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AP_HAL_SITL: GPIO minor fixes

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fix style
make constructor explicit
fix implicit cast for unsigned to signed value
correct DigitalSource constructor definition
This commit is contained in:
Pierre Kancir 2017-01-09 13:25:29 +01:00 committed by Francisco Ferreira
parent 8ade9d1fe8
commit 7f5b32f59f
2 changed files with 35 additions and 33 deletions
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38
libraries/AP_HAL_SITL/GPIO.cpp
View File

@ -13,33 +13,32 @@ void GPIO::pinMode(uint8_t pin, uint8_t output)
int8_t GPIO::analogPinToDigitalPin(uint8_t pin)
{
return pin;
return pin;
}
uint8_t GPIO::read(uint8_t pin)
{
if (!sitlState->_sitl) {
if (!_sitlState->_sitl) {
return 0;
}
uint8_t mask = sitlState->_sitl->pin_mask.get();
return mask & (1U<<pin)? 1: 0;
uint8_t mask = static_cast<uint8_t>(_sitlState->_sitl->pin_mask.get());
return static_cast<uint8_t>((mask & (1U << pin)) ? 1 : 0);
}
void GPIO::write(uint8_t pin, uint8_t value)
{
if (!sitlState->_sitl) {
if (!_sitlState->_sitl) {
return;
}
uint8_t mask = sitlState->_sitl->pin_mask.get();
uint8_t mask = static_cast<uint8_t>(_sitlState->_sitl->pin_mask.get());
uint8_t new_mask = mask;
if (value) {
new_mask |= (1U<<pin);
new_mask |= (1U << pin);
} else {
new_mask &= ~(1U<<pin);
new_mask &= ~(1U << pin);
}
if (mask != new_mask) {
sitlState->_sitl->pin_mask.set_and_notify(new_mask);
_sitlState->_sitl->pin_mask.set_and_notify(new_mask);
}
}
@ -50,7 +49,12 @@ void GPIO::toggle(uint8_t pin)
/* Alternative interface: */
AP_HAL::DigitalSource* GPIO::channel(uint16_t n) {
return new DigitalSource(0);
if (n < 8) { // (ie. sizeof(pin_mask)*8)
return new DigitalSource(static_cast<uint8_t>(n));
} else {
return nullptr;
}
}
/* Interrupt interface: */
@ -64,8 +68,8 @@ bool GPIO::usb_connected(void)
return false;
}
DigitalSource::DigitalSource(uint8_t v) :
pin(v)
DigitalSource::DigitalSource(uint8_t pin) :
_pin(pin)
{}
void DigitalSource::mode(uint8_t output)
@ -73,16 +77,16 @@ void DigitalSource::mode(uint8_t output)
uint8_t DigitalSource::read()
{
return hal.gpio->read(pin);
return hal.gpio->read(_pin);
}
void DigitalSource::write(uint8_t value)
{
value = value?1:0;
return hal.gpio->write(pin, value);
value = static_cast<uint8_t>(value ? 1 : 0);
return hal.gpio->write(_pin, value);
}
void DigitalSource::toggle()
{
return hal.gpio->write(pin, !hal.gpio->read(pin));
return hal.gpio->write(_pin, !hal.gpio->read(_pin));
}

30
libraries/AP_HAL_SITL/GPIO.h
View File

@ -4,38 +4,36 @@
class HALSITL::GPIO : public AP_HAL::GPIO {
public:
GPIO(SITL_State *_sitlState) {
sitlState = _sitlState;
}
void init();
void pinMode(uint8_t pin, uint8_t output);
int8_t analogPinToDigitalPin(uint8_t pin);
explicit GPIO(SITL_State *sitlState): _sitlState(sitlState) {}
void init();
void pinMode(uint8_t pin, uint8_t output);
int8_t analogPinToDigitalPin(uint8_t pin);
uint8_t read(uint8_t pin);
void write(uint8_t pin, uint8_t value);
void toggle(uint8_t pin);
void write(uint8_t pin, uint8_t value);
void toggle(uint8_t pin);
/* Alternative interface: */
AP_HAL::DigitalSource* channel(uint16_t n);
/* Interrupt interface: */
bool attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p,
bool attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p,
uint8_t mode);
/* return true if USB cable is connected */
bool usb_connected(void);
bool usb_connected(void);
private:
SITL_State *sitlState;
SITL_State *_sitlState;
};
class HALSITL::DigitalSource : public AP_HAL::DigitalSource {
public:
DigitalSource(uint8_t _pin);
void mode(uint8_t output);
explicit DigitalSource(uint8_t pin);
void mode(uint8_t output);
uint8_t read();
void write(uint8_t value);
void toggle();
void write(uint8_t value);
void toggle();
private:
uint8_t pin;
uint8_t _pin;
};