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HAL_SITL: implement cork() on RCOutput

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This commit is contained in:
Andrew Tridgell 2016-10-11 22:02:04 +11:00
parent 7cd7f03d56
commit 97d0553938
2 changed files with 21 additions and 1 deletions
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18
libraries/AP_HAL_SITL/RCOutput.cpp
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@ -46,7 +46,11 @@ void RCOutput::disable_ch(uint8_t ch)
void RCOutput::write(uint8_t ch, uint16_t period_us) void RCOutput::write(uint8_t ch, uint16_t period_us)
{ {
if (ch < SITL_NUM_CHANNELS) { if (ch < SITL_NUM_CHANNELS) {
_sitlState->pwm_output[ch] = period_us; if (_corked) {
_pending[ch] = period_us;
} else {
_sitlState->pwm_output[ch] = period_us;
}
} }
} }
@ -63,4 +67,16 @@ void RCOutput::read(uint16_t* period_us, uint8_t len)
memcpy(period_us, _sitlState->pwm_output, len*sizeof(uint16_t)); memcpy(period_us, _sitlState->pwm_output, len*sizeof(uint16_t));
} }
void RCOutput::cork(void)
{
memcpy(_pending, _sitlState->pwm_output, SITL_NUM_CHANNELS*sizeof(uint16_t));
_corked = true;
}
void RCOutput::push(void)
{
memcpy(_sitlState->pwm_output, _pending, SITL_NUM_CHANNELS*sizeof(uint16_t));
_corked = false;
}
#endif #endif

4
libraries/AP_HAL_SITL/RCOutput.h
View File

@ -18,11 +18,15 @@ public:
void write(uint8_t ch, uint16_t period_us) override; void write(uint8_t ch, uint16_t period_us) override;
uint16_t read(uint8_t ch) override; uint16_t read(uint8_t ch) override;
void read(uint16_t* period_us, uint8_t len) override; void read(uint16_t* period_us, uint8_t len) override;
void cork(void);
void push(void);
private: private:
SITL_State *_sitlState; SITL_State *_sitlState;
uint16_t _freq_hz; uint16_t _freq_hz;
uint16_t _enable_mask; uint16_t _enable_mask;
bool _corked;
uint16_t _pending[SITL_NUM_CHANNELS];
}; };
#endif #endif