AP_Common.h>
#include <AP_Progmem/AP_Progmem.h>
#include <AP_Param/AP_Param.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL_AVR/AP_HAL_AVR.h>
#include <AP_HAL_SITL/AP_HAL_SITL.h>
#include <AP_HAL_PX4/AP_HAL_PX4.h>
#include <AP_HAL_Linux/AP_HAL_Linux.h>
#include <AP_HAL_Empty/AP_HAL_Empty.h>
#include <AP_GPS/AP_GPS.h>
#include <DataFlash/DataFlash.h>
#include <AP_InertialSensor/AP_InertialSensor.h>
#include <AP_ADC/AP_ADC.h>
#include <GCS_MAVLink/GCS_MAVLink.h>
#include <AP_Baro/AP_Baro.h>
#include <Filter/Filter.h>
#include <AP_AHRS/AP_AHRS.h>
#include <AP_Compass/AP_Compass.h>
#include <AP_Declination/AP_Declination.h>
#include <AP_Airspeed/AP_Airspeed.h>
#include <AP_Vehicle/AP_Vehicle.h>
#include <AP_ADC_AnalogSource/AP_ADC_AnalogSource.h>
#include <AP_Mission/AP_Mission.h>
#include <StorageManager/StorageManager.h>
#include <AP_Terrain/AP_Terrain.h>
#include <AP_Math/AP_Math.h>
#include <AP_Notify/AP_Notify.h>
#include <AP_Notify/AP_BoardLED.h>
#include <AP_NavEKF/AP_NavEKF.h>
#include <AP_Rally/AP_Rally.h>
#include <AP_Scheduler/AP_Scheduler.h>
#include <AP_BattMonitor/AP_BattMonitor.h>
#include <AP_SerialManager/AP_SerialManager.h>

const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;

// create board led object
AP_BoardLED board_led;

AP_SerialManager serial_manager;

int fd;

void setup()
{
    hal.scheduler->delay(5000);

    // initialise the leds
    board_led.init();
    serial_manager.init();

    /* Allocate large enough buffers on uartA to support mavlink */
    hal.uartC->begin(500000, 128, 256);

    char fname[] = "/fs/microsd/gimbal_2kHz_log.bin";
    fd = 0;
    hal.uartC->printf("Trying to open the log file...\n");
    while(fd <= 0){
        fd = ::open(fname, O_RDWR|O_CREAT|O_TRUNC, 00777);
    }
    hal.uartC->printf("The file was opened...\n");

    char headergyro[] = { 0xA3,0x95,0x80,0x81,0x13,'G','Y','R',0x00,'I','f','f','f',0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,'T','i','m','e','U','S',',','G','y','r','X',',','G','y','r','Y',',','G','y','r','Z',0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00 };
    char headeracc[] = { 0xA3,0x95,0x80,0x82,0x13,'A','C','C',0x00,'I','f','f','f',0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,'T','i','m','e','U','S',',','A','c','c','X',',','A','c','c','Y',',','A','c','c','Z',0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00 };
    ::write(fd,headergyro,sizeof(headergyro));
    ::write(fd,headeracc,sizeof(headeracc));
}

void loop()
{
    int a = hal.uartC->available();
    if (a > 0) {
        int r = hal.uartC->read();
        while (r > 0) {
            ::write(fd,&r,sizeof(char));
            r = hal.uartC->read();
        }
    }
    ::fsync(fd);
    hal.scheduler->delay(10);
}

AP_HAL_MAIN();