mirror of https://github.com/ArduPilot/ardupilot
70 lines
1.8 KiB
C++
70 lines
1.8 KiB
C++
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#include <AP_Common/AP_Common.h>
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#include <AP_Math/AP_Math.h>
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#include <AP_Param/AP_Param.h>
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#include <StorageManager/StorageManager.h>
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#include <AP_Progmem/AP_Progmem.h>
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#include <AP_HAL/AP_HAL.h>
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#include <AP_HAL_AVR/AP_HAL_AVR.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
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const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
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#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
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const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
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#endif
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void multiread(AP_HAL::RCInput* in) {
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/* Multi-channel read method: */
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uint16_t channels[8];
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uint8_t valid;
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valid = in->read(channels, 8);
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hal.console->printf_P(
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PSTR("multi read %d: %d %d %d %d %d %d %d %d\r\n"),
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(int) valid,
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channels[0], channels[1], channels[2], channels[3],
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channels[4], channels[5], channels[6], channels[7]);
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}
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void individualread(AP_HAL::RCInput* in) {
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/* individual channel read method: */
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bool valid;
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uint16_t channels[8];
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valid = in->new_input();
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for (int i = 0; i < 8; i++) {
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channels[i] = in->read(i);
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}
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hal.console->printf_P(
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PSTR("individual read %d: %d %d %d %d %d %d %d %d\r\n"),
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(int) valid,
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channels[0], channels[1], channels[2], channels[3],
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channels[4], channels[5], channels[6], channels[7]);
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}
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void loop (void) {
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static int ctr = 0;
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hal.gpio->write(27, 1);
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/* Cycle between using the individual read method
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* and the multi read method*/
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if (ctr < 500) {
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multiread(hal.rcin);
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} else {
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individualread(hal.rcin);
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if (ctr > 1000) ctr = 0;
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}
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ctr++;
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hal.gpio->write(27, 0);
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hal.scheduler->delay(2);
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}
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void setup (void) {
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hal.console->printf_P(PSTR("reading rc in:"));
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hal.gpio->pinMode(27, HAL_GPIO_OUTPUT);
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hal.gpio->write(27, 0);
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}
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AP_HAL_MAIN();
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