AP_HAL_AVR: Add RCPassthroughTest test sketch

libraries/AP_HAL_AVR/examples/RCPassthroughTest/Makefile

@@ -0,0 +1 @@
+include ../../../AP_Common/Arduino.mk

libraries/AP_HAL_AVR/examples/RCPassthroughTest/RCPassthroughTest.pde

@@ -0,0 +1,86 @@
+
+#include <AP_Common.h>
+#include <AP_HAL.h>
+#include <AP_HAL_AVR.h>
+
+const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
+
+void multiread(AP_HAL::RCInput* in, uint16_t* channels) {
+    /* Multi-channel read method: */
+    uint8_t valid;
+    valid = in->read(channels, 8);
+    hal.uart0->printf_P(PSTR("multi      read %d: %d %d %d %d %d %d %d %d\r\n"),
+            (int) valid, 
+            channels[0], channels[1], channels[2], channels[3],
+            channels[4], channels[5], channels[6], channels[7]);
+}
+
+void individualread(AP_HAL::RCInput* in, uint16_t* channels) {
+    /* individual channel read method: */
+    uint8_t valid;
+    valid = in->valid();
+    for (int i = 0; i < 8; i++) {
+        channels[i] = in->read(i);
+    }
+    hal.uart0->printf_P(PSTR("individual read %d: %d %d %d %d %d %d %d %d\r\n"),
+            (int) valid, 
+            channels[0], channels[1], channels[2], channels[3],
+            channels[4], channels[5], channels[6], channels[7]);
+}
+
+
+void multiwrite(AP_HAL::RCOutput* out, uint16_t* channels) {
+    out->write(0, channels, 8);
+}
+
+void individualwrite(AP_HAL::RCOutput* out, uint16_t* channels) {
+    for (int ch = 0; ch < 8; ch++) {
+        out->write(ch, channels[ch]); 
+    }
+
+}
+
+void loop (void) {
+    static int ctr = 0;
+    uint16_t channels[8];
+
+    hal.gpio->write(27, 1);
+
+    
+    /* Cycle between using the individual read method
+     * and the multi read method*/
+    if (ctr < 500) {
+        multiread(hal.rcin, channels);
+    } else {
+        individualread(hal.rcin, channels);
+        if (ctr > 1000)  ctr = 0;
+    }
+
+    /* Cycle between individual output and multichannel output */
+    if (ctr % 500 < 250) {
+        multiwrite(hal.rcout, channels);
+    } else {
+        individualwrite(hal.rcout, channels);
+    }
+
+    hal.gpio->write(27, 0);
+    hal.scheduler->delay(4);
+    ctr++;
+}
+
+void setup (void) {
+    hal.uart0->begin(115200);
+    hal.uart0->printf_P(PSTR("reading rc in:"));
+    hal.gpio->pinMode(27, GPIO_OUTPUT);
+    hal.gpio->write(27, 0);
+}
+
+
+extern "C" {
+int main (void) {
+    hal.init(NULL);
+    setup();
+    for(;;) loop();
+    return 0;
+}
+}