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HAL_ChibiOS: use is_GPIO() instead of BRD_PWM_COUNT

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This commit is contained in:
Andrew Tridgell 2021-07-15 08:39:37 +10:00
parent 874757a955
commit 54e53ed71c
2 changed files with 18 additions and 4 deletions
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15
libraries/AP_HAL_ChibiOS/GPIO.cpp
View File

@ -19,9 +19,13 @@
#include <AP_BoardConfig/AP_BoardConfig.h>
#include "hwdef/common/stm32_util.h"
#include <AP_InternalError/AP_InternalError.h>
#ifndef HAL_BOOTLOADER_BUILD
#include <SRV_Channel/SRV_Channel.h>
#endif
#ifndef HAL_NO_UARTDRIVER
#include <GCS_MAVLink/GCS.h>
#endif
#include <AP_Vehicle/AP_Vehicle_Type.h>
using namespace ChibiOS;
@ -65,14 +69,21 @@ GPIO::GPIO()
void GPIO::init()
{
#if !APM_BUILD_TYPE(APM_BUILD_iofirmware) && !defined(HAL_BOOTLOADER_BUILD)
uint8_t chan_offset = 0;
#if HAL_WITH_IO_MCU
if (AP_BoardConfig::io_enabled()) {
chan_offset = 8;
}
#endif
// auto-disable pins being used for PWM output based on BRD_PWM_COUNT parameter
uint8_t pwm_count = AP_BoardConfig::get_pwm_count();
for (uint8_t i=0; i<ARRAY_SIZE(_gpio_tab); i++) {
struct gpio_entry *g = &_gpio_tab[i];
if (g->pwm_num != 0) {
g->enabled = g->pwm_num > pwm_count;
g->enabled = SRV_Channels::is_GPIO(g->pwm_num+chan_offset);
}
}
#endif // HAL_BOOTLOADER_BUILD
#ifdef HAL_PIN_ALT_CONFIG
setup_alt_config();
#endif

7
libraries/AP_HAL_ChibiOS/RCOutput.cpp
View File

@ -27,7 +27,9 @@
#ifndef HAL_NO_UARTDRIVER
#include <GCS_MAVLink/GCS.h>
#endif
#if HAL_USE_PWM == TRUE
#include <SRV_Channel/SRV_Channel.h>
using namespace ChibiOS;
@ -59,7 +61,6 @@ static const eventmask_t EVT_PWM_SEND_NEXT = EVENT_MASK(14);
*/
void RCOutput::init()
{
uint8_t pwm_count = AP_BoardConfig::get_pwm_count();
for (auto &group : pwm_group_list) {
const uint8_t i = &group - pwm_group_list;
//Start Pwm groups
@ -67,10 +68,12 @@ void RCOutput::init()
group.dshot_event_mask = EVENT_MASK(i);
for (uint8_t j = 0; j < 4; j++ ) {
#if !APM_BUILD_TYPE(APM_BUILD_iofirmware)
uint8_t chan = group.chan[j];
if (chan >= pwm_count) {
if (SRV_Channels::is_GPIO(chan+chan_offset)) {
group.chan[j] = CHAN_DISABLED;
}
#endif
if (group.chan[j] != CHAN_DISABLED) {
num_fmu_channels = MAX(num_fmu_channels, group.chan[j]+1);
group.ch_mask |= (1U<<group.chan[j]);