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HAL_ChibiOS: fixed build with alarm and no PWM channels

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this fixes a build error due to conditional always being false when
NUM_GROUPS==0 by using a C++ iterator. It also makes the code neater
This commit is contained in:
Andrew Tridgell 2021-01-03 07:43:40 +11:00
parent 8e34388a20
commit 6f4bfed82d
1 changed files with 17 additions and 29 deletions
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46
libraries/AP_HAL_ChibiOS/RCOutput.cpp
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@ -61,9 +61,8 @@ const uint8_t RCOutput::NUM_GROUPS = ARRAY_SIZE(RCOutput::pwm_group_list);
void RCOutput::init() void RCOutput::init()
{ {
uint8_t pwm_count = AP_BoardConfig::get_pwm_count(); uint8_t pwm_count = AP_BoardConfig::get_pwm_count();
for (uint8_t i = 0; i < NUM_GROUPS; i++ ) { for (auto &group : pwm_group_list) {
//Start Pwm groups //Start Pwm groups
pwm_group &group = pwm_group_list[i];
group.current_mode = MODE_PWM_NORMAL; group.current_mode = MODE_PWM_NORMAL;
for (uint8_t j = 0; j < 4; j++ ) { for (uint8_t j = 0; j < 4; j++ ) {
uint8_t chan = group.chan[j]; uint8_t chan = group.chan[j];
@ -219,10 +218,9 @@ void RCOutput::set_freq(uint32_t chmask, uint16_t freq_hz)
is needed in order to fly a vehicle such as a hex is needed in order to fly a vehicle such as a hex
multicopter properly multicopter properly
*/ */
for (uint8_t i = 0; i < NUM_GROUPS; i++ ) { for (auto &group : pwm_group_list) {
// greater than 400 doesn't give enough room at higher periods for // greater than 400 doesn't give enough room at higher periods for
// the down pulse. This still allows for high rate with oneshot and dshot. // the down pulse. This still allows for high rate with oneshot and dshot.
pwm_group &group = pwm_group_list[i];
uint16_t group_freq = freq_hz; uint16_t group_freq = freq_hz;
if (group_freq > 400 && group.current_mode != MODE_PWM_BRUSHED) { if (group_freq > 400 && group.current_mode != MODE_PWM_BRUSHED) {
group_freq = 400; group_freq = 400;
@ -248,8 +246,7 @@ void RCOutput::set_default_rate(uint16_t freq_hz)
iomcu.set_default_rate(freq_hz); iomcu.set_default_rate(freq_hz);
} }
#endif #endif
for (uint8_t i = 0; i < NUM_GROUPS; i++ ) { for (auto &group : pwm_group_list) {
pwm_group &group = pwm_group_list[i];
if ((group.ch_mask & fast_channel_mask) || group.ch_mask == 0) { if ((group.ch_mask & fast_channel_mask) || group.ch_mask == 0) {
// don't change fast channels // don't change fast channels
continue; continue;
@ -274,8 +271,7 @@ RCOutput::pwm_group *RCOutput::find_chan(uint8_t chan, uint8_t &group_idx)
} }
chan -= chan_offset; chan -= chan_offset;
for (uint8_t i = 0; i < NUM_GROUPS; i++ ) { for (auto &group : pwm_group_list) {
pwm_group &group = pwm_group_list[i];
for (uint8_t j = 0; j < 4; j++) { for (uint8_t j = 0; j < 4; j++) {
if (group.chan[j] == chan) { if (group.chan[j] == chan) {
group_idx = j; group_idx = j;
@ -374,10 +370,9 @@ void RCOutput::push_local(void)
uint16_t widest_pulse = 0; uint16_t widest_pulse = 0;
uint8_t need_trigger = 0; uint8_t need_trigger = 0;
bool safety_on = hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED;
for (uint8_t i = 0; i < NUM_GROUPS; i++ ) { bool safety_on = hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED;
