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https://github.com/ArduPilot/ardupilot
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ffba37d599
this adds register level emulation of the ADS7844 and the RC input/output hardware on the APM1, allowing for SITL testing without enabling HIL in the code
82 lines
1.1 KiB
C++
82 lines
1.1 KiB
C++
/*
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SITL handling - utility functions
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This simulates the APM1 hardware sufficiently for the APM code to
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think it is running on real hardware
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Andrew Tridgell November 2011
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*/
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#include <unistd.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <math.h>
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#include <stdint.h>
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#include <fcntl.h>
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#include "desktop.h"
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/*
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swap one double
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*/
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double swap_double(double d)
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{
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union {
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double d;
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uint8_t b[8];
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} in, out;
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int i;
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in.d = d;
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for (i=0; i<8; i++) {
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out.b[7-i] = in.b[i];
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}
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return out.d;
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}
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/*
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swap an array of doubles
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*/
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void swap_doubles(double *d, unsigned count)
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{
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while (count--) {
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*d = swap_double(*d);
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d++;
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}
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}
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/*
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swap one float
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*/
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float swap_float(float f)
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{
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union {
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float f;
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uint8_t b[4];
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} in, out;
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int i;
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in.f = f;
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for (i=0; i<4; i++) {
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out.b[4-i] = in.b[i];
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}
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return out.f;
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}
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/*
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swap an array of floats
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*/
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void swap_floats(float *f, unsigned count)
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{
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while (count--) {
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*f = swap_float(*f);
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f++;
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}
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}
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void set_nonblocking(int fd)
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{
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unsigned v = fcntl(fd, F_GETFL, 0);
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fcntl(fd, F_SETFL, v | O_NONBLOCK);
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}
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