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AP_HAL: fix RCOutput, RCOutput2 and RCInputToRCOutput examples to prevent the failure of reading and writing channels.

This commit is contained in:
heitiane 2018-09-10 01:59:04 -07:00 committed by Andrew Tridgell
parent 676d75c391
commit 931367a7ea
3 changed files with 41 additions and 2 deletions
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13
libraries/AP_HAL/examples/RCInputToRCOutput/RCInputToRCOutput.cpp
View File

@ -2,10 +2,20 @@
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();
@ -20,6 +30,9 @@ 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);
}

17
libraries/AP_HAL/examples/RCOutput/RCOutput.cpp
View File

@ -1,9 +1,19 @@
/*
simple test of RC output interface
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();
@ -12,6 +22,9 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL();
void setup (void)
{
hal.console->printf("Starting AP_HAL::RCOutput test\n");
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
BoardConfig.init();
#endif
for (uint8_t i = 0; i< 14; i++) {
hal.rcout->enable_ch(i);
}
@ -27,10 +40,10 @@ void loop (void)
pwm += delta;
if (delta > 0 && pwm >= 2000) {
delta = -1;
hal.console->printf("reversing\n");
hal.console->printf("decreasing\n");
} else if (delta < 0 && pwm <= 1000) {
delta = 1;
hal.console->printf("reversing\n");
hal.console->printf("increasing\n");
}
}
hal.scheduler->delay(5);

13
libraries/AP_HAL/examples/RCOutput2/RCOutput.cpp
View File

@ -1,11 +1,21 @@
/*
Simple test of RC output interface with Menu
Attention: If your board has safety switch,
don't forget to push it to enable the PWM output.
*/
#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_Menu/AP_Menu.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();
void drive(uint16_t hz_speed);
@ -78,6 +88,9 @@ MENU(menu, "Menu: ", rcoutput_menu_commands);
void setup(void) {
hal.console->printf("Starting AP_HAL::RCOutput test\n");
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
BoardConfig.init();
#endif
for (uint8_t i = 0; i < 14; i++) {
hal.rcout->enable_ch(i);
}