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AP_HAL_SITL: RCOuput minor fix

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correct style
make constructor explicit
use c++ cast
This commit is contained in:
Pierre Kancir 2017-01-09 13:31:44 +01:00 committed by Francisco Ferreira
parent ff46964d22
commit 63b3618fc7
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GPG Key ID: F63C20A6773E787E
2 changed files with 19 additions and 22 deletions
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20
libraries/AP_HAL_SITL/RCOutput.cpp
View File

@ -2,12 +2,12 @@
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#include "RCOutput.h" #include "RCOutput.h"
#include <stdio.h>
#define ENABLE_DEBUG 0 #define ENABLE_DEBUG 0
#if ENABLE_DEBUG #if ENABLE_DEBUG
# define Debug(fmt, args ...) do {::printf("%s:%d: " fmt "\n", __FUNCTION__, __LINE__, ## args); } while(0) # include <stdio.h>
# define Debug(fmt, args ...) do {::printf("%s:%d: " fmt "\n", __FUNCTION__, __LINE__, ## args); } while (0)
#else #else
# define Debug(fmt, args ...) # define Debug(fmt, args ...)
#endif #endif
@ -18,7 +18,7 @@ void RCOutput::init() {}
void RCOutput::set_freq(uint32_t chmask, uint16_t freq_hz) void RCOutput::set_freq(uint32_t chmask, uint16_t freq_hz)
{ {
Debug("set_freq(0x%04x, %u)\n", (unsigned)chmask, (unsigned)freq_hz); Debug("set_freq(0x%04x, %u)\n", static_cast<uint32_t>(chmask), static_cast<uint32_t>(freq_hz));
_freq_hz = freq_hz; _freq_hz = freq_hz;
} }
@ -29,18 +29,18 @@ uint16_t RCOutput::get_freq(uint8_t ch)
void RCOutput::enable_ch(uint8_t ch) void RCOutput::enable_ch(uint8_t ch)
{ {
if (!(_enable_mask & (1U<<ch))) { if (!(_enable_mask & (1U << ch))) {
Debug("enable_ch(%u)\n", ch); Debug("enable_ch(%u)\n", ch);
} }
_enable_mask |= 1U<<ch; _enable_mask |= 1U << ch;
} }
void RCOutput::disable_ch(uint8_t ch) void RCOutput::disable_ch(uint8_t ch)
{ {
if (_enable_mask & (1U<<ch)) { if (_enable_mask & (1U << ch)) {
Debug("disable_ch(%u)\n", ch); Debug("disable_ch(%u)\n", ch);
} }
_enable_mask &= ~1U<<ch; _enable_mask &= ~1U << ch;
} }
void RCOutput::write(uint8_t ch, uint16_t period_us) void RCOutput::write(uint8_t ch, uint16_t period_us)
@ -64,18 +64,18 @@ uint16_t RCOutput::read(uint8_t ch)
void RCOutput::read(uint16_t* period_us, uint8_t len) void RCOutput::read(uint16_t* period_us, uint8_t len)
{ {
memcpy(period_us, _sitlState->pwm_output, len*sizeof(uint16_t)); memcpy(period_us, _sitlState->pwm_output, len * sizeof(uint16_t));
} }
void RCOutput::cork(void) void RCOutput::cork(void)
{ {
memcpy(_pending, _sitlState->pwm_output, SITL_NUM_CHANNELS*sizeof(uint16_t)); memcpy(_pending, _sitlState->pwm_output, SITL_NUM_CHANNELS * sizeof(uint16_t));
_corked = true; _corked = true;
} }
void RCOutput::push(void) void RCOutput::push(void)
{ {
memcpy(_sitlState->pwm_output, _pending, SITL_NUM_CHANNELS*sizeof(uint16_t)); memcpy(_sitlState->pwm_output, _pending, SITL_NUM_CHANNELS * sizeof(uint16_t));
_corked = false; _corked = false;
} }

21
libraries/AP_HAL_SITL/RCOutput.h
View File

@ -6,20 +6,17 @@
class HALSITL::RCOutput : public AP_HAL::RCOutput { class HALSITL::RCOutput : public AP_HAL::RCOutput {
public: public:
RCOutput(SITL_State *sitlState) { explicit RCOutput(SITL_State *sitlState): _sitlState(sitlState), _freq_hz(50) {}
_sitlState = sitlState; void init() override;
_freq_hz = 50; void set_freq(uint32_t chmask, uint16_t freq_hz) override;
}
void init() override;
void set_freq(uint32_t chmask, uint16_t freq_hz) override;
uint16_t get_freq(uint8_t ch) override; uint16_t get_freq(uint8_t ch) override;
void enable_ch(uint8_t ch) override; void enable_ch(uint8_t ch) override;
void disable_ch(uint8_t ch) override; void disable_ch(uint8_t ch) override;
void write(uint8_t ch, uint16_t period_us) override; void write(uint8_t ch, uint16_t period_us) override;
uint16_t read(uint8_t ch) override; uint16_t read(uint8_t ch) override;
void read(uint16_t* period_us, uint8_t len) override; void read(uint16_t* period_us, uint8_t len) override;
void cork(void); void cork(void);
void push(void); void push(void);
private: private:
SITL_State *_sitlState; SITL_State *_sitlState;