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52 lines
1.2 KiB
52 lines
1.2 KiB
/* |
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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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