pwm_group &group = pwm_group_list[i]; for (auto &group : pwm_group_list) {
if (serial_group) { if (serial_group) {
continue; continue;
} }
@ -432,6 +427,7 @@ void RCOutput::push_local(void)
group.current_mode == MODE_NEOPIXEL || group.current_mode == MODE_NEOPIXEL ||
group.current_mode == MODE_PROFILED || group.current_mode == MODE_PROFILED ||
is_dshot_protocol(group.current_mode)) { is_dshot_protocol(group.current_mode)) {
const uint8_t i = &group - pwm_group_list;
need_trigger |= (1U<<i); need_trigger |= (1U<<i);
} }
} }
@ -735,8 +731,7 @@ void RCOutput::set_group_mode(pwm_group &group)
*/ */
void RCOutput::set_output_mode(uint16_t mask, const enum output_mode mode) void RCOutput::set_output_mode(uint16_t mask, const enum output_mode mode)
{ {
for (uint8_t i = 0; i < NUM_GROUPS; i++ ) { for (auto &group : pwm_group_list) {
pwm_group &group = pwm_group_list[i];
enum output_mode thismode = mode; enum output_mode thismode = mode;
if (((group.ch_mask << chan_offset) & mask) == 0) { if (((group.ch_mask << chan_offset) & mask) == 0) {
// this group is not affected // this group is not affected
@ -795,8 +790,7 @@ bool RCOutput::get_output_mode_banner(char banner_msg[], uint8_t banner_msg_len)
#endif #endif
// fill in ch_mode array for FMU channels // fill in ch_mode array for FMU channels
for (uint8_t i = 0; i < NUM_GROUPS; i++ ) { for (auto &group : pwm_group_list) {
const pwm_group &group = pwm_group_list[i];
if (group.current_mode != MODE_PWM_NONE) { if (group.current_mode != MODE_PWM_NONE) {
for (uint8_t j = 0; j < ARRAY_SIZE(group.chan); j++) { for (uint8_t j = 0; j < ARRAY_SIZE(group.chan); j++) {
if (group.chan[j] != CHAN_DISABLED) { if (group.chan[j] != CHAN_DISABLED) {
@ -892,14 +886,14 @@ void RCOutput::trigger_groups(void)
} }
osalSysLock(); osalSysLock();
for (uint8_t i = 0; i < NUM_GROUPS; i++) { for (auto &group : pwm_group_list) {
pwm_group &group = pwm_group_list[i];
if (irq.waiter) { if (irq.waiter) {
// doing serial output, don't send pulses // doing serial output, don't send pulses
continue; continue;
} }
if (group.current_mode == MODE_PWM_ONESHOT || if (group.current_mode == MODE_PWM_ONESHOT ||
group.current_mode == MODE_PWM_ONESHOT125) { group.current_mode == MODE_PWM_ONESHOT125) {
const uint8_t i = &group - pwm_group_list;
if (trigger_groupmask & (1U<<i)) { if (trigger_groupmask & (1U<<i)) {
// this triggers pulse output for a channel group // this triggers pulse output for a channel group
group.pwm_drv->tim->EGR = STM32_TIM_EGR_UG; group.pwm_drv->tim->EGR = STM32_TIM_EGR_UG;
@ -941,8 +935,7 @@ void RCOutput::timer_tick(void)
if (serial_led_pending && chMtxTryLock(&trigger_mutex)) { if (serial_led_pending && chMtxTryLock(&trigger_mutex)) {
serial_led_pending = false; serial_led_pending = false;
for (uint8_t j = 0; j < NUM_GROUPS; j++) { for (auto &group : pwm_group_list) {
pwm_group &group = pwm_group_list[j];
if (group.serial_led_pending && (group.current_mode == MODE_NEOPIXEL || group.current_mode == MODE_PROFILED)) { if (group.serial_led_pending && (group.current_mode == MODE_NEOPIXEL || group.current_mode == MODE_PROFILED)) {
group.serial_led_pending = !serial_led_send(group); group.serial_led_pending = !serial_led_send(group);
