ardupilot/libraries/AP_HAL_SITL/RCOutput.cpp

88 lines
1.8 KiB
C++

#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#include "RCOutput.h"
#define ENABLE_DEBUG 0
#if ENABLE_DEBUG
# include <stdio.h>
# 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 RCOutput::init() {}
void RCOutput::set_freq(uint32_t chmask, uint16_t freq_hz)
{
Debug("set_freq(0x%04x, %u)\n", static_cast<uint32_t>(chmask), static_cast<uint32_t>(freq_hz));
_freq_hz = freq_hz;
}
uint16_t RCOutput::get_freq(uint8_t ch)
{
return _freq_hz;
}
void RCOutput::enable_ch(uint8_t ch)
{
if (!(_enable_mask & (1U << ch))) {
Debug("enable_ch(%u)\n", ch);
}
_enable_mask |= 1U << ch;
}
void RCOutput::disable_ch(uint8_t ch)
{
if (_enable_mask & (1U << ch)) {
Debug("disable_ch(%u)\n", ch);
}
_enable_mask &= ~1U << ch;
}
void RCOutput::write(uint8_t ch, uint16_t period_us)
{
_sitlState->output_ready = true;
if (ch < SITL_NUM_CHANNELS && (_enable_mask & (1U<<ch))) {
if (_corked) {
_pending[ch] = period_us;
} else {
_sitlState->pwm_output[ch] = period_us;
}
}
}
uint16_t RCOutput::read(uint8_t ch)
{
if (ch < SITL_NUM_CHANNELS) {
return _sitlState->pwm_output[ch];
}
return 0;
}
void RCOutput::read(uint16_t* period_us, uint8_t len)
{
memcpy(period_us, _sitlState->pwm_output, len * sizeof(uint16_t));
}
void RCOutput::cork(void)
{
if (!_corked) {
memcpy(_pending, _sitlState->pwm_output, SITL_NUM_CHANNELS * sizeof(uint16_t));
_corked = true;
}
}
void RCOutput::push(void)
{
if (_corked) {
memcpy(_sitlState->pwm_output, _pending, SITL_NUM_CHANNELS * sizeof(uint16_t));
_corked = false;
}
}
#endif