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AP_FETtecOneWire: cleanup mask handling

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use unsigned masks
This commit is contained in:
Andrew Tridgell 2022-06-10 09:57:01 +10:00
parent 3a1fc0f338
commit c01e21dcb3
2 changed files with 8 additions and 8 deletions
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10
libraries/AP_FETtecOneWire/AP_FETtecOneWire.cpp
View File

@ -119,15 +119,15 @@ void AP_FETtecOneWire::init()
return; // no serial port available, so nothing to do here
}
_motor_mask = _motor_mask_parameter; // take a copy that will not change after we leave this function
_motor_mask = uint32_t(_motor_mask_parameter); // take a copy that will not change after we leave this function
_esc_count = __builtin_popcount(_motor_mask);
#if HAL_WITH_ESC_TELEM
// OneWire supports at most 15 ESCs, because of the 4 bit limitation
// on the fast-throttle command. But we are still limited to the
// number of ESCs the telem library will collect data for.
if (_esc_count == 0 || _motor_mask >= (1 << MIN(15, ESC_TELEM_MAX_ESCS))) {
if (_esc_count == 0 || _motor_mask >= (1U << MIN(15,ESC_TELEM_MAX_ESCS))) {
#else
if (_esc_count == 0 || _motor_mask >= (1 << NUM_SERVO_CHANNELS)) {
if (_esc_count == 0 || _motor_mask >= (1U << MIN(15,NUM_SERVO_CHANNELS))) {
#endif
_invalid_mask = true;
return;
@ -750,7 +750,7 @@ void AP_FETtecOneWire::configure_escs()
case ESCState::WAITING_SET_FAST_COM_LENGTH_OK:
return;
case ESCState::RUNNING:
_running_mask |= (1 << esc.servo_ofs);
_running_mask |= (1U << esc.servo_ofs);
break;
}
}
@ -782,7 +782,7 @@ void AP_FETtecOneWire::update()
// telem OK
continue;
}
_running_mask &= ~(1 << esc.servo_ofs);
_running_mask &= ~(1U << esc.servo_ofs);
GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "No telem from esc id=%u. Resetting it.", esc.id);
//GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "unknown %u, invalid %u, too short %u, unexpected: %u, crc_err %u", _unknown_esc_message, _message_invalid_in_state_count, _period_too_short, esc.unexpected_telem, crc_rec_err_cnt);
esc.set_state(ESCState::WANT_SEND_OK_TO_GET_RUNNING_SW_TYPE);

6
libraries/AP_FETtecOneWire/AP_FETtecOneWire.h
View File

@ -193,9 +193,9 @@ private:
};
uint32_t _min_fast_throttle_period_us; ///< minimum allowed fast-throttle command transmit period
int32_t _motor_mask; ///< an un-mutable copy of the _motor_mask_parameter taken before _init_done goes true
int32_t _reverse_mask; ///< a copy of the _reverse_mask_parameter taken while not armed
int32_t _running_mask; ///< a bitmask of the actively running ESCs
uint32_t _motor_mask; ///< an un-mutable copy of the _motor_mask_parameter taken before _init_done goes true
uint32_t _reverse_mask; ///< a copy of the _reverse_mask_parameter taken while not armed
uint32_t _running_mask; ///< a bitmask of the actively running ESCs
uint32_t _last_transmit_us; ///< last time the transmit() function sent data
ESC *_escs;
uint8_t _esc_count; ///< number of allocated ESCs