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px4fmu: cleanup - removed duplicate const MAX_ACTUATORS definition

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BazookaJoe1900
2019-07-12 01:25:56 +03:00
committed by Daniel Agar
parent e5128ac7b9
commit 7be5d15502
1 changed files with 35 additions and 36 deletions
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src/drivers/px4fmu/fmu.cpp
+35 -36
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@@ -68,7 +68,6 @@
#define SCHEDULE_INTERVAL 2000 /**< The schedule interval in usec (500 Hz) */ #define SCHEDULE_INTERVAL 2000 /**< The schedule interval in usec (500 Hz) */
static constexpr uint8_t CYCLE_COUNT = 10; /* safety switch must be held for 1 second to activate */ static constexpr uint8_t CYCLE_COUNT = 10; /* safety switch must be held for 1 second to activate */
static constexpr uint8_t MAX_ACTUATORS = DIRECT_PWM_OUTPUT_CHANNELS;
/* /*
* Define the various LED flash sequences for each system state. * Define the various LED flash sequences for each system state.
@@ -187,7 +186,7 @@ private:
hrt_abstime _last_safety_check = 0; hrt_abstime _last_safety_check = 0;
hrt_abstime _time_last_mix = 0; hrt_abstime _time_last_mix = 0;
static constexpr unsigned _max_actuators = DIRECT_PWM_OUTPUT_CHANNELS; static constexpr unsigned _MAX_ACTUATORS = DIRECT_PWM_OUTPUT_CHANNELS;
Mode _mode; Mode _mode;
unsigned _pwm_default_rate; unsigned _pwm_default_rate;
@@ -223,10 +222,10 @@ private:
static pwm_limit_t _pwm_limit; static pwm_limit_t _pwm_limit;
static actuator_armed_s _armed; static actuator_armed_s _armed;
uint16_t _failsafe_pwm[_max_actuators] {}; uint16_t _failsafe_pwm[_MAX_ACTUATORS] {};
uint16_t _disarmed_pwm[_max_actuators] {}; uint16_t _disarmed_pwm[_MAX_ACTUATORS] {};
uint16_t _min_pwm[_max_actuators] {}; uint16_t _min_pwm[_MAX_ACTUATORS] {};
uint16_t _max_pwm[_max_actuators] {}; uint16_t _max_pwm[_MAX_ACTUATORS] {};
uint16_t _reverse_pwm_mask; uint16_t _reverse_pwm_mask;
unsigned _num_failsafe_set; unsigned _num_failsafe_set;
unsigned _num_disarmed_set; unsigned _num_disarmed_set;
@@ -280,7 +279,7 @@ private:
* Reorder PWM outputs according to _motor_ordering * Reorder PWM outputs according to _motor_ordering
* @param values PWM values to reorder * @param values PWM values to reorder
*/ */
inline void reorder_outputs(uint16_t values[MAX_ACTUATORS]); inline void reorder_outputs(uint16_t values[_MAX_ACTUATORS]);
}; };
pwm_limit_t PX4FMU::_pwm_limit; pwm_limit_t PX4FMU::_pwm_limit;
@@ -324,7 +323,7 @@ PX4FMU::PX4FMU(bool run_as_task) :
_motor_ordering(MotorOrdering::PX4), _motor_ordering(MotorOrdering::PX4),
_perf_control_latency(perf_alloc(PC_ELAPSED, "fmu control latency")) _perf_control_latency(perf_alloc(PC_ELAPSED, "fmu control latency"))
{ {
for (unsigned i = 0; i < _max_actuators; i++) { for (unsigned i = 0; i < _MAX_ACTUATORS; i++) {
_min_pwm[i] = PWM_DEFAULT_MIN; _min_pwm[i] = PWM_DEFAULT_MIN;
_max_pwm[i] = PWM_DEFAULT_MAX; _max_pwm[i] = PWM_DEFAULT_MAX;
} }
@@ -753,7 +752,7 @@ PX4FMU::set_pwm_rate(uint32_t rate_map, unsigned default_rate, unsigned alt_rate
for (unsigned pass = 0; pass < 2; pass++) { for (unsigned pass = 0; pass < 2; pass++) {
/* We should note that group is iterated over from 0 to _max_actuators. /* We should note that group is iterated over from 0 to _MAX_ACTUATORS.
* This allows for the ideal worlds situation: 1 channel per group * This allows for the ideal worlds situation: 1 channel per group
* configuration. * configuration.
* *
@@ -767,7 +766,7 @@ PX4FMU::set_pwm_rate(uint32_t rate_map, unsigned default_rate, unsigned alt_rate
* rate and mode. (See rates above.) * rate and mode. (See rates above.)
