ardupilot/libraries/AP_HAL_AVR_SITL/RCOutput.cpp

50 lines
944 B
C++

#include <AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
#include "RCOutput.h"
using namespace AVR_SITL;
void SITLRCOutput::init(void* machtnichts) {}
void SITLRCOutput::set_freq(uint32_t chmask, uint16_t freq_hz) {
_freq_hz = freq_hz;
}
uint16_t SITLRCOutput::get_freq(uint8_t ch) {
return _freq_hz;
}
void SITLRCOutput::enable_ch(uint8_t ch)
{}
void SITLRCOutput::disable_ch(uint8_t ch)
{}
void SITLRCOutput::write(uint8_t ch, uint16_t period_us)
{
if (ch < 11) {
_sitlState->pwm_output[ch] = period_us;
}
}
void SITLRCOutput::write(uint8_t ch, uint16_t* period_us, uint8_t len)
{
memcpy(_sitlState->pwm_output+ch, period_us, len*sizeof(uint16_t));
}
uint16_t SITLRCOutput::read(uint8_t ch)
{
if (ch < 11) {
return _sitlState->pwm_output[ch];
}
return 0;
}
void SITLRCOutput::read(uint16_t* period_us, uint8_t len)
{
memcpy(period_us, _sitlState->pwm_output, len*sizeof(uint16_t));
}
#endif