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63 lines
1.3 KiB
63 lines
1.3 KiB
#include <AP_HAL/AP_HAL.h> |
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL |
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#include "RCInput.h" |
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using namespace HALSITL; |
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extern const AP_HAL::HAL& hal; |
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void SITLRCInput::init() |
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{ |
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clear_overrides(); |
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} |
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bool SITLRCInput::new_input() |
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{ |
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if (_sitlState->new_rc_input) { |
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_sitlState->new_rc_input = false; |
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return true; |
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} |
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return false; |
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} |
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uint16_t SITLRCInput::read(uint8_t ch) { |
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if (ch >= 8) { |
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return 0; |
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} |
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return _override[ch]? _override[ch] : _sitlState->pwm_input[ch]; |
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} |
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uint8_t SITLRCInput::read(uint16_t* periods, uint8_t len) { |
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for (uint8_t i=0; i<len; i++) { |
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periods[i] = _override[i]? _override[i] : _sitlState->pwm_input[i]; |
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} |
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return 8; |
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} |
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bool SITLRCInput::set_overrides(int16_t *overrides, uint8_t len) { |
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bool res = false; |
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for (uint8_t i = 0; i < len; i++) { |
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res |= set_override(i, overrides[i]); |
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} |
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return res; |
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} |
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bool SITLRCInput::set_override(uint8_t channel, int16_t override) { |
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if (override < 0) return false; /* -1: no change. */ |
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if (channel < 8) { |
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_override[channel] = override; |
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if (override != 0) { |
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return true; |
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} |
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} |
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return false; |
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} |
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void SITLRCInput::clear_overrides() |
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{ |
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for (uint8_t i = 0; i < 8; i++) { |
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_override[i] = 0; |
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} |
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} |
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#endif
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