From 1d9abefbb175351b8c8e39946d84ddd8e941d90f Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 16 May 2022 07:30:16 +1000
Subject: [PATCH] AP_HAL_ChibiOS: more changes for 32 bit servo mask

---
 libraries/AP_HAL_ChibiOS/RCOutput.cpp        | 12 ++++++------
 libraries/AP_HAL_ChibiOS/RCOutput.h          |  2 +-
 libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp |  2 +-
 libraries/AP_HAL_ChibiOS/RCOutput_serial.cpp |  2 +-
 4 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/RCOutput.cpp b/libraries/AP_HAL_ChibiOS/RCOutput.cpp
index e28c198c24..7f50b0e1dd 100644
--- a/libraries/AP_HAL_ChibiOS/RCOutput.cpp
+++ b/libraries/AP_HAL_ChibiOS/RCOutput.cpp
@@ -500,10 +500,10 @@ RCOutput::pwm_group *RCOutput::find_chan(uint8_t chan, uint8_t &group_idx)
 /*
  * return mask of channels that must be disabled because they share a group with a digital channel
  */
-uint16_t RCOutput::get_disabled_channels(uint16_t digital_mask)
+uint32_t RCOutput::get_disabled_channels(uint32_t digital_mask)
 {
-    uint16_t dmask = (digital_mask >> chan_offset);
-    uint16_t disabled_chan_mask = 0;
+    uint32_t dmask = (digital_mask >> chan_offset);
+    uint32_t disabled_chan_mask = 0;
     for (auto &group : pwm_group_list) {
         bool digital_group = false;
         for (uint8_t j = 0; j < 4; j++) {
@@ -615,7 +615,7 @@ void RCOutput::push_local(void)
     if (active_fmu_channels == 0) {
         return;
     }
-    uint16_t outmask = (1U<<active_fmu_channels)-1;
+    uint32_t outmask = (1U<<active_fmu_channels)-1;
     outmask &= en_mask;
 
     uint16_t widest_pulse = 0;
@@ -1383,7 +1383,7 @@ void RCOutput::dshot_send(pwm_group &group, uint32_t time_out_us)
     // assume that we won't be able to get the input capture lock
     group.bdshot.enabled = false;
 
-    uint16_t active_channels = group.ch_mask & group.en_mask;
+    uint32_t active_channels = group.ch_mask & group.en_mask;
     // now grab the input capture lock if we are able, we can only enable bi-dir on a group basis
     if (((_bdshot.mask & active_channels) == active_channels) && group.has_ic()) {
         if (group.has_shared_ic_up_dma()) {
@@ -1456,7 +1456,7 @@ void RCOutput::dshot_send(pwm_group &group, uint32_t time_out_us)
                 continue;
             }
 
-            const uint16_t chan_mask = (1U<<chan);
+            const uint32_t chan_mask = (1U<<chan);
 
             pwm = constrain_int16(pwm, 1000, 2000);
             uint16_t value = MIN(2 * (pwm - 1000), 1999);
diff --git a/libraries/AP_HAL_ChibiOS/RCOutput.h b/libraries/AP_HAL_ChibiOS/RCOutput.h
index 0f5db530b1..e830831fed 100644
--- a/libraries/AP_HAL_ChibiOS/RCOutput.h
+++ b/libraries/AP_HAL_ChibiOS/RCOutput.h
@@ -74,7 +74,7 @@ public:
     /*
      * return mask of channels that must be disabled because they share a group with a digital channel
      */
-    uint16_t get_disabled_channels(uint16_t digital_mask) override;
+    uint32_t get_disabled_channels(uint32_t digital_mask) override;
 
     float scale_esc_to_unity(uint16_t pwm) override {
         return 2.0 * ((float) pwm - _esc_pwm_min) / (_esc_pwm_max - _esc_pwm_min) - 1.0;
diff --git a/libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp b/libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp
index 0a8f0e3462..de77bc3a8f 100644
--- a/libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp
+++ b/libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp
@@ -41,7 +41,7 @@ extern const AP_HAL::HAL& hal;
  * enable bi-directional telemetry request for a mask of channels. This is used
  * with DShot to get telemetry feedback
  */
-void RCOutput::set_bidir_dshot_mask(uint16_t mask)
+void RCOutput::set_bidir_dshot_mask(uint32_t mask)
 {
     _bdshot.mask = (mask >> chan_offset);
     // we now need to reconfigure the DMA channels since they are affected by the value of the mask
diff --git a/libraries/AP_HAL_ChibiOS/RCOutput_serial.cpp b/libraries/AP_HAL_ChibiOS/RCOutput_serial.cpp
index 5fefc7ee6e..c81159f1f9 100644
--- a/libraries/AP_HAL_ChibiOS/RCOutput_serial.cpp
+++ b/libraries/AP_HAL_ChibiOS/RCOutput_serial.cpp
@@ -50,7 +50,7 @@ bool RCOutput::dshot_send_command(pwm_group& group, uint8_t command, uint8_t cha
     group.dshot_waiter = rcout_thread_ctx;
     bool bdshot_telem = false;
 #ifdef HAL_WITH_BIDIR_DSHOT
-    uint16_t active_channels = group.ch_mask & group.en_mask;
+    uint32_t active_channels = group.ch_mask & group.en_mask;
     // no need to get the input capture lock
     group.bdshot.enabled = false;
     if ((_bdshot.mask & active_channels) == active_channels) {