From 5aabfd4dc46b466405af423456b40a16d04a204f Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Tue, 2 Dec 2014 15:49:50 +1100
Subject: [PATCH] AP_HAL: added RCInput example sketch

---
 libraries/AP_HAL/examples/RCInput/Makefile    |  1 +
 libraries/AP_HAL/examples/RCInput/RCInput.pde | 74 +++++++++++++++++++
 2 files changed, 75 insertions(+)
 create mode 100644 libraries/AP_HAL/examples/RCInput/Makefile
 create mode 100644 libraries/AP_HAL/examples/RCInput/RCInput.pde

diff --git a/libraries/AP_HAL/examples/RCInput/Makefile b/libraries/AP_HAL/examples/RCInput/Makefile
new file mode 100644
index 0000000000..f5daf25151
--- /dev/null
+++ b/libraries/AP_HAL/examples/RCInput/Makefile
@@ -0,0 +1 @@
+include ../../../../mk/apm.mk
diff --git a/libraries/AP_HAL/examples/RCInput/RCInput.pde b/libraries/AP_HAL/examples/RCInput/RCInput.pde
new file mode 100644
index 0000000000..929b719bd6
--- /dev/null
+++ b/libraries/AP_HAL/examples/RCInput/RCInput.pde
@@ -0,0 +1,74 @@
+/*
+  simple test of RC input interface
+ */
+#include <AP_HAL.h>
+#include <AP_HAL_AVR.h>
+#include <AP_HAL_AVR_SITL.h>
+#include <AP_HAL_PX4.h>
+#include <AP_HAL_Empty.h>
+#include <AP_Common.h>
+#include <AP_Baro.h>
+#include <AP_ADC.h>
+#include <AP_GPS.h>
+#include <AP_InertialSensor.h>
+#include <AP_Notify.h>
+#include <DataFlash.h>
+#include <GCS_MAVLink.h>
+#include <AP_Mission.h>
+#include <StorageManager.h>
+#include <AP_Terrain.h>
+#include <AP_Compass.h>
+#include <AP_Declination.h>
+#include <SITL.h>
+#include <Filter.h>
+#include <AP_Param.h>
+#include <AP_Progmem.h>
+#include <AP_Math.h>
+#include <AP_AHRS.h>
+#include <AP_Airspeed.h>
+#include <AP_Vehicle.h>
+#include <AP_ADC_AnalogSource.h>
+#include <AP_NavEKF.h>
+#include <AP_Rally.h>
+#include <AP_Scheduler.h>
+#include <UARTDriver.h>
+
+const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
+
+#define MAX_CHANNELS 16
+
+static uint8_t max_channels = 0;
+static uint16_t last_value[MAX_CHANNELS];
+
+void setup(void) 
+{
+    hal.console->printf("Starting RCInput test\n");
+}
+
+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) {
+            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->println();
+    }
+    hal.scheduler->delay(100);
+}
+
+AP_HAL_MAIN();