mirror of https://github.com/ArduPilot/ardupilot
50 lines
995 B
C++
50 lines
995 B
C++
#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#include "RCOutput.h"
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using namespace HALSITL;
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void SITLRCOutput::init(void* machtnichts) {}
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void SITLRCOutput::set_freq(uint32_t chmask, uint16_t freq_hz) {
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_freq_hz = freq_hz;
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}
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uint16_t SITLRCOutput::get_freq(uint8_t ch) {
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return _freq_hz;
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}
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void SITLRCOutput::enable_ch(uint8_t ch)
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{}
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void SITLRCOutput::disable_ch(uint8_t ch)
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{}
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void SITLRCOutput::write(uint8_t ch, uint16_t period_us)
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{
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if (ch < SITL_NUM_CHANNELS) {
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_sitlState->pwm_output[ch] = period_us;
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}
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}
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void SITLRCOutput::write(uint8_t ch, uint16_t* period_us, uint8_t len)
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{
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memcpy(_sitlState->pwm_output+ch, period_us, len*sizeof(uint16_t));
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}
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uint16_t SITLRCOutput::read(uint8_t ch)
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{
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if (ch < SITL_NUM_CHANNELS) {
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return _sitlState->pwm_output[ch];
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}
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return 0;
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}
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void SITLRCOutput::read(uint16_t* period_us, uint8_t len)
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{
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memcpy(period_us, _sitlState->pwm_output, len*sizeof(uint16_t));
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}
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#endif
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