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45 lines
1010 B
45 lines
1010 B
/* |
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simple test of RC input interface |
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*/ |
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#include <AP_Common/AP_Common.h> |
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#include <AP_HAL/AP_HAL.h> |
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const AP_HAL::HAL& hal = AP_HAL::get_HAL(); |
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#define MAX_CHANNELS 16 |
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static uint8_t max_channels = 0; |
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static uint16_t last_value[MAX_CHANNELS]; |
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void setup(void) |
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{ |
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hal.console->printf("Starting RCInput test\n"); |
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} |
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void loop(void) |
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{ |
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bool changed = false; |
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uint8_t nchannels = hal.rcin->num_channels(); |
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if (nchannels > MAX_CHANNELS) { |
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nchannels = MAX_CHANNELS; |
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} |
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for (uint8_t i=0; i<nchannels; i++) { |
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uint16_t v = hal.rcin->read(i); |
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if (last_value[i] != v) { |
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changed = true; |
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last_value[i] = v; |
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} |
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if (i > max_channels) { |
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max_channels = i; |
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} |
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} |
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if (changed) { |
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for (uint8_t i=0; i<max_channels; i++) { |
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hal.console->printf("%2u:%04u ", (unsigned)i+1, (unsigned)last_value[i]); |
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} |
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hal.console->println(); |
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} |
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hal.scheduler->delay(100); |
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} |
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AP_HAL_MAIN();
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