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SRV_Channel: allow build with no channels

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needed for AP_Periph when using LED driver only
This commit is contained in:
Andrew Tridgell 2021-04-29 15:12:58 +10:00
parent 1a81b10d27
commit 11e4b62438
3 changed files with 17 additions and 1 deletions
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10
libraries/SRV_Channel/SRV_Channel.h
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@ -22,11 +22,15 @@
#include <AP_SBusOut/AP_SBusOut.h> #include <AP_SBusOut/AP_SBusOut.h>
#include <AP_BLHeli/AP_BLHeli.h> #include <AP_BLHeli/AP_BLHeli.h>
#if !defined(NUM_SERVO_CHANNELS) && defined(HAL_BUILD_AP_PERIPH) && defined(HAL_PWM_COUNT) && (HAL_PWM_COUNT >= 1) #ifndef NUM_SERVO_CHANNELS
#if defined(HAL_BUILD_AP_PERIPH) && defined(HAL_PWM_COUNT)
#define NUM_SERVO_CHANNELS HAL_PWM_COUNT #define NUM_SERVO_CHANNELS HAL_PWM_COUNT
#elif defined(HAL_BUILD_AP_PERIPH)
#define NUM_SERVO_CHANNELS 0
#else #else
#define NUM_SERVO_CHANNELS 16 #define NUM_SERVO_CHANNELS 16
#endif #endif
#endif
class SRV_Channels; class SRV_Channels;
@ -475,7 +479,11 @@ public:
static AP_HAL::RCOutput::DshotEscType get_dshot_esc_type() { return AP_HAL::RCOutput::DshotEscType(_singleton->dshot_esc_type.get()); } static AP_HAL::RCOutput::DshotEscType get_dshot_esc_type() { return AP_HAL::RCOutput::DshotEscType(_singleton->dshot_esc_type.get()); }
static SRV_Channel *srv_channel(uint8_t i) { static SRV_Channel *srv_channel(uint8_t i) {
#if NUM_SERVO_CHANNELS > 0
return i<NUM_SERVO_CHANNELS?&channels[i]:nullptr; return i<NUM_SERVO_CHANNELS?&channels[i]:nullptr;
#else
return nullptr;
#endif
} }
// SERVO* parameters // SERVO* parameters

4
libraries/SRV_Channel/SRV_Channel_aux.cpp
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@ -21,6 +21,10 @@
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#include <RC_Channel/RC_Channel.h> #include <RC_Channel/RC_Channel.h>
#if NUM_SERVO_CHANNELS == 0
#pragma GCC diagnostic ignored "-Wtype-limits"
#endif
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
/// map a function to a servo channel and output it /// map a function to a servo channel and output it

4
libraries/SRV_Channel/SRV_Channels.cpp
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@ -34,6 +34,10 @@
#include <AP_PiccoloCAN/AP_PiccoloCAN.h> #include <AP_PiccoloCAN/AP_PiccoloCAN.h>
#endif #endif
#if NUM_SERVO_CHANNELS == 0
#pragma GCC diagnostic ignored "-Wtype-limits"
#endif
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
SRV_Channel *SRV_Channels::channels; SRV_Channel *SRV_Channels::channels;