mirror of https://github.com/ArduPilot/ardupilot
163 lines
3.5 KiB
C++
163 lines
3.5 KiB
C++
#include <AP_HAL/AP_HAL.h>
|
|
|
|
#if !defined(HAL_BUILD_AP_PERIPH)
|
|
|
|
#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;
|
|
}
|
|
if (esc_telem == nullptr) {
|
|
esc_telem = new AP_ESC_Telem_SITL;
|
|
}
|
|
if (esc_telem != nullptr) {
|
|
esc_telem->update();
|
|
}
|
|
}
|
|
|
|
/*
|
|
Serial LED emulation
|
|
*/
|
|
bool RCOutput::set_serial_led_num_LEDs(const uint16_t chan, uint8_t num_leds, output_mode mode, uint16_t clock_mask)
|
|
{
|
|
if (chan > 15 || num_leds > 64) {
|
|
return false;
|
|
}
|
|
SITL::SITL *sitl = AP::sitl();
|
|
if (sitl) {
|
|
sitl->led.num_leds[chan] = num_leds;
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
void RCOutput::set_serial_led_rgb_data(const uint16_t chan, int8_t led, uint8_t red, uint8_t green, uint8_t blue)
|
|
{
|
|
if (chan > 15) {
|
|
return;
|
|
}
|
|
SITL::SITL *sitl = AP::sitl();
|
|
if (led == -1) {
|
|
for (uint8_t i=0; i < sitl->led.num_leds[chan]; i++) {
|
|
set_serial_led_rgb_data(chan, i, red, green, blue);
|
|
}
|
|
return;
|
|
}
|
|
if (led < -1 || led >= sitl->led.num_leds[chan]) {
|
|
return;
|
|
}
|
|
if (sitl) {
|
|
sitl->led.rgb[chan][led].rgb[0] = red;
|
|
sitl->led.rgb[chan][led].rgb[1] = green;
|
|
sitl->led.rgb[chan][led].rgb[2] = blue;
|
|
}
|
|
}
|
|
|
|
void RCOutput::serial_led_send(const uint16_t chan)
|
|
{
|
|
SITL::SITL *sitl = AP::sitl();
|
|
if (sitl) {
|
|
sitl->led.send_counter++;
|
|
}
|
|
}
|
|
|
|
#endif //CONFIG_HAL_BOARD == HAL_BOARD_SITL
|
|
|
|
void RCOutput::force_safety_off(void)
|
|
{
|
|
SITL::SITL *sitl = AP::sitl();
|
|
if (sitl == nullptr) {
|
|
return;
|
|
}
|
|
sitl->force_safety_off();
|
|
}
|
|
|
|
bool RCOutput::force_safety_on(void)
|
|
{
|
|
SITL::SITL *sitl = AP::sitl();
|
|
if (sitl == nullptr) {
|
|
return false;
|
|
}
|
|
return sitl->force_safety_on();
|
|
}
|
|
|
|
#endif //!defined(HAL_BUILD_AP_PERIPH)
|