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AP_IOMCU: allow building without BLHeli support

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Andy Piper 2024-03-17 18:42:01 +00:00 committed by Andrew Tridgell
parent dd4bd3de69
commit 990318193b
1 changed files with 8 additions and 4 deletions
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12
libraries/AP_IOMCU/AP_IOMCU.cpp
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@ -118,12 +118,14 @@ void AP_IOMCU::thread_main(void)
uart.begin(1500*1000, 128, 128); uart.begin(1500*1000, 128, 128);
uart.set_unbuffered_writes(true); uart.set_unbuffered_writes(true);
#if HAVE_AP_BLHELI_SUPPORT && HAL_WITH_IO_MCU_BIDIR_DSHOT #if HAL_WITH_IO_MCU_BIDIR_DSHOT
AP_BLHeli* blh = AP_BLHeli::get_singleton();
uint16_t erpm_period_ms = 10; // default 100Hz uint16_t erpm_period_ms = 10; // default 100Hz
#if HAVE_AP_BLHELI_SUPPORT
AP_BLHeli* blh = AP_BLHeli::get_singleton();
if (blh && blh->get_telemetry_rate() > 0) { if (blh && blh->get_telemetry_rate() > 0) {
erpm_period_ms = constrain_int16(1000 / blh->get_telemetry_rate(), 1, 1000); erpm_period_ms = constrain_int16(1000 / blh->get_telemetry_rate(), 1, 1000);
} }
#endif
#endif #endif
trigger_event(IOEVENT_INIT); trigger_event(IOEVENT_INIT);
@ -319,7 +321,7 @@ void AP_IOMCU::thread_main(void)
read_servo(); read_servo();
last_servo_read_ms = AP_HAL::millis(); last_servo_read_ms = AP_HAL::millis();
} }
#if HAVE_AP_BLHELI_SUPPORT && HAL_WITH_IO_MCU_BIDIR_DSHOT #if HAL_WITH_IO_MCU_BIDIR_DSHOT
if (AP_BoardConfig::io_dshot() && now - last_erpm_read_ms > erpm_period_ms) { if (AP_BoardConfig::io_dshot() && now - last_erpm_read_ms > erpm_period_ms) {
// read erpm at configured rate. A more efficient scheme might be to // read erpm at configured rate. A more efficient scheme might be to
// send erpm info back with the response from a PWM send, but that would // send erpm info back with the response from a PWM send, but that would
@ -399,7 +401,7 @@ void AP_IOMCU::read_rc_input()
} }
} }
#if HAVE_AP_BLHELI_SUPPORT && HAL_WITH_IO_MCU_BIDIR_DSHOT #if HAL_WITH_IO_MCU_BIDIR_DSHOT
/* /*
read dshot erpm read dshot erpm
*/ */
@ -410,10 +412,12 @@ void AP_IOMCU::read_erpm()
return; return;
} }
uint8_t motor_poles = 14; uint8_t motor_poles = 14;
#if HAVE_AP_BLHELI_SUPPORT
AP_BLHeli* blh = AP_BLHeli::get_singleton(); AP_BLHeli* blh = AP_BLHeli::get_singleton();
if (blh) { if (blh) {
motor_poles = blh->get_motor_poles(); motor_poles = blh->get_motor_poles();
} }
#endif
for (uint8_t i = 0; i < IOMCU_MAX_TELEM_CHANNELS/4; i++) { for (uint8_t i = 0; i < IOMCU_MAX_TELEM_CHANNELS/4; i++) {
for (uint8_t j = 0; j < 4; j++) { for (uint8_t j = 0; j < 4; j++) {
const uint8_t esc_id = (i * 4 + j); const uint8_t esc_id = (i * 4 + j);