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AP_RangeFinder: add prearm for analogue/pwm pin conflicts

This commit is contained in:
Peter Barker 2022-07-20 10:36:39 +10:00 committed by Peter Barker
parent e9507fc47d
commit 7e5808a97b
2 changed files with 30 additions and 0 deletions
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26
libraries/AP_RangeFinder/AP_RangeFinder.cpp
View File

@ -838,6 +838,32 @@ bool RangeFinder::prearm_healthy(char *failure_msg, const uint8_t failure_msg_le
return false; return false;
} }
// backend-specific checks. This might end up drivers[i]->arming_checks(...).
switch (drivers[i]->allocated_type()) {
case Type::ANALOG:
case Type::PX4_PWM:
case Type::PWM: {
// ensure pin is configured
if (params[i].pin == -1) {
hal.util->snprintf(failure_msg, failure_msg_len, "RNGFND%u_PIN not set", unsigned(i + 1));
return false;
}
// ensure that the pin we're configured to use is available
if (!hal.gpio->valid_pin(params[i].pin)) {
uint8_t servo_ch;
if (hal.gpio->pin_to_servo_channel(params[i].pin, servo_ch)) {
hal.util->snprintf(failure_msg, failure_msg_len, "RNGFND%u_PIN=%d, set SERVO%u_FUNCTION=-1", unsigned(i + 1), int(params[i].pin.get()), unsigned(servo_ch+1));
} else {
hal.util->snprintf(failure_msg, failure_msg_len, "RNGFND%u_PIN=%d invalid", unsigned(i + 1), int(params[i].pin.get()));
}
return false;
}
break;
}
default:
break;
}
switch (drivers[i]->status()) { switch (drivers[i]->status()) {
case Status::NoData: case Status::NoData:
hal.util->snprintf(failure_msg, failure_msg_len, "Rangefinder %X: No Data", i + 1); hal.util->snprintf(failure_msg, failure_msg_len, "Rangefinder %X: No Data", i + 1);

4
libraries/AP_RangeFinder/AP_RangeFinder_Backend.h
View File

@ -69,6 +69,10 @@ public:
// quality is not available // quality is not available
virtual bool get_signal_quality_pct(uint8_t &quality_pct) const { return false; } virtual bool get_signal_quality_pct(uint8_t &quality_pct) const { return false; }
// return the actual type of the rangefinder, as opposed to the
// parameter value which may be changed at runtime.
RangeFinder::Type allocated_type() const { return _backend_type; }
protected: protected:
// update status based on distance measurement // update status based on distance measurement