*/ */
for (unsigned group = 0; group < _max_actuators; group++) { for (unsigned group = 0; group < _MAX_ACTUATORS; group++) {
// get the channel mask for this rate group // get the channel mask for this rate group
uint32_t mask = up_pwm_servo_get_rate_group(group); uint32_t mask = up_pwm_servo_get_rate_group(group);
@@ -864,7 +863,7 @@ PX4FMU::update_pwm_rev_mask()
return; return;
} }
for (unsigned i = 0; i < _max_actuators; i++) { for (unsigned i = 0; i < _MAX_ACTUATORS; i++) {
char pname[16]; char pname[16];
/* fill the channel reverse mask from parameters */ /* fill the channel reverse mask from parameters */
@@ -886,7 +885,7 @@ PX4FMU::update_pwm_trims()
if (_mixers != nullptr) { if (_mixers != nullptr) {
int16_t values[_max_actuators] = {}; int16_t values[_MAX_ACTUATORS] = {};
const char *pname_format; const char *pname_format;
@@ -901,7 +900,7 @@ PX4FMU::update_pwm_trims()
return; return;
} }
for (unsigned i = 0; i < _max_actuators; i++) { for (unsigned i = 0; i < _MAX_ACTUATORS; i++) {
char pname[16]; char pname[16];
/* fill the struct from parameters */ /* fill the struct from parameters */
@@ -917,7 +916,7 @@ PX4FMU::update_pwm_trims()
} }
/* copy the trim values to the mixer offsets */ /* copy the trim values to the mixer offsets */
unsigned n_out = _mixers->set_trims(values, _max_actuators); unsigned n_out = _mixers->set_trims(values, _MAX_ACTUATORS);
PX4_DEBUG("set %d trims", n_out); PX4_DEBUG("set %d trims", n_out);
} }
} }
@@ -1182,11 +1181,11 @@ PX4FMU::cycle()
_mixers->set_airmode(_airmode); _mixers->set_airmode(_airmode);
/* do mixing */ /* do mixing */
float outputs[_max_actuators]; float outputs[_MAX_ACTUATORS];
const unsigned mixed_num_outputs = _mixers->mix(outputs, _num_outputs); const unsigned mixed_num_outputs = _mixers->mix(outputs, _num_outputs);
/* the PWM limit call takes care of out of band errors, NaN and constrains */ /* the PWM limit call takes care of out of band errors, NaN and constrains */
uint16_t pwm_limited[MAX_ACTUATORS]; uint16_t pwm_limited[_MAX_ACTUATORS];
pwm_limit_calc(_throttle_armed, arm_nothrottle(), mixed_num_outputs, _reverse_pwm_mask, pwm_limit_calc(_throttle_armed, arm_nothrottle(), mixed_num_outputs, _reverse_pwm_mask,
_disarmed_pwm, _min_pwm, _max_pwm, outputs, pwm_limited, &_pwm_limit); _disarmed_pwm, _min_pwm, _max_pwm, outputs, pwm_limited, &_pwm_limit);
@@ -1548,7 +1547,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
struct pwm_output_values *pwm = (struct pwm_output_values *)arg; struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
/* discard if too many values are sent */ /* discard if too many values are sent */
if (pwm->channel_count > _max_actuators) { if (pwm->channel_count > _MAX_ACTUATORS) {
ret = -EINVAL; ret = -EINVAL;
break; break;
} }
@@ -1581,7 +1580,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
*/ */
_num_failsafe_set = 0; _num_failsafe_set = 0;
for (unsigned i = 0; i < _max_actuators; i++) { for (unsigned i = 0; i < _MAX_ACTUATORS; i++) {
if (_failsafe_pwm[i] > 0) { if (_failsafe_pwm[i] > 0) {
_num_failsafe_set++; _num_failsafe_set++;
} }
@@ -1593,11 +1592,11 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
case PWM_SERVO_GET_FAILSAFE_PWM: { case PWM_SERVO_GET_FAILSAFE_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg; struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
for (unsigned i = 0; i < _max_actuators; i++) { for (unsigned i = 0; i < _MAX_ACTUATORS; i++) {
pwm->values[i] = _failsafe_pwm[i]; pwm->values[i] = _failsafe_pwm[i];
} }
pwm->channel_count = _max_actuators; pwm->channel_count = _MAX_ACTUATORS;
break; break;
} }
@@ -1605,7 +1604,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
struct pwm_output_values *pwm = (struct pwm_output_values *)arg; struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
/* discard if too many values are sent */ /* discard if too many values are sent */
if (pwm->channel_count > _max_actuators) { if (pwm->channel_count > _MAX_ACTUATORS) {
ret = -EINVAL; ret = -EINVAL;
break; break;
} }
@@ -1636,7 +1635,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
