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128 lines
2.7 KiB
128 lines
2.7 KiB
#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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#define ENABLE_DEBUG 0 |
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#if ENABLE_DEBUG |
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# include <stdio.h> |
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# define Debug(fmt, args ...) do {::printf("%s:%d: " fmt "\n", __FUNCTION__, __LINE__, ## args); } while (0) |
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#else |
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# define Debug(fmt, args ...) |
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#endif |
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using namespace HALSITL; |
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void RCOutput::init() {} |
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void RCOutput::set_freq(uint32_t chmask, uint16_t freq_hz) |
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{ |
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Debug("set_freq(0x%04x, %u)\n", static_cast<uint32_t>(chmask), static_cast<uint32_t>(freq_hz)); |
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_freq_hz = freq_hz; |
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} |
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uint16_t RCOutput::get_freq(uint8_t ch) |
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{ |
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return _freq_hz; |
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} |
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void RCOutput::enable_ch(uint8_t ch) |
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{ |
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if (!(_enable_mask & (1U << ch))) { |
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Debug("enable_ch(%u)\n", ch); |
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} |
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_enable_mask |= 1U << ch; |
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} |
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void RCOutput::disable_ch(uint8_t ch) |
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{ |
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if (_enable_mask & (1U << ch)) { |
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Debug("disable_ch(%u)\n", ch); |
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} |
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_enable_mask &= ~1U << ch; |
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} |
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void RCOutput::write(uint8_t ch, uint16_t period_us) |
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{ |
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_sitlState->output_ready = true; |
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if (ch < SITL_NUM_CHANNELS && (_enable_mask & (1U<<ch))) { |
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if (_corked) { |
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_pending[ch] = period_us; |
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} else { |
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_sitlState->pwm_output[ch] = period_us; |
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} |
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} |
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} |
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uint16_t RCOutput::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 RCOutput::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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void RCOutput::cork(void) |
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{ |
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if (!_corked) { |
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memcpy(_pending, _sitlState->pwm_output, SITL_NUM_CHANNELS * sizeof(uint16_t)); |
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_corked = true; |
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} |
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} |
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void RCOutput::push(void) |
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{ |
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if (_corked) { |
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memcpy(_sitlState->pwm_output, _pending, SITL_NUM_CHANNELS * sizeof(uint16_t)); |
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_corked = false; |
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} |
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} |
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/* |
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Serial LED emulation |
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*/ |
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bool RCOutput::set_neopixel_num_LEDs(const uint16_t chan, uint8_t num_leds) |
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{ |
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if (chan > 15 || num_leds > 32) { |
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return false; |
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} |
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SITL::SITL *sitl = AP::sitl(); |
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if (sitl) { |
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sitl->led.num_leds[chan] = num_leds; |
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return true; |
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} |
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return false; |
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} |
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void RCOutput::set_neopixel_rgb_data(const uint16_t chan, uint32_t ledmask, uint8_t red, uint8_t green, uint8_t blue) |
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{ |
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if (chan > 15) { |
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return; |
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} |
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SITL::SITL *sitl = AP::sitl(); |
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if (sitl) { |
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for (uint8_t i=0; i<32; i++) { |
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if ((1U<<i) & ledmask) { |
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sitl->led.rgb[chan][i].rgb[0] = red; |
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sitl->led.rgb[chan][i].rgb[1] = green; |
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sitl->led.rgb[chan][i].rgb[2] = blue; |
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} |
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} |
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} |
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} |
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void RCOutput::neopixel_send(void) |
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{ |
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SITL::SITL *sitl = AP::sitl(); |
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if (sitl) { |
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sitl->led.send_counter++; |
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} |
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} |
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#endif
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