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RC_Channel: fix and tidy example

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This commit is contained in:
Peter Barker 2018-08-31 12:51:40 +10:00 committed by Randy Mackay
parent 15ae453205
commit c54c2a2930
1 changed files with 32 additions and 79 deletions
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111
libraries/RC_Channel/examples/RC_Channel/RC_Channel.cpp
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@ -6,13 +6,18 @@
#include <AP_HAL/AP_HAL.h>
#include <RC_Channel/RC_Channel.h>
// we need a boardconfig created so that the io processor is available
#if HAL_WITH_IO_MCU || CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
#include <AP_BoardConfig/AP_BoardConfig.h>
#include <AP_IOMCU/AP_IOMCU.h>
AP_BoardConfig BoardConfig;
#endif
void setup();
void loop();
const AP_HAL::HAL& hal = AP_HAL::get_HAL();
#define NUM_CHANNELS 8
class RC_Channel_Example : public RC_Channel
{
};
@ -38,84 +43,27 @@ private:
};
const AP_Param::GroupInfo RC_Channels::var_info[] = {
// @Group: 1_
// @Path: RC_Channel.cpp
AP_SUBGROUPINFO(obj_channels[0], "1_", 1, RC_Channels_Example, RC_Channel_Example),
#define RC_CHANNELS_SUBCLASS RC_Channels_Example
#define RC_CHANNEL_SUBCLASS RC_Channel_Example
// @Group: 2_
// @Path: RC_Channel.cpp
AP_SUBGROUPINFO(obj_channels[1], "2_", 2, RC_Channels_Example, RC_Channel_Example),
// @Group: 3_
// @Path: RC_Channel.cpp
AP_SUBGROUPINFO(obj_channels[2], "3_", 3, RC_Channels_Example, RC_Channel_Example),
// @Group: 4_
// @Path: RC_Channel.cpp
AP_SUBGROUPINFO(obj_channels[3], "4_", 4, RC_Channels_Example, RC_Channel_Example),
// @Group: 5_
// @Path: RC_Channel.cpp
AP_SUBGROUPINFO(obj_channels[4], "5_", 5, RC_Channels_Example, RC_Channel_Example),
// @Group: 6_
// @Path: RC_Channel.cpp
AP_SUBGROUPINFO(obj_channels[5], "6_", 6, RC_Channels_Example, RC_Channel_Example),
// @Group: 7_
// @Path: RC_Channel.cpp
AP_SUBGROUPINFO(obj_channels[6], "7_", 7, RC_Channels_Example, RC_Channel_Example),
// @Group: 8_
// @Path: RC_Channel.cpp
AP_SUBGROUPINFO(obj_channels[7], "8_", 8, RC_Channels_Example, RC_Channel_Example),
// @Group: 9_
// @Path: RC_Channel.cpp
AP_SUBGROUPINFO(obj_channels[8], "9_", 9, RC_Channels_Example, RC_Channel_Example),
// @Group: 10_
// @Path: RC_Channel.cpp
AP_SUBGROUPINFO(obj_channels[9], "10_", 10, RC_Channels_Example, RC_Channel_Example),
// @Group: 11_
// @Path: RC_Channel.cpp
AP_SUBGROUPINFO(obj_channels[10], "11_", 11, RC_Channels_Example, RC_Channel_Example),
// @Group: 12_
// @Path: RC_Channel.cpp
AP_SUBGROUPINFO(obj_channels[11], "12_", 12, RC_Channels_Example, RC_Channel_Example),
// @Group: 13_
// @Path: RC_Channel.cpp
AP_SUBGROUPINFO(obj_channels[12], "13_", 13, RC_Channels_Example, RC_Channel_Example),
// @Group: 14_
// @Path: RC_Channel.cpp
AP_SUBGROUPINFO(obj_channels[13], "14_", 14, RC_Channels_Example, RC_Channel_Example),
// @Group: 15_
// @Path: RC_Channel.cpp
AP_SUBGROUPINFO(obj_channels[14], "15_", 15, RC_Channels_Example, RC_Channel_Example),
// @Group: 16_
// @Path: RC_Channel.cpp
AP_SUBGROUPINFO(obj_channels[15], "16_", 16, RC_Channels_Example, RC_Channel_Example),
AP_GROUPEND
};
#include <RC_Channel/RC_Channels_VarInfo.h>
static RC_Channels_Example rc_channels;
static void print_pwm(void);
static void print_radio_values();
#define RC_CHANNELS_TO_DISPLAY 8
void setup()
{
hal.console->printf("ArduPilot RC Channel test\n");
#if HAL_WITH_IO_MCU || CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
BoardConfig.init();
#endif
rc().init();
print_radio_values();
// set type of output, symmetrical angles or a number range;
@ -142,24 +90,29 @@ void setup()
void loop()
{
rc().read_input();
print_pwm();
hal.scheduler->delay(20);
}
static uint8_t count = 0;
static void print_pwm(void)
{
for (int i=0; i<NUM_CHANNELS; i++) {
hal.console->printf("ch%u: %4d ", (unsigned)i+1, (int)rc().channel(i)->get_control_in());
if (count++ == 0) {
for (int i=0; i<RC_CHANNELS_TO_DISPLAY; i++) {
hal.console->printf("Ch %02d ", (unsigned)i+1);
}
hal.console->printf("\n");
}
rc().read_input();
for (uint8_t i=0; i<RC_CHANNELS_TO_DISPLAY; i++) {
hal.console->printf("%5d ", (int)rc().channel(i)->get_control_in());
// hal.console->printf("%4d ", (int)rc().channel(i)->percent_input());
}
hal.console->printf("\n");
hal.scheduler->delay(20);
}
static void print_radio_values()
{
for (int i=0; i<NUM_CHANNELS; i++) {
for (int i=0; i<RC_CHANNELS_TO_DISPLAY; i++) {
hal.console->printf("CH%u: %u|%u\n",
(unsigned)i+1,
(unsigned)rc().channel(i)->get_radio_min(),