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AP_HAL_FLYMAPLE: Added new example test sketch RCInput.pde

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Mike McCauley 2013-10-12 09:22:14 +10:00
parent 3226a81611
commit ce1a8fb831
2 changed files with 63 additions and 0 deletions
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1
libraries/AP_HAL_FLYMAPLE/examples/RCInput/Makefile Normal file
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include ../../../../mk/apm.mk

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libraries/AP_HAL_FLYMAPLE/examples/RCInput/RCInput.pde Normal file
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#include <AP_Common.h>
#include <AP_Math.h>
#include <AP_Param.h>
#include <AP_Progmem.h>
#include <AP_HAL.h>
#include <AP_HAL_FLYMAPLE.h>
const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
void multiread(AP_HAL::RCInput* in, uint16_t* channels) {
/* Multi-channel read method: */
uint8_t valid;
valid = in->read(channels, 8);
hal.console->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_channels();
for (int i = 0; i < 8; i++) {
channels[i] = in->read(i);
}
hal.console->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 loop (void) {
static int ctr = 0;
uint16_t channels[8];
hal.gpio->write(13, 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;
}
hal.gpio->write(13, 0);
hal.scheduler->delay(50);
ctr++;
}
void setup (void) {
hal.gpio->pinMode(13, GPIO_OUTPUT);
hal.gpio->write(13, 0);
}
AP_HAL_MAIN();