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AP_HAL_ChibiOS: add asserts to AnalogIn

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bugobliterator 2023-04-12 21:42:30 +10:00 committed by Andrew Tridgell
parent 1f00b34355
commit ac8a447bbf
1 changed files with 13 additions and 1 deletions
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14
libraries/AP_HAL_ChibiOS/AnalogIn.cpp
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@ -179,11 +179,14 @@ float AnalogSource::voltage_latest()
bool AnalogSource::set_pin(uint8_t pin) bool AnalogSource::set_pin(uint8_t pin)
{ {
if (pin == ANALOG_INPUT_NONE) {
return false;
}
if (_pin == pin) { if (_pin == pin) {
return true; return true;
} }
bool found_pin = false; bool found_pin = false;
if (pin == ANALOG_SERVO_VRSSI_PIN || pin == ANALOG_INPUT_NONE) { if (pin == ANALOG_SERVO_VRSSI_PIN) {
found_pin = true; found_pin = true;
} else { } else {
for (uint8_t i=0; i<ADC_GRP1_NUM_CHANNELS; i++) { for (uint8_t i=0; i<ADC_GRP1_NUM_CHANNELS; i++) {
@ -240,16 +243,20 @@ uint8_t AnalogIn::get_pin_channel(uint8_t adc_index, uint8_t pin_index)
{ {
switch(adc_index) { switch(adc_index) {
case 0: case 0:
osalDbgAssert(pin_index < ADC_GRP1_NUM_CHANNELS, "invalid pin_index");
return pin_config[pin_index].channel; return pin_config[pin_index].channel;
#if defined(HAL_ANALOG2_PINS) #if defined(HAL_ANALOG2_PINS)
case 1: case 1:
osalDbgAssert(pin_index < ADC2_GRP1_NUM_CHANNELS, "invalid pin_index");
return pin_config_2[pin_index].channel; return pin_config_2[pin_index].channel;
#endif #endif
#if defined(HAL_ANALOG3_PINS) #if defined(HAL_ANALOG3_PINS)
case 2: case 2:
osalDbgAssert(pin_index < ADC3_GRP1_NUM_CHANNELS, "invalid pin_index");
return pin_config_3[pin_index].channel; return pin_config_3[pin_index].channel;
#endif #endif
}; };
osalDbgAssert(false, "invalid adc_index");
return 255; return 255;
} }
@ -267,6 +274,7 @@ uint8_t AnalogIn::get_analog_pin(uint8_t adc_index, uint8_t pin_index)
return pin_config_3[pin_index].analog_pin; return pin_config_3[pin_index].analog_pin;
#endif #endif
}; };
osalDbgAssert(false, "invalid adc_index");
return 255; return 255;
} }
/* /*
@ -286,6 +294,7 @@ float AnalogIn::get_pin_scaling(uint8_t adc_index, uint8_t pin_index)
return pin_config_3[pin_index].scaling; return pin_config_3[pin_index].scaling;
#endif #endif
}; };
osalDbgAssert(false, "invalid adc_index");
return 0; return 0;
} }
@ -362,6 +371,7 @@ uint8_t AnalogIn::get_adc_index(ADCDriver* adcp)
return 2; return 2;
} }
#endif #endif
osalDbgAssert(false, "invalid ADC");
return 255; return 255;
} }
@ -379,6 +389,7 @@ uint8_t AnalogIn::get_num_grp_channels(uint8_t index)
return ADC3_GRP1_NUM_CHANNELS; return ADC3_GRP1_NUM_CHANNELS;
#endif #endif
}; };
osalDbgAssert(false, "invalid adc_index");
return 0; return 0;
} }
@ -712,6 +723,7 @@ AP_HAL::AnalogSource* AnalogIn::channel(int16_t pin)
return _channels[j]; return _channels[j];
} }
} }
osalDbgAssert(false, "Out of analog channels");
DEV_PRINTF("Out of analog channels\n"); DEV_PRINTF("Out of analog channels\n");
return nullptr; return nullptr;
} }