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AP_HAL: fixed RCOutput example

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This commit is contained in:
Andrew Tridgell 2014-12-02 15:03:59 +11:00
parent 4ec6a74829
commit 8e36c1cd60
1 changed files with 44 additions and 17 deletions
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61
libraries/AP_HAL/examples/RCOutput/RCOutput.pde
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@ -1,39 +1,66 @@
#include <AP_Common.h>
#include <AP_Math.h>
#include <AP_Param.h>
#include <StorageManager.h>
#include <AP_Progmem.h>
/*
simple test of RC output 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;
void setup (void)
{
hal.console->printf_P(PSTR("Starting AP_HAL::RCOutput test\r\n"));
uint8_t i;
hal.console->printf_P(PSTR("Testing 14 channels 1050+i*50\n"));
for (i=0; i<14; i++) {
hal.console->println("Starting AP_HAL::RCOutput test");
for (uint8_t i=0; i<14; i++) {
hal.rcout->enable_ch(i);
hal.rcout->write(i, 1050 + i*50);
}
hal.rcout->set_freq(0xFF, 490);
}
static uint16_t pwm = 1500;
static int8_t delta = 1;
void loop (void)
{
uint8_t i;
for (i=0; i<14; i++) {
hal.rcout->enable_ch(i);
hal.rcout->write(i, 1050 + i*50);
hal.rcout->write(i, pwm);
pwm += delta;
if (delta > 0 && pwm >= 2000) {
delta = -1;
hal.console->printf("reversing\n");
} else if (delta < 0 && pwm <= 1000) {
delta = 1;
hal.console->printf("reversing\n");
}
}
hal.scheduler->delay(10);
hal.scheduler->delay(5);
}
AP_HAL_MAIN();