group.prepared_send = group.serial_led_pending; group.prepared_send = group.serial_led_pending;
@ -967,8 +960,7 @@ void RCOutput::timer_tick(void)
*/ */
void RCOutput::dma_allocate(Shared_DMA *ctx) void RCOutput::dma_allocate(Shared_DMA *ctx)
{ {
for (uint8_t i = 0; i < NUM_GROUPS; i++ ) { for (auto &group : pwm_group_list) {
pwm_group &group = pwm_group_list[i];
if (group.dma_handle == ctx && group.dma == nullptr) { if (group.dma_handle == ctx && group.dma == nullptr) {
chSysLock(); chSysLock();
group.dma = dmaStreamAllocI(group.dma_up_stream_id, 10, dma_up_irq_callback, &group); group.dma = dmaStreamAllocI(group.dma_up_stream_id, 10, dma_up_irq_callback, &group);
@ -987,8 +979,7 @@ void RCOutput::dma_allocate(Shared_DMA *ctx)
*/ */
void RCOutput::dma_deallocate(Shared_DMA *ctx) void RCOutput::dma_deallocate(Shared_DMA *ctx)
{ {
for (uint8_t i = 0; i < NUM_GROUPS; i++ ) { for (auto &group : pwm_group_list) {
pwm_group &group = pwm_group_list[i];
if (group.dma_handle == ctx && group.dma != nullptr) { if (group.dma_handle == ctx && group.dma != nullptr) {
chSysLock(); chSysLock();
dmaStreamFreeI(group.dma); dmaStreamFreeI(group.dma);
@ -1051,8 +1042,7 @@ void RCOutput::fill_DMA_buffer_dshot(uint32_t *buffer, uint8_t stride, uint16_t
// send dshot for all groups that support it // send dshot for all groups that support it
void RCOutput::dshot_send_groups(bool blocking) void RCOutput::dshot_send_groups(bool blocking)
{ {
for (uint8_t i = 0; i < NUM_GROUPS; i++) { for (auto &group : pwm_group_list) {
pwm_group &group = pwm_group_list[i];
if (group.can_send_dshot_pulse()) { if (group.can_send_dshot_pulse()) {
dshot_send(group, blocking); dshot_send(group, blocking);
// delay sending the next group by the same amount as the bidir dead time // delay sending the next group by the same amount as the bidir dead time
@ -1302,8 +1292,7 @@ bool RCOutput::serial_setup_output(uint8_t chan, uint32_t baudrate, uint16_t cha
pwm_group *new_serial_group = nullptr; pwm_group *new_serial_group = nullptr;
// find the channel group // find the channel group
for (uint8_t i = 0; i < NUM_GROUPS; i++ ) { for (auto &group : pwm_group_list) {
pwm_group &group = pwm_group_list[i];
if (group.current_mode == MODE_PWM_BRUSHED) { if (group.current_mode == MODE_PWM_BRUSHED) {
// can't do serial output with brushed motors // can't do serial output with brushed motors
continue; continue;
@ -1330,8 +1319,7 @@ bool RCOutput::serial_setup_output(uint8_t chan, uint32_t baudrate, uint16_t cha
// setup the groups for serial output. We ask for a bit width of 1, which gets modified by the // setup the groups for serial output. We ask for a bit width of 1, which gets modified by the
// we setup all groups so they all are setup with the right polarity, and to make switching between // we setup all groups so they all are setup with the right polarity, and to make switching between
// channels in blheli pass-thru fast // channels in blheli pass-thru fast
for (uint8_t i = 0; i < NUM_GROUPS; i++ ) { for (auto &group : pwm_group_list) {
pwm_group &group = pwm_group_list[i];
if (group.ch_mask & chanmask) { if (group.ch_mask & chanmask) {
if (!setup_group_DMA(group, baudrate, 10, false, DSHOT_BUFFER_LENGTH, false)) { if (!setup_group_DMA(group, baudrate, 10, false, DSHOT_BUFFER_LENGTH, false)) {
serial_end(); serial_end();