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HAL_SITL: notify GCS on GPIO changes

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useful for testing relays in SITL
This commit is contained in:
Andrew Tridgell 2016-07-22 12:23:00 +10:00
parent fd0f31dc44
commit d7faeada87
1 changed files with 6 additions and 3 deletions
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9
libraries/AP_HAL_SITL/GPIO.cpp
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@ -32,12 +32,15 @@ void GPIO::write(uint8_t pin, uint8_t value)
return;
}
uint8_t mask = sitlState->_sitl->pin_mask.get();
uint8_t new_mask = mask;
if (value) {
mask |= (1U<<pin);
new_mask |= (1U<<pin);
} else {
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(mask);
}
void GPIO::toggle(uint8_t pin)