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AP_Logger: avoid many method calls logging RCOU

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Peter Barker 2023-04-15 10:19:57 +10:00 committed by Peter Barker
parent 1fb879322c
commit 395961883f
1 changed files with 16 additions and 14 deletions
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30
libraries/AP_Logger/LogFile.cpp
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@ -188,23 +188,25 @@ void AP_Logger::Write_RCOUT(void)
const uint32_t enabled_mask = ~SRV_Channels::get_output_channel_mask(SRV_Channel::k_GPIO); const uint32_t enabled_mask = ~SRV_Channels::get_output_channel_mask(SRV_Channel::k_GPIO);
if ((enabled_mask & 0x3FFF) != 0) { if ((enabled_mask & 0x3FFF) != 0) {
uint16_t channels[14] {};
hal.rcout->read(channels, ARRAY_SIZE(channels));
const struct log_RCOUT pkt{ const struct log_RCOUT pkt{
LOG_PACKET_HEADER_INIT(LOG_RCOUT_MSG), LOG_PACKET_HEADER_INIT(LOG_RCOUT_MSG),
time_us : AP_HAL::micros64(), time_us : AP_HAL::micros64(),
chan1 : hal.rcout->read(0), chan1 : channels[0],
chan2 : hal.rcout->read(1), chan2 : channels[1],
chan3 : hal.rcout->read(2), chan3 : channels[2],
chan4 : hal.rcout->read(3), chan4 : channels[3],
chan5 : hal.rcout->read(4), chan5 : channels[4],
chan6 : hal.rcout->read(5), chan6 : channels[5],
chan7 : hal.rcout->read(6), chan7 : channels[6],
chan8 : hal.rcout->read(7), chan8 : channels[7],
chan9 : hal.rcout->read(8), chan9 : channels[8],
chan10 : hal.rcout->read(9), chan10 : channels[9],
chan11 : hal.rcout->read(10), chan11 : channels[10],
chan12 : hal.rcout->read(11), chan12 : channels[11],
chan13 : hal.rcout->read(12), chan13 : channels[12],
chan14 : hal.rcout->read(13) chan14 : channels[13]
}; };
WriteBlock(&pkt, sizeof(pkt)); WriteBlock(&pkt, sizeof(pkt));
} }