mirror of https://github.com/ArduPilot/ardupilot
RC_Channel: fix and tidy example
This commit is contained in:
Peter Barker
Randy Mackay
parent
15ae453205
commit
c54c2a2930
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@ -6,13 +6,18 @@
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#include <AP_HAL/AP_HAL.h>
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#include <RC_Channel/RC_Channel.h>
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// we need a boardconfig created so that the io processor is available
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#if HAL_WITH_IO_MCU || CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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#include <AP_BoardConfig/AP_BoardConfig.h>
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#include <AP_IOMCU/AP_IOMCU.h>
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AP_BoardConfig BoardConfig;
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#endif
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void setup();
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void loop();
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const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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#define NUM_CHANNELS 8
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class RC_Channel_Example : public RC_Channel
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{
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};
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@ -38,84 +43,27 @@ private:
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};
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const AP_Param::GroupInfo RC_Channels::var_info[] = {
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// @Group: 1_
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// @Path: RC_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[0], "1_", 1, RC_Channels_Example, RC_Channel_Example),
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#define RC_CHANNELS_SUBCLASS RC_Channels_Example
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#define RC_CHANNEL_SUBCLASS RC_Channel_Example
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// @Group: 2_
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// @Path: RC_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[1], "2_", 2, RC_Channels_Example, RC_Channel_Example),
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// @Group: 3_
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// @Path: RC_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[2], "3_", 3, RC_Channels_Example, RC_Channel_Example),
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// @Group: 4_
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// @Path: RC_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[3], "4_", 4, RC_Channels_Example, RC_Channel_Example),
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// @Group: 5_
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// @Path: RC_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[4], "5_", 5, RC_Channels_Example, RC_Channel_Example),
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// @Group: 6_
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// @Path: RC_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[5], "6_", 6, RC_Channels_Example, RC_Channel_Example),
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// @Group: 7_
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// @Path: RC_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[6], "7_", 7, RC_Channels_Example, RC_Channel_Example),
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// @Group: 8_
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// @Path: RC_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[7], "8_", 8, RC_Channels_Example, RC_Channel_Example),
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// @Group: 9_
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// @Path: RC_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[8], "9_", 9, RC_Channels_Example, RC_Channel_Example),
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// @Group: 10_
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// @Path: RC_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[9], "10_", 10, RC_Channels_Example, RC_Channel_Example),
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// @Group: 11_
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// @Path: RC_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[10], "11_", 11, RC_Channels_Example, RC_Channel_Example),
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// @Group: 12_
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// @Path: RC_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[11], "12_", 12, RC_Channels_Example, RC_Channel_Example),
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// @Group: 13_
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// @Path: RC_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[12], "13_", 13, RC_Channels_Example, RC_Channel_Example),
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// @Group: 14_
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// @Path: RC_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[13], "14_", 14, RC_Channels_Example, RC_Channel_Example),
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// @Group: 15_
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// @Path: RC_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[14], "15_", 15, RC_Channels_Example, RC_Channel_Example),
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// @Group: 16_
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// @Path: RC_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[15], "16_", 16, RC_Channels_Example, RC_Channel_Example),
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AP_GROUPEND
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};
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#include <RC_Channel/RC_Channels_VarInfo.h>
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static RC_Channels_Example rc_channels;
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static void print_pwm(void);
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static void print_radio_values();
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#define RC_CHANNELS_TO_DISPLAY 8
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void setup()
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{
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hal.console->printf("ArduPilot RC Channel test\n");
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#if HAL_WITH_IO_MCU || CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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BoardConfig.init();
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#endif
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rc().init();
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print_radio_values();
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// set type of output, symmetrical angles or a number range;
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@ -142,24 +90,29 @@ void setup()
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void loop()
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{
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rc().read_input();
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print_pwm();
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hal.scheduler->delay(20);
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}
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static uint8_t count = 0;
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static void print_pwm(void)
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{
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for (int i=0; i<NUM_CHANNELS; i++) {
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hal.console->printf("ch%u: %4d ", (unsigned)i+1, (int)rc().channel(i)->get_control_in());
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if (count++ == 0) {
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for (int i=0; i<RC_CHANNELS_TO_DISPLAY; i++) {
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hal.console->printf("Ch %02d ", (unsigned)i+1);
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}
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hal.console->printf("\n");
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}
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rc().read_input();
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for (uint8_t i=0; i<RC_CHANNELS_TO_DISPLAY; i++) {
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hal.console->printf("%5d ", (int)rc().channel(i)->get_control_in());
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// hal.console->printf("%4d ", (int)rc().channel(i)->percent_input());
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}
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hal.console->printf("\n");
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hal.scheduler->delay(20);
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}
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static void print_radio_values()
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{
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for (int i=0; i<NUM_CHANNELS; i++) {
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for (int i=0; i<RC_CHANNELS_TO_DISPLAY; i++) {
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hal.console->printf("CH%u: %u|%u\n",
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(unsigned)i+1,
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(unsigned)rc().channel(i)->get_radio_min(),
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