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AP_HAL_ChibiOS: return success status from serial_led_send and set_serial_led_rgb_data

This commit is contained in:
Andy Piper 2023-11-17 17:32:01 +00:00 committed by Andrew Tridgell
parent 586e8f756f
commit 378d586feb
2 changed files with 21 additions and 17 deletions
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34
libraries/AP_HAL_ChibiOS/RCOutput.cpp
View File

@ -2404,29 +2404,29 @@ void RCOutput::_set_profiled_clock(pwm_group *grp, uint8_t idx, uint8_t led)
setup serial LED output data for a given output channel
and a LED number. LED -1 is all LEDs
*/
void RCOutput::set_serial_led_rgb_data(const uint16_t chan, int8_t led, uint8_t red, uint8_t green, uint8_t blue)
bool RCOutput::set_serial_led_rgb_data(const uint16_t chan, int8_t led, uint8_t red, uint8_t green, uint8_t blue)
{
if (!_initialised) {
return;
return false;
}
uint8_t i = 0;
pwm_group *grp = find_chan(chan, i);
if (!grp) {
return;
return false;
}
if (grp->serial_led_pending) {
// dont allow setting new data if a send is pending
// would result in a fight over the mutex
return;
};
return false;
}
WITH_SEMAPHORE(grp->serial_led_mutex);
if (grp->serial_nleds == 0 || led >= grp->serial_nleds) {
return;
return false;
}
if ((grp->current_mode != grp->led_mode) && is_led_protocol(grp->led_mode)) {
@ -2443,7 +2443,7 @@ void RCOutput::set_serial_led_rgb_data(const uint16_t chan, int8_t led, uint8_t
}
grp->led_mode = MODE_PWM_NONE;
grp->serial_nleds = 0;
return;
return false;
}
}
@ -2454,11 +2454,11 @@ void RCOutput::set_serial_led_rgb_data(const uint16_t chan, int8_t led, uint8_t
// Failed to set output mode
grp->led_mode = MODE_PWM_NONE;
grp->serial_nleds = 0;
return;
return false;
}
} else if (!is_led_protocol(grp->current_mode)) {
return;
return false;
}
if (led == -1) {
@ -2466,7 +2466,7 @@ void RCOutput::set_serial_led_rgb_data(const uint16_t chan, int8_t led, uint8_t
for (uint8_t n=0; n<grp->serial_nleds; n++) {
serial_led_set_single_rgb_data(*grp, i, n, red, green, blue);
}
return;
return true;
}
// if not ouput clock and trailing frames, run through all LED's to do it now
@ -2477,6 +2477,8 @@ void RCOutput::set_serial_led_rgb_data(const uint16_t chan, int8_t led, uint8_t
}
}
serial_led_set_single_rgb_data(*grp, i, uint8_t(led), red, green, blue);
return true;
}
/*
@ -2500,26 +2502,26 @@ void RCOutput::serial_led_set_single_rgb_data(pwm_group& group, uint8_t idx, uin
/*
trigger send of serial led data for one group
*/
void RCOutput::serial_led_send(const uint16_t chan)
bool RCOutput::serial_led_send(const uint16_t chan)
{
if (!_initialised) {
return;
return false;
}
if (led_thread_ctx == nullptr) {
return;
return false;
}
uint8_t i;
pwm_group *grp = find_chan(chan, i);
if (!grp) {
return;
return false;
}
WITH_SEMAPHORE(grp->serial_led_mutex);
if (grp->serial_nleds == 0 || !is_led_protocol(grp->current_mode)) {
return;
return false;
}
if (grp->prepared_send) {
@ -2527,6 +2529,8 @@ void RCOutput::serial_led_send(const uint16_t chan)
serial_led_pending = true;
chEvtSignal(led_thread_ctx, EVT_LED_SEND);
}
return true;
}
void RCOutput::timer_info(ExpandingString &str)

4
libraries/AP_HAL_ChibiOS/RCOutput.h
View File

@ -246,12 +246,12 @@ public:
setup serial LED output data for a given output channel
and LEDs number. LED -1 is all LEDs
*/
void set_serial_led_rgb_data(const uint16_t chan, int8_t led, uint8_t red, uint8_t green, uint8_t blue) override;
bool set_serial_led_rgb_data(const uint16_t chan, int8_t led, uint8_t red, uint8_t green, uint8_t blue) override;
/*
trigger send of serial LED data
*/
void serial_led_send(const uint16_t chan) override;
bool serial_led_send(const uint16_t chan) override;
/*
rcout thread