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AP_Periph: allow build with no PWM to allow for notify

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This commit is contained in:
Andrew Tridgell 2021-04-16 09:14:23 +10:00
parent 44eadb7291
commit 724cea2b0d
1 changed files with 4 additions and 4 deletions
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8
Tools/AP_Periph/rc_out.cpp
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@ -24,10 +24,6 @@
#define SERVO_OUT_RCIN_MAX 16 // SRV_Channel::k_rcin1 ... SRV_Channel::k_rcin16
#define SERVO_OUT_MOTOR_MAX 12 // SRV_Channel::k_motor1 ... SRV_Channel::k_motor8, SRV_Channel::k_motor9 ... SRV_Channel::k_motor12
#if HAL_PWM_COUNT == 0
#error "You must define a PWM output in your hwdef.dat"
#endif
extern const AP_HAL::HAL &hal;
void AP_Periph_FW::rcout_init()
@ -35,9 +31,11 @@ void AP_Periph_FW::rcout_init()
// start up with safety enabled. This disables the pwm output until we receive an packet from the rempte system
hal.rcout->force_safety_on();
#if HAL_PWM_COUNT > 0
for (uint8_t i=0; i<HAL_PWM_COUNT; i++) {
servo_channels.set_default_function(i, SRV_Channel::Aux_servo_function_t(SRV_Channel::k_rcin1 + i));
}
#endif
for (uint8_t i=0; i<SERVO_OUT_RCIN_MAX; i++) {
SRV_Channels::set_angle(SRV_Channel::Aux_servo_function_t(SRV_Channel::k_rcin1 + i), 1000);
@ -89,6 +87,7 @@ void AP_Periph_FW::rcout_esc(int16_t *rc, uint8_t num_channels)
void AP_Periph_FW::rcout_srv(uint8_t actuator_id, const float command_value)
{
#if HAL_PWM_COUNT > 0
if ((actuator_id == 0) || (actuator_id > HAL_PWM_COUNT)) {
// not supported or out of range
return;
@ -98,6 +97,7 @@ void AP_Periph_FW::rcout_srv(uint8_t actuator_id, const float command_value)
SRV_Channels::set_output_norm(function, command_value);
rcout_has_new_data_to_update = true;
#endif
}
void AP_Periph_FW::rcout_handle_safety_state(uint8_t safety_state)