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AP_HAL: fixed and updated RCInput example.

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hiro2233 2016-07-03 15:51:41 -04:00 committed by Lucas De Marchi
parent 9df58e1e0a
commit 4a6447575c
1 changed files with 22 additions and 15 deletions
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37
libraries/AP_HAL/examples/RCInput/RCInput.cpp
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@ -8,7 +8,7 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL();
#define MAX_CHANNELS 16 #define MAX_CHANNELS 16
static uint8_t max_channels = 0; static uint8_t max_channels_display = 8; //Set to 0 for display numbers of channels detected.
static uint16_t last_value[MAX_CHANNELS]; static uint16_t last_value[MAX_CHANNELS];
void setup(void) void setup(void)
@ -16,28 +16,35 @@ void setup(void)
hal.console->printf("Starting RCInput test\n"); hal.console->printf("Starting RCInput test\n");
} }
void loop(void) void loop(void)
{ {
bool changed = false; bool changed = false;
uint8_t nchannels = hal.rcin->num_channels(); uint8_t nchannels = hal.rcin->num_channels(); //Get the numbers channels detected by RC_INPUT.
if (nchannels > MAX_CHANNELS) { if (nchannels > MAX_CHANNELS) {
nchannels = MAX_CHANNELS; nchannels = MAX_CHANNELS;
} }
for (uint8_t i=0; i<nchannels; i++) { if (nchannels != 0) { //If channels detected, process.
uint16_t v = hal.rcin->read(i); for (uint8_t i = 0; i < nchannels; i++) {
if (last_value[i] != v) { uint16_t v = hal.rcin->read(i);
changed = true; if (last_value[i] != v) {
last_value[i] = v; changed = true;
last_value[i] = v;
}
} }
if (i > max_channels) { if (max_channels_display > nchannels) {
max_channels = i; max_channels_display = nchannels;
} }
} if (max_channels_display > 0) {
if (changed) { if (changed) {
for (uint8_t i=0; i<max_channels; i++) { for (uint8_t i = 0; i < max_channels_display; i++) {
hal.console->printf("%2u:%04u ", (unsigned)i+1, (unsigned)last_value[i]); hal.console->printf("%2u:%04u ", (unsigned)i+1, (unsigned)last_value[i]);
}
hal.console->println();
}
} else {
hal.console->printf("Channels detected: %2u\n", nchannels);
hal.console->printf("Set max_channels_display > 0 to display channels values\n");
} }
hal.console->println();
} }
hal.scheduler->delay(100); hal.scheduler->delay(100);
} }