mirror of https://github.com/ArduPilot/ardupilot
71 lines
1.6 KiB
C++
71 lines
1.6 KiB
C++
/*
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RC input pass trough to RC output
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Max RC channels 14
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Max update rate 10 Hz
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Attention: If your board has safety switch,
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don't forget to push it to enable the PWM output.
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*/
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#include <AP_HAL/AP_HAL.h>
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// we need a boardconfig created so that the io processor's enable
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// parameter is available
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#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
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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 MAX_CHANNELS 14
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static uint8_t max_channels = 0;
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static uint16_t last_value[MAX_CHANNELS];
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void setup(void)
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{
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hal.console->printf("Starting RCInputToRCOutput test\n");
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#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
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BoardConfig.init();
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#endif
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for (uint8_t i = 0; i < MAX_CHANNELS; i++) {
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hal.rcout->enable_ch(i);
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}
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}
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void loop(void)
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{
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bool changed = false;
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uint8_t nchannels = hal.rcin->num_channels();
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if (nchannels > MAX_CHANNELS) {
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nchannels = MAX_CHANNELS;
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}
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for (uint8_t i = 0; i < nchannels; i++) {
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uint16_t v = hal.rcin->read(i);
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if (last_value[i] != v) {
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hal.rcout->write(i, v);
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changed = true;
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last_value[i] = v;
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}
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if (i > max_channels) {
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max_channels = i;
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}
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}
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if (changed) {
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for (uint8_t i = 0; i < max_channels; i++) {
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hal.console->printf("%2u:%04u ", (unsigned)(i + 1), (unsigned)last_value[i]);
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}
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hal.console->printf("\n");
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}
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hal.scheduler->delay(100);
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}
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AP_HAL_MAIN();
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