AP_HAL: Add RCOutput interactive example with Menu

libraries/AP_HAL/examples/RCOutput2/Makefile

@@ -0,0 +1 @@
+include ../../../../mk/apm.mk

libraries/AP_HAL/examples/RCOutput2/RCOutput.cpp

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+/*
+  Simple test of RC output interface with Menu
+*/
+
+#include <AP_Common/AP_Common.h>
+#include <AP_HAL/AP_HAL.h>
+#include <AP_Menu/AP_Menu.h>
+
+#define MENU_FUNC(func) FUNCTOR_BIND(&commands, &Menu_Commands::func, int8_t, uint8_t, const Menu::arg *)
+
+#define ESC_HZ     490
+#define SERVO_HZ    50
+
+class Menu_Commands {
+public:
+    /* Menu commands to drive a SERVO type with
+     * repective PWM output freq defined by SERVO_HZ
+     */
+    int8_t menu_servo(uint8_t argc, const Menu::arg *argv);
+
+    /* Menu commands to drive a ESC type with
+     * repective PWM output freq defined by ESC_HZ
+     */
+    int8_t menu_esc(uint8_t argc, const Menu::arg *argv);
+};
+
+const AP_HAL::HAL& hal = AP_HAL::get_HAL();
+
+Menu_Commands commands;
+
+static uint16_t pwm = 1500;
+static int8_t delta = 1;
+
+/* Function to drive a RC output TYPE especified */
+void drive(uint16_t hz_speed) {
+    hal.rcout->set_freq(0xFF, hz_speed);
+
+    while (1) {
+        for (uint8_t i = 0; i < 14; i++) {
+            hal.rcout->write(i, pwm);
+            pwm += delta;
+            if (delta > 0 && pwm >= 2000) {
+                delta = -1;
+                hal.console->printf("reversing\n");
+            } else if (delta < 0 && pwm <= 1000) {
+                delta = 1;
+                hal.console->printf("normalizing\n");
+            }
+        }
+        hal.scheduler->delay(5);
+        if (hal.console->available()) {
+            break;
+        }
+    }
+}
+
+int8_t Menu_Commands::menu_servo(uint8_t argc, const Menu::arg *argv) {
+    drive(SERVO_HZ);
+    return 0;
+}
+
+int8_t Menu_Commands::menu_esc(uint8_t argc, const Menu::arg *argv) {
+    drive(ESC_HZ);
+    return 0;
+}
+
+const struct Menu::command rcoutput_menu_commands[] = {
+    { "servo",          MENU_FUNC(menu_servo) },
+    { "esc",            MENU_FUNC(menu_esc) },
+};
+
+MENU(menu, "Menu: ", rcoutput_menu_commands);
+
+void setup(void) {
+    hal.console->println("Starting AP_HAL::RCOutput test");
+
+    for (uint8_t i = 0; i < 14; i++) {
+        hal.rcout->enable_ch(i);
+    }
+}
+
+void loop(void) {
+    /* We call and run the menu, you can type help into menu to show commands
+     * available */
+    menu.run();
+}
+
+AP_HAL_MAIN();

libraries/AP_HAL/examples/RCOutput2/make.inc

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+LIBRARIES += AP_ADC
+LIBRARIES += AP_AHRS
+LIBRARIES += AP_Airspeed
+LIBRARIES += AP_Baro
+LIBRARIES += AP_BattMonitor
+LIBRARIES += AP_Common
+LIBRARIES += AP_Compass
+LIBRARIES += AP_Declination
+LIBRARIES += AP_GPS
+LIBRARIES += AP_InertialSensor
+LIBRARIES += AP_AccelCal
+LIBRARIES += AP_Math
+LIBRARIES += AP_Mission
+LIBRARIES += AP_NavEKF
+LIBRARIES += AP_Notify
+LIBRARIES += AP_Param
+LIBRARIES += AP_Rally
+LIBRARIES += AP_RangeFinder
+LIBRARIES += AP_Scheduler
+LIBRARIES += AP_Terrain
+LIBRARIES += AP_Vehicle
+LIBRARIES += DataFlash
+LIBRARIES += Filter
+LIBRARIES += GCS_MAVLink
+LIBRARIES += StorageManager
+LIBRARIES += AP_Menu

libraries/AP_HAL/examples/RCOutput2/wscript

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+#!/usr/bin/env python
+# encoding: utf-8
+
+def build(bld):
+    bld.ap_example(
+        use='ap',
+    )