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HAL_Chibios: use macro for NUM_GROUPS

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This commit is contained in:
Andrew Tridgell 2018-01-08 10:40:23 +11:00
parent b57f8f01c6
commit 3a004adbd4
2 changed files with 8 additions and 8 deletions
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15
libraries/AP_HAL_ChibiOS/RCOutput.cpp
View File

@ -58,10 +58,11 @@ const struct ChibiRCOutput::pwm_group ChibiRCOutput::pwm_group_list[] =
} }
}; };
#define NUM_GROUPS ARRAY_SIZE(pwm_group_list)
void ChibiRCOutput::init() void ChibiRCOutput::init()
{ {
_num_groups = sizeof(pwm_group_list)/sizeof(pwm_group); for (uint8_t i = 0; i < NUM_GROUPS; i++ ) {
for (uint8_t i = 0; i < _num_groups; i++ ) {
//Start Pwm groups //Start Pwm groups
pwmStart(pwm_group_list[i].pwm_drv, &pwm_group_list[i].pwm_cfg); pwmStart(pwm_group_list[i].pwm_drv, &pwm_group_list[i].pwm_cfg);
} }
@ -96,7 +97,7 @@ void ChibiRCOutput::set_freq(uint32_t chmask, uint16_t freq_hz)
return; return;
} }
for (uint8_t i = 0; i < _num_groups; i++ ) { for (uint8_t i = 0; i < NUM_GROUPS; i++ ) {
grp_ch_mask = 0XF; grp_ch_mask = 0XF;
if ((grp_ch_mask & chmask) == grp_ch_mask) { if ((grp_ch_mask & chmask) == grp_ch_mask) {
update_mask |= grp_ch_mask; update_mask |= grp_ch_mask;
@ -118,7 +119,7 @@ uint16_t ChibiRCOutput::get_freq(uint8_t chan)
#endif #endif
chan -= chan_offset; chan -= chan_offset;
for (uint8_t i = 0; i < _num_groups; i++ ) { for (uint8_t i = 0; i < NUM_GROUPS; i++ ) {
for (uint8_t j = 0; j < 4; j++) { for (uint8_t j = 0; j < 4; j++) {
if (pwm_group_list[i].chan[j] == chan) { if (pwm_group_list[i].chan[j] == chan) {
return pwm_group_list[i].pwm_drv->config->frequency / pwm_group_list[i].pwm_drv->period; return pwm_group_list[i].pwm_drv->config->frequency / pwm_group_list[i].pwm_drv->period;
@ -136,7 +137,7 @@ void ChibiRCOutput::enable_ch(uint8_t chan)
} }
chan -= chan_offset; chan -= chan_offset;
for (uint8_t i = 0; i < _num_groups; i++ ) { for (uint8_t i = 0; i < NUM_GROUPS; i++ ) {
for (uint8_t j = 0; j < 4; j++) { for (uint8_t j = 0; j < 4; j++) {
if ((pwm_group_list[i].chan[j] == chan) && !(en_mask & 1<<chan)) { if ((pwm_group_list[i].chan[j] == chan) && !(en_mask & 1<<chan)) {
en_mask |= 1<<chan; en_mask |= 1<<chan;
@ -152,7 +153,7 @@ void ChibiRCOutput::disable_ch(uint8_t chan)
} }
chan -= chan_offset; chan -= chan_offset;
for (uint8_t i = 0; i < _num_groups; i++ ) { for (uint8_t i = 0; i < NUM_GROUPS; i++ ) {
for (uint8_t j = 0; j < 4; j++) { for (uint8_t j = 0; j < 4; j++) {
if (pwm_group_list[i].chan[j] == chan) { if (pwm_group_list[i].chan[j] == chan) {
pwmDisableChannel(pwm_group_list[i].pwm_drv, j); pwmDisableChannel(pwm_group_list[i].pwm_drv, j);
@ -195,7 +196,7 @@ void ChibiRCOutput::push_local(void)
uint16_t outmask = (1U<<num_channels)-1; uint16_t outmask = (1U<<num_channels)-1;
outmask &= en_mask; outmask &= en_mask;
for (uint8_t i = 0; i < _num_groups; i++ ) { for (uint8_t i = 0; i < NUM_GROUPS; i++ ) {
for (uint8_t j = 0; j < 4; j++) { for (uint8_t j = 0; j < 4; j++) {
uint8_t chan = pwm_group_list[i].chan[j]; uint8_t chan = pwm_group_list[i].chan[j];
if (outmask & (1UL<<chan)) { if (outmask & (1UL<<chan)) {

1
libraries/AP_HAL_ChibiOS/RCOutput.h
View File

@ -64,7 +64,6 @@ private:
static const pwm_group pwm_group_list[]; static const pwm_group pwm_group_list[];
uint16_t _esc_pwm_min; uint16_t _esc_pwm_min;
uint16_t _esc_pwm_max; uint16_t _esc_pwm_max;
uint8_t _num_groups;
// offset of first local channel // offset of first local channel
uint8_t chan_offset; uint8_t chan_offset;