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HAL_ChibiOS: fixed asserts in AnalogIn driver 

when building with --enable-asserts on boards with ADC1 and ADC3
(eg. Holybro H7 based boards) we were triggering asserts on bad ADC
index. In order to preserve the asserts (which are good for catching
errors) we need to ifdef the relevant calls
This commit is contained in:
Andrew Tridgell 2023-05-05 15:07:06 +10:00
parent a43680e882
commit ce703cbed7
2 changed files with 64 additions and 44 deletions
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107
libraries/AP_HAL_ChibiOS/AnalogIn.cpp
View File

@ -403,9 +403,13 @@ void AnalogIn::init()
#else
static_assert(sizeof(uint16_t) == sizeof(adcsample_t), "adcsample_t must be uint16_t");
#endif
for (uint8_t i=0; i<HAL_NUM_ANALOG_INPUTS; i++) {
setup_adc(i);
}
setup_adc(0);
#if defined(HAL_ANALOG2_PINS)
setup_adc(1);
#endif
#if defined(HAL_ANALOG3_PINS)
setup_adc(2);
#endif
}
void AnalogIn::setup_adc(uint8_t index)
@ -622,6 +626,52 @@ void AnalogIn::read_adc(uint8_t index, uint32_t *val)
chSysUnlock();
}
/*
read the data from an ADC index
*/
void AnalogIn::timer_tick_adc(uint8_t index)
{
const uint8_t num_grp_channels = get_num_grp_channels(index);
uint32_t buf_adc[num_grp_channels];
/* read all channels available on index ADC*/
read_adc(index, buf_adc);
// match the incoming channels to the currently active pins
for (uint8_t i=0; i < num_grp_channels; i++) {
#ifdef ANALOG_VCC_5V_PIN
if (get_analog_pin(index, i) == ANALOG_VCC_5V_PIN) {
// record the Vcc value for later use in
// voltage_average_ratiometric()
_board_voltage = buf_adc[i] * get_pin_scaling(index, i) * ADC_BOARD_SCALING;
}
#endif
#ifdef FMU_SERVORAIL_ADC_PIN
if (get_analog_pin(index, i) == FMU_SERVORAIL_ADC_PIN) {
_servorail_voltage = buf_adc[i] * get_pin_scaling(index, i) * ADC_BOARD_SCALING;
}
#endif
}
for (uint8_t i=0; i<num_grp_channels; i++) {
Debug("adc%u chan %u value=%f\n",
(unsigned)index+1,
(unsigned)get_pin_channel(index, i),
(float)buf_adc[i] * ADC_BOARD_SCALING * VOLTAGE_SCALING);
for (uint8_t j=0; j < ANALOG_MAX_CHANNELS; j++) {
ChibiOS::AnalogSource *c = _channels[j];
if (c != nullptr) {
if ((get_analog_pin(index, i) == c->_pin) && (c->_pin != ANALOG_INPUT_NONE)) {
// add a value
c->_add_value(buf_adc[i] * ADC_BOARD_SCALING, _board_voltage);
} else if (c->_pin == ANALOG_SERVO_VRSSI_PIN) {
c->_add_value(_rssi_voltage / VOLTAGE_SCALING, 0);
}
}
}
}
}
/*
called at 1kHz
*/
@ -643,47 +693,16 @@ void AnalogIn::_timer_tick(void)
_rssi_voltage = iomcu.get_vrssi_adc_count() * (VOLTAGE_SCALING * HAL_IOMCU_VRSSI_SCALAR);
#endif
for (uint8_t index=0; index < HAL_NUM_ANALOG_INPUTS; index++) {
const uint8_t num_grp_channels = get_num_grp_channels(index);
uint32_t buf_adc[num_grp_channels];
/* read all channels available on index ADC*/
read_adc(index, buf_adc);
// match the incoming channels to the currently active pins
for (uint8_t i=0; i < num_grp_channels; i++) {
#ifdef ANALOG_VCC_5V_PIN
if (get_analog_pin(index, i) == ANALOG_VCC_5V_PIN) {
// record the Vcc value for later use in
// voltage_average_ratiometric()
_board_voltage = buf_adc[i] * get_pin_scaling(index, i) * ADC_BOARD_SCALING;
}
#endif
#ifdef FMU_SERVORAIL_ADC_PIN
if (get_analog_pin(index, i) == FMU_SERVORAIL_ADC_PIN) {
_servorail_voltage = buf_adc[i] * get_pin_scaling(index, i) * ADC_BOARD_SCALING;
}
#endif
}
for (uint8_t i=0; i<num_grp_channels; i++) {
Debug("adc%u chan %u value=%f\n",
(unsigned)index+1,
(unsigned)get_pin_channel(index, i),
(float)buf_adc[i] * ADC_BOARD_SCALING * VOLTAGE_SCALING);
for (uint8_t j=0; j < ANALOG_MAX_CHANNELS; j++) {
ChibiOS::AnalogSource *c = _channels[j];
if (c != nullptr) {
if ((get_analog_pin(index, i) == c->_pin) && (c->_pin != ANALOG_INPUT_NONE)) {
// add a value
c->_add_value(buf_adc[i] * ADC_BOARD_SCALING, _board_voltage);
} else if (c->_pin == ANALOG_SERVO_VRSSI_PIN) {
c->_add_value(_rssi_voltage / VOLTAGE_SCALING, 0);
}
}
}
}
}
/*
update each of our ADCs
*/
timer_tick_adc(0);
#if defined(HAL_ANALOG2_PINS)
timer_tick_adc(1);
#endif
#if defined(HAL_ANALOG3_PINS)
timer_tick_adc(2);
#endif
#if HAL_WITH_IO_MCU
_servorail_voltage = iomcu.get_vservo_adc_count() * (VOLTAGE_SCALING * HAL_IOMCU_VSERVO_SCALAR);

1
libraries/AP_HAL_ChibiOS/AnalogIn.h
View File

@ -73,6 +73,7 @@ public:
void init() override;
AP_HAL::AnalogSource* channel(int16_t pin) override;
void _timer_tick(void);
void timer_tick_adc(uint8_t index);
float board_voltage(void) override { return _board_voltage; }
float servorail_voltage(void) override { return _servorail_voltage; }
uint16_t power_status_flags(void) override { return _power_flags; }