ardupilot/libraries/AP_HAL_AVR/examples/RCPassthroughTest/RCPassthroughTest.pde

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#include <AP_Common.h>
#include <AP_Math.h>
#include <AP_Param.h>
#include <StorageManager.h>
#include <AP_Progmem.h>
#include <AP_HAL.h>
#include <AP_HAL_AVR.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
#endif
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: */
bool valid;
valid = in->new_input();
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 multiwrite(AP_HAL::RCOutput* out, uint16_t* channels) {
out->write(0, channels, 8);
/* Upper channels duplicate lower channels*/
out->write(8, channels, 8);
}
void individualwrite(AP_HAL::RCOutput* out, uint16_t* channels) {
for (int ch = 0; ch < 8; ch++) {
out->write(ch, channels[ch]);
/* Upper channels duplicate lower channels*/
out->write(ch+8, channels[ch]);
}
}
void loop (void) {
static int ctr = 0;
uint16_t channels[8];
hal.gpio->write(27, 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;
}
/* Cycle between individual output and multichannel output */
if (ctr % 500 < 250) {
multiwrite(hal.rcout, channels);
} else {
individualwrite(hal.rcout, channels);
}
hal.gpio->write(27, 0);
hal.scheduler->delay(4);
ctr++;
}
void setup (void) {
hal.gpio->pinMode(27, HAL_GPIO_OUTPUT);
hal.gpio->write(27, 0);
for (uint8_t i=0; i<16; i++) {
hal.rcout->enable_ch(i);
}
/* Bottom 4 channels at 400hz (like on a quad) */
hal.rcout->set_freq(0x0000000F, 400);
for(int i = 0; i < 12; i++) {
hal.console->printf_P(PSTR("rcout ch %d has frequency %d\r\n"),
i, hal.rcout->get_freq(i));
}
/* Delay to let the user see the above printouts on the terminal */
hal.scheduler->delay(1000);
}
AP_HAL_MAIN();