ardupilot/libraries/AP_HAL_AVR/examples/RCInputTest/RCInputTest.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) {
/* Multi-channel read method: */
uint16_t channels[8];
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) {
/* individual channel read method: */
bool valid;
uint16_t channels[8];
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 loop (void) {
static int ctr = 0;
hal.gpio->write(27, 1);
/* Cycle between using the individual read method
* and the multi read method*/
if (ctr < 500) {
multiread(hal.rcin);
} else {
individualread(hal.rcin);
if (ctr > 1000) ctr = 0;
}
ctr++;
hal.gpio->write(27, 0);
hal.scheduler->delay(2);
}
void setup (void) {
hal.console->printf_P(PSTR("reading rc in:"));
hal.gpio->pinMode(27, HAL_GPIO_OUTPUT);
hal.gpio->write(27, 0);
}
AP_HAL_MAIN();