mirror of https://github.com/ArduPilot/ardupilot
99 lines
2.7 KiB
Plaintext
99 lines
2.7 KiB
Plaintext
|
|
#include <AP_Common.h>
|
|
#include <AP_Math.h>
|
|
#include <AP_Param.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: */
|
|
uint8_t valid;
|
|
valid = in->valid_channels();
|
|
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, GPIO_OUTPUT);
|
|
hal.gpio->write(27, 0);
|
|
hal.rcout->enable_mask(0x000000FF);
|
|
|
|
/* 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();
|