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AP_HAL_ChibiOS: return success status from serial_led_send and set_serial_led_rgb_data

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This commit is contained in:
Andy Piper 2023-11-17 17:32:01 +00:00 committed by Peter Barker
parent bf104d7bee
commit c7ef591a56
2 changed files with 21 additions and 17 deletions
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34
libraries/AP_HAL_ChibiOS/RCOutput.cpp
View File

@ -2404,29 +2404,29 @@ void RCOutput::_set_profiled_clock(pwm_group *grp, uint8_t idx, uint8_t led)
setup serial LED output data for a given output channel setup serial LED output data for a given output channel
and a LED number. LED -1 is all LEDs and a LED number. LED -1 is all LEDs
*/ */
void RCOutput::set_serial_led_rgb_data(const uint16_t chan, int8_t led, uint8_t red, uint8_t green, uint8_t blue) bool RCOutput::set_serial_led_rgb_data(const uint16_t chan, int8_t led, uint8_t red, uint8_t green, uint8_t blue)
{ {
if (!_initialised) { if (!_initialised) {
return; return false;
} }
uint8_t i = 0; uint8_t i = 0;
pwm_group *grp = find_chan(chan, i); pwm_group *grp = find_chan(chan, i);
if (!grp) { if (!grp) {
return; return false;
} }
if (grp->serial_led_pending) { if (grp->serial_led_pending) {
// dont allow setting new data if a send is pending // dont allow setting new data if a send is pending
// would result in a fight over the mutex // would result in a fight over the mutex
return; return false;
}; }
WITH_SEMAPHORE(grp->serial_led_mutex); WITH_SEMAPHORE(grp->serial_led_mutex);
if (grp->serial_nleds == 0 || led >= grp->serial_nleds) { if (grp->serial_nleds == 0 || led >= grp->serial_nleds) {
return; return false;
} }
if ((grp->current_mode != grp->led_mode) && is_led_protocol(grp->led_mode)) { if ((grp->current_mode != grp->led_mode) && is_led_protocol(grp->led_mode)) {
@ -2443,7 +2443,7 @@ void RCOutput::set_serial_led_rgb_data(const uint16_t chan, int8_t led, uint8_t
} }
grp->led_mode = MODE_PWM_NONE; grp->led_mode = MODE_PWM_NONE;
grp->serial_nleds = 0; grp->serial_nleds = 0;
return; return false;
} }
} }
@ -2454,11 +2454,11 @@ void RCOutput::set_serial_led_rgb_data(const uint16_t chan, int8_t led, uint8_t
// Failed to set output mode // Failed to set output mode
grp->led_mode = MODE_PWM_NONE; grp->led_mode = MODE_PWM_NONE;
grp->serial_nleds = 0; grp->serial_nleds = 0;
return; return false;
} }
} else if (!is_led_protocol(grp->current_mode)) { } else if (!is_led_protocol(grp->current_mode)) {
return; return false;
} }
if (led == -1) { if (led == -1) {
@ -2466,7 +2466,7 @@ void RCOutput::set_serial_led_rgb_data(const uint16_t chan, int8_t led, uint8_t
for (uint8_t n=0; n<grp->serial_nleds; n++) { for (uint8_t n=0; n<grp->serial_nleds; n++) {
serial_led_set_single_rgb_data(*grp, i, n, red, green, blue); serial_led_set_single_rgb_data(*grp, i, n, red, green, blue);
} }
return; return true;
} }
// if not ouput clock and trailing frames, run through all LED's to do it now // if not ouput clock and trailing frames, run through all LED's to do it now
@ -2477,6 +2477,8 @@ void RCOutput::set_serial_led_rgb_data(const uint16_t chan, int8_t led, uint8_t
} }
} }
serial_led_set_single_rgb_data(*grp, i, uint8_t(led), red, green, blue); serial_led_set_single_rgb_data(*grp, i, uint8_t(led), red, green, blue);
return true;
} }
/* /*
@ -2500,26 +2502,26 @@ void RCOutput::serial_led_set_single_rgb_data(pwm_group& group, uint8_t idx, uin
/* /*
trigger send of serial led data for one group trigger send of serial led data for one group
*/ */
void RCOutput::serial_led_send(const uint16_t chan) bool RCOutput::serial_led_send(const uint16_t chan)
{ {
if (!_initialised) { if (!_initialised) {
return; return false;
} }
if (led_thread_ctx == nullptr) { if (led_thread_ctx == nullptr) {
return; return false;
} }
uint8_t i; uint8_t i;
pwm_group *grp = find_chan(chan, i); pwm_group *grp = find_chan(chan, i);
if (!grp) { if (!grp) {
return; return false;
} }
WITH_SEMAPHORE(grp->serial_led_mutex); WITH_SEMAPHORE(grp->serial_led_mutex);
if (grp->serial_nleds == 0 || !is_led_protocol(grp->current_mode)) { if (grp->serial_nleds == 0 || !is_led_protocol(grp->current_mode)) {
return; return false;
} }
if (grp->prepared_send) { if (grp->prepared_send) {
@ -2527,6 +2529,8 @@ void RCOutput::serial_led_send(const uint16_t chan)
serial_led_pending = true; serial_led_pending = true;
chEvtSignal(led_thread_ctx, EVT_LED_SEND); chEvtSignal(led_thread_ctx, EVT_LED_SEND);
} }
return true;
} }
void RCOutput::timer_info(ExpandingString &str) void RCOutput::timer_info(ExpandingString &str)

4
libraries/AP_HAL_ChibiOS/RCOutput.h
View File

@ -246,12 +246,12 @@ public:
setup serial LED output data for a given output channel setup serial LED output data for a given output channel
and LEDs number. LED -1 is all LEDs and LEDs number. LED -1 is all LEDs
*/ */
void set_serial_led_rgb_data(const uint16_t chan, int8_t led, uint8_t red, uint8_t green, uint8_t blue) override; bool set_serial_led_rgb_data(const uint16_t chan, int8_t led, uint8_t red, uint8_t green, uint8_t blue) override;
/* /*
trigger send of serial LED data trigger send of serial LED data
*/ */
void serial_led_send(const uint16_t chan) override; bool serial_led_send(const uint16_t chan) override;
/* /*
rcout thread rcout thread