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AP_IOMCU: Encapsulate debug prints in a #ifdef, fix whitespace

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Michael du Breuil 2018-04-13 14:00:26 -07:00 committed by Andrew Tridgell
parent 33194e9409
commit 0e8a9c2ec4
1 changed files with 8 additions and 4 deletions
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12
libraries/AP_IOMCU/AP_IOMCU.cpp
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@ -17,6 +17,8 @@ extern const AP_HAL::HAL &hal;
#define PKT_MAX_REGS 32
//#define IOMCU_DEBUG
struct PACKED IOPacket {
uint8_t count:6;
uint8_t code:2;
@ -245,10 +247,12 @@ void AP_IOMCU::thread_main(void)
last_servo_read_ms = AP_HAL::millis();
}
#ifdef IOMCU_DEBUG
if (now - last_debug_ms > 1000) {
print_debug();
last_debug_ms = AP_HAL::millis();
}
#endif // IOMCU_DEBUG
if (now - last_safety_option_check_ms > 1000) {
update_safety_options();
@ -465,13 +469,13 @@ void AP_IOMCU::write_channel(uint8_t chan, uint16_t pwm)
void AP_IOMCU::print_debug(void)
{
#if 0
#ifdef IOMCU_DEBUG
const uint16_t *r = (const uint16_t *)&reg_status;
for (uint8_t i=0; i<sizeof(reg_status)/2; i++) {
hal.console->printf("%04x ", r[i]);
}
hal.console->printf("\n");
#endif
#endif // IOMCU_DEBUG
}
// trigger an ioevent
@ -601,8 +605,8 @@ void AP_IOMCU::update_safety_options(void)
}
if (last_safety_options != desired_options) {
uint16_t mask = (P_SETUP_ARMING_SAFETY_DISABLE_ON | P_SETUP_ARMING_SAFETY_DISABLE_OFF);
uint32_t bits_to_set = desired_options & mask;
uint32_t bits_to_clear = (~desired_options) & mask;
uint32_t bits_to_set = desired_options & mask;
uint32_t bits_to_clear = (~desired_options) & mask;
if (modify_register(PAGE_SETUP, PAGE_REG_SETUP_ARMING, bits_to_clear, bits_to_set)) {
last_safety_options = desired_options;
}