*/ */
_num_disarmed_set = 0; _num_disarmed_set = 0;
for (unsigned i = 0; i < _max_actuators; i++) { for (unsigned i = 0; i < _MAX_ACTUATORS; i++) {
if (_disarmed_pwm[i] > 0) { if (_disarmed_pwm[i] > 0) {
_num_disarmed_set++; _num_disarmed_set++;
} }
@@ -1648,11 +1647,11 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
case PWM_SERVO_GET_DISARMED_PWM: { case PWM_SERVO_GET_DISARMED_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg; struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
for (unsigned i = 0; i < _max_actuators; i++) { for (unsigned i = 0; i < _MAX_ACTUATORS; i++) {
pwm->values[i] = _disarmed_pwm[i]; pwm->values[i] = _disarmed_pwm[i];
} }
pwm->channel_count = _max_actuators; pwm->channel_count = _MAX_ACTUATORS;
break; break;
} }
@@ -1660,7 +1659,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
struct pwm_output_values *pwm = (struct pwm_output_values *)arg; struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
/* discard if too many values are sent */ /* discard if too many values are sent */
if (pwm->channel_count > _max_actuators) { if (pwm->channel_count > _MAX_ACTUATORS) {
ret = -EINVAL; ret = -EINVAL;
break; break;
} }
@@ -1692,11 +1691,11 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
case PWM_SERVO_GET_MIN_PWM: { case PWM_SERVO_GET_MIN_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg; struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
for (unsigned i = 0; i < _max_actuators; i++) { for (unsigned i = 0; i < _MAX_ACTUATORS; i++) {
pwm->values[i] = _min_pwm[i]; pwm->values[i] = _min_pwm[i];
} }
pwm->channel_count = _max_actuators; pwm->channel_count = _MAX_ACTUATORS;
arg = (unsigned long)&pwm; arg = (unsigned long)&pwm;
break; break;
} }
@@ -1705,7 +1704,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
struct pwm_output_values *pwm = (struct pwm_output_values *)arg; struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
/* discard if too many values are sent */ /* discard if too many values are sent */
if (pwm->channel_count > _max_actuators) { if (pwm->channel_count > _MAX_ACTUATORS) {
ret = -EINVAL; ret = -EINVAL;
break; break;
} }
@@ -1730,11 +1729,11 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
case PWM_SERVO_GET_MAX_PWM: { case PWM_SERVO_GET_MAX_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg; struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
for (unsigned i = 0; i < _max_actuators; i++) { for (unsigned i = 0; i < _MAX_ACTUATORS; i++) {
pwm->values[i] = _max_pwm[i]; pwm->values[i] = _max_pwm[i];
} }
pwm->channel_count = _max_actuators; pwm->channel_count = _MAX_ACTUATORS;
arg = (unsigned long)&pwm; arg = (unsigned long)&pwm;
break; break;
} }
@@ -1743,7 +1742,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
struct pwm_output_values *pwm = (struct pwm_output_values *)arg; struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
/* discard if too many values are sent */ /* discard if too many values are sent */
if (pwm->channel_count > _max_actuators) { if (pwm->channel_count > _MAX_ACTUATORS) {
PX4_DEBUG("error: too many trim values: %d", pwm->channel_count); PX4_DEBUG("error: too many trim values: %d", pwm->channel_count);
ret = -EINVAL; ret = -EINVAL;
break; break;
@@ -2186,7 +2185,7 @@ ssize_t
PX4FMU::write(file *filp, const char *buffer, size_t len) PX4FMU::write(file *filp, const char *buffer, size_t len)
{ {
unsigned count = len / 2; unsigned count = len / 2;
uint16_t values[MAX_ACTUATORS]; uint16_t values[_MAX_ACTUATORS];
#if BOARD_HAS_PWM == 0 #if BOARD_HAS_PWM == 0
return 0; return 0;
@@ -2197,8 +2196,8 @@ PX4FMU::write(file *filp, const char *buffer, size_t len)
count = BOARD_HAS_PWM; count = BOARD_HAS_PWM;
} }
if (count > MAX_ACTUATORS) { if (count > _MAX_ACTUATORS) {
count = MAX_ACTUATORS; count = _MAX_ACTUATORS;
} }
// allow for misaligned values // allow for misaligned values
@@ -2220,9 +2219,9 @@ PX4FMU::write(file *filp, const char *buffer, size_t len)
} }
void void
PX4FMU::reorder_outputs(uint16_t values[MAX_ACTUATORS]) PX4FMU::reorder_outputