mirror of https://github.com/ArduPilot/ardupilot
53 lines
1.2 KiB
C++
53 lines
1.2 KiB
C++
/*
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simple test of RC output interface
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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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void setup (void)
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{
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hal.console->printf("Starting AP_HAL::RCOutput 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< 14; i++) {
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hal.rcout->enable_ch(i);
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}
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}
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static uint16_t pwm = 1500;
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static int8_t delta = 1;
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void loop (void)
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{
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for (uint8_t i=0; i < 14; i++) {
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hal.rcout->write(i, pwm);
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pwm += delta;
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if (delta > 0 && pwm >= 2000) {
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delta = -1;
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hal.console->printf("decreasing\n");
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} else if (delta < 0 && pwm <= 1000) {
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delta = 1;
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hal.console->printf("increasing\n");
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}
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}
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hal.scheduler->delay(5);
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}
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AP_HAL_MAIN();
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