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AP_HAL_ChibiOS: correct output of RCOutput::read on SimOnHardware

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we're doing writes, but not reads
This commit is contained in:
Peter Barker authored and Andrew Tridgell committed 2025-07-29 10:12:11 +10:00
1 parent 91bb293027
commit 96ebdfd828
1 file changed
+14
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libraries/AP_HAL_ChibiOS/RCOutput.cpp
+14
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@@ -844,6 +844,13 @@ void RCOutput::push_local(void)
uint16_t RCOutput::read(uint8_t chan)
{
#if AP_SIM_ENABLED
// FIXME: if on_hardware_output_enable_mask then read from hardware etc
if (chan < ARRAY_SIZE(hal.simstate->pwm_output)) {
return hal.simstate->pwm_output[chan];
}
return 0;
#endif // AP_SIM_ENABLED
if (chan >= max_channels) {
return 0;
}
@@ -861,6 +868,13 @@ void RCOutput::read(uint16_t* period_us, uint8_t len)
if (len > max_channels) {
len = max_channels;
}
#if AP_SIM_ENABLED
// FIXME: if on_hardware_output_enable_mask then read from hardware etc
for (uint8_t i=0; i<MIN(len, ARRAY_SIZE(hal.simstate->pwm_output)); i++) {
period_us[i] = hal.simstate->pwm_output[i];
}
return;
#endif // AP_SIM_ENABLED
#if HAL_WITH_IO_MCU
for (uint8_t i=0; i<MIN(len, chan_offset); i++) {
period_us[i] = iomcu.read_channel(i);