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Hal_Chibios: use AP_BoardConfig::io_enabled()

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This commit is contained in:
Andrew Tridgell 2018-01-05 19:55:01 +11:00
parent 13f4780815
commit 6dbab450a5
3 changed files with 38 additions and 20 deletions
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4
libraries/AP_HAL_ChibiOS/RCInput.cpp
View File

@ -20,6 +20,7 @@
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
#if HAL_WITH_IO_MCU
#include <AP_BoardConfig/AP_BoardConfig.h>
#include <AP_IOMCU/AP_IOMCU.h>
extern AP_IOMCU iomcu;
#endif
@ -185,7 +186,8 @@ void ChibiRCInput::_timer_tick(void)
#if HAL_WITH_IO_MCU
chMtxLock(&rcin_mutex);
if (iomcu.check_rcinput(last_iomcu_us, _num_channels, _rc_values, RC_INPUT_MAX_CHANNELS)) {
if (AP_BoardConfig::io_enabled() &&
iomcu.check_rcinput(last_iomcu_us, _num_channels, _rc_values, RC_INPUT_MAX_CHANNELS)) {
_rcin_timestamp_last_signal = last_iomcu_us;
}
chMtxUnlock(&rcin_mutex);

26
libraries/AP_HAL_ChibiOS/RCOutput.cpp
View File

@ -16,6 +16,7 @@
*/
#include "RCOutput.h"
#include <AP_Math/AP_Math.h>
#include <AP_BoardConfig/AP_BoardConfig.h>
using namespace ChibiOS;
@ -64,10 +65,11 @@ void ChibiRCOutput::init()
pwmStart(pwm_group_list[i].pwm_drv, &pwm_group_list[i].pwm_cfg);
}
#if HAL_WITH_IO_MCU
if (AP_BoardConfig::io_enabled()) {
iomcu.init();
// with IOMCU the local channels start at 8
chan_offset = 8;
}
#endif
}
@ -83,7 +85,9 @@ void ChibiRCOutput::set_freq(uint32_t chmask, uint16_t freq_hz)
}
#if HAL_WITH_IO_MCU
if (AP_BoardConfig::io_enabled()) {
iomcu.set_freq(chmask, freq_hz);
}
#endif
chmask >>= chan_offset;
@ -169,7 +173,9 @@ void ChibiRCOutput::write(uint8_t chan, uint16_t period_us)
#if HAL_WITH_IO_MCU
// handle IO MCU channels
if (AP_BoardConfig::io_enabled()) {
iomcu.write_channel(chan, period_us);
}
#endif
if (chan < chan_offset) {
return;
@ -273,10 +279,11 @@ void ChibiRCOutput::set_output_mode(enum output_mode mode)
bool ChibiRCOutput::force_safety_on(void)
{
#if HAL_WITH_IO_MCU
if (AP_BoardConfig::io_enabled()) {
return iomcu.force_safety_on();
#else
return false;
}
#endif
return false;
}
/*
@ -285,7 +292,9 @@ bool ChibiRCOutput::force_safety_on(void)
void ChibiRCOutput::force_safety_off(void)
{
#if HAL_WITH_IO_MCU
if (AP_BoardConfig::io_enabled()) {
iomcu.force_safety_off();
}
#endif
}
@ -296,7 +305,9 @@ void ChibiRCOutput::cork(void)
{
corked = true;
#if HAL_WITH_IO_MCU
if (AP_BoardConfig::io_enabled()) {
iomcu.cork();
}
#endif
}
@ -308,7 +319,9 @@ void ChibiRCOutput::push(void)
corked = false;
push_local();
#if HAL_WITH_IO_MCU
if (AP_BoardConfig::io_enabled()) {
iomcu.push();
}
#endif
}
@ -318,8 +331,9 @@ void ChibiRCOutput::push(void)
bool ChibiRCOutput::enable_px4io_sbus_out(uint16_t rate_hz)
{
#if HAL_WITH_IO_MCU
if (AP_BoardConfig::io_enabled()) {
return iomcu.enable_sbus_out(rate_hz);
#else
return false;
#endif
}
#endif
return false;
}

8
libraries/AP_HAL_ChibiOS/Util.cpp
View File

@ -22,6 +22,7 @@
#include <chheap.h>
#if HAL_WITH_IO_MCU
#include <AP_BoardConfig/AP_BoardConfig.h>
#include <AP_IOMCU/AP_IOMCU.h>
extern AP_IOMCU iomcu;
#endif
@ -48,16 +49,17 @@ uint32_t ChibiUtil::available_memory(void)
ChibiUtil::safety_state ChibiUtil::safety_switch_state(void)
{
#if HAL_WITH_IO_MCU
if (AP_BoardConfig::io_enabled()) {
return iomcu.get_safety_switch_state();
#else
return SAFETY_NONE;
}
#endif
return SAFETY_NONE;
}
void ChibiUtil::set_imu_temp(float current)
{
#if HAL_WITH_IO_MCU && HAL_HAVE_IMU_HEATER
if (!heater.target || *heater.target == -1) {
if (!heater.target || *heater.target == -1 || !AP_BoardConfig::io_enabled()) {
return;
}