Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-05 07:28:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_HAL_ESP32: RCOutput: appropriately assert PWM array size

Browse Source 
Avoid over-running the pending PWM and safe value PWM arrays in case
future chip revisions come out with more channels.
This commit is contained in:
Thomas Watson 2024-12-08 14:16:00 -06:00 committed by Andy Piper
parent f6e01dbee9
commit b2df646b86
2 changed files with 5 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
libraries/AP_HAL_ESP32/RCOutput.cpp
View File

@ -50,6 +50,8 @@ gpio_num_t outputs_pins[] = {};
#endif #endif
#define MAX_CHANNELS ARRAY_SIZE(outputs_pins) #define MAX_CHANNELS ARRAY_SIZE(outputs_pins)
static_assert(MAX_CHANNELS < 12, "overrunning _pending and safe_pwm"); // max for current chips
static_assert(MAX_CHANNELS < 32, "overrunning bitfields");
struct RCOutput::pwm_out RCOutput::pwm_group_list[MAX_CHANNELS]; struct RCOutput::pwm_out RCOutput::pwm_group_list[MAX_CHANNELS];
@ -324,7 +326,7 @@ void RCOutput::force_safety_off(void)
*/ */
void RCOutput::set_safety_pwm(uint32_t chmask, uint16_t period_us) void RCOutput::set_safety_pwm(uint32_t chmask, uint16_t period_us)
{ {
for (uint8_t i=0; i<16; i++) { for (uint8_t i=0; i<ARRAY_SIZE(safe_pwm); i++) {
if (chmask & (1U<<i)) { if (chmask & (1U<<i)) {
safe_pwm[i] = period_us; safe_pwm[i] = period_us;
} }

5
libraries/AP_HAL_ESP32/RCOutput.h
View File

@ -118,10 +118,9 @@ private:
static pwm_out pwm_group_list[]; static pwm_out pwm_group_list[];
bool _corked; bool _corked;
uint16_t _pending[12]; //Max channel with 2 unit MCPWM
uint32_t _pending_mask; uint32_t _pending_mask;
uint16_t _pending[12];
uint16_t safe_pwm[16]; // pwm to use when safety is on uint16_t safe_pwm[12]; // pwm to use when safety is on
uint16_t _max_channels; uint16_t _max_channels;