ardupilot/libraries/AP_HAL/examples/RCInputToRCOutput/RCInputToRCOutput.cpp

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/*
RC input pass trough to RC output
Max RC channels 14
Max update rate 10 Hz
Attention: If your board has safety switch,
don't forget to push it to enable the PWM output.
*/
#include <AP_HAL/AP_HAL.h>
// we need a boardconfig created so that the io processor's enable
// parameter is available
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
#include <AP_BoardConfig/AP_BoardConfig.h>
#include <AP_IOMCU/AP_IOMCU.h>
AP_BoardConfig BoardConfig;
#endif
void setup();
void loop();
const AP_HAL::HAL& hal = AP_HAL::get_HAL();
#define MAX_CHANNELS 14
static uint8_t max_channels = 0;
static uint16_t last_value[MAX_CHANNELS];
void setup(void)
{
hal.console->printf("Starting RCInputToRCOutput test\n");
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
BoardConfig.init();
#endif
for (uint8_t i = 0; i < MAX_CHANNELS; i++) {
hal.rcout->enable_ch(i);
}
}
void loop(void)
{
bool changed = false;
uint8_t nchannels = hal.rcin->num_channels();
if (nchannels > MAX_CHANNELS) {
nchannels = MAX_CHANNELS;
}
for (uint8_t i = 0; i < nchannels; i++) {
uint16_t v = hal.rcin->read(i);
if (last_value[i] != v) {
hal.rcout->write(i, v);
changed = true;
last_value[i] = v;
}
if (i > max_channels) {
max_channels = i;
}
}
if (changed) {
for (uint8_t i = 0; i < max_channels; i++) {
hal.console->printf("%2u:%04u ", (unsigned)(i + 1), (unsigned)last_value[i]);
}
hal.console->printf("\n");
}
hal.scheduler->delay(100);
}
AP_HAL_MAIN();