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HAL_SITL: enable debug of rcoutput channel enable and frequency

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This commit is contained in:
Andrew Tridgell 2016-01-05 07:19:47 +11:00
parent 526fb65dd1
commit dd07ffce08
2 changed files with 35 additions and 12 deletions
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30
libraries/AP_HAL_SITL/RCOutput.cpp
View File

@ -2,24 +2,46 @@
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#include "RCOutput.h"
#include <stdio.h>
#define ENABLE_DEBUG 0
#if ENABLE_DEBUG
# define Debug(fmt, args ...) do {::printf("%s:%d: " fmt "\n", __FUNCTION__, __LINE__, ## args); } while(0)
#else
# define Debug(fmt, args ...)
#endif
using namespace HALSITL;
void SITLRCOutput::init() {}
void SITLRCOutput::set_freq(uint32_t chmask, uint16_t freq_hz) {
void SITLRCOutput::set_freq(uint32_t chmask, uint16_t freq_hz)
{
Debug("set_freq(0x%04x, %u)\n", (unsigned)chmask, (unsigned)freq_hz);
_freq_hz = freq_hz;
}
uint16_t SITLRCOutput::get_freq(uint8_t ch) {
uint16_t SITLRCOutput::get_freq(uint8_t ch)
{
return _freq_hz;
}
void SITLRCOutput::enable_ch(uint8_t ch)
{}
{
if (!(_enable_mask & (1U<<ch))) {
Debug("enable_ch(%u)\n", ch);
}
_enable_mask |= 1U<<ch;
}
void SITLRCOutput::disable_ch(uint8_t ch)
{}
{
if (_enable_mask & (1U<<ch)) {
Debug("disable_ch(%u)\n", ch);
}
_enable_mask &= ~1U<<ch;
}
void SITLRCOutput::write(uint8_t ch, uint16_t period_us)
{

17
libraries/AP_HAL_SITL/RCOutput.h
View File

@ -12,18 +12,19 @@ public:
_sitlState = sitlState;
_freq_hz = 50;
}
void init();
void set_freq(uint32_t chmask, uint16_t freq_hz);
uint16_t get_freq(uint8_t ch);
void enable_ch(uint8_t ch);
void disable_ch(uint8_t ch);
void write(uint8_t ch, uint16_t period_us);
uint16_t read(uint8_t ch);
void read(uint16_t* period_us, uint8_t len);
void init() override;
void set_freq(uint32_t chmask, uint16_t freq_hz) override;
uint16_t get_freq(uint8_t ch) override;
void enable_ch(uint8_t ch) override;
void disable_ch(uint8_t ch) override;
void write(uint8_t ch, uint16_t period_us) override;
uint16_t read(uint8_t ch) override;
void read(uint16_t* period_us, uint8_t len) override;
private:
SITL_State *_sitlState;
uint16_t _freq_hz;
uint16_t _enable_mask;
};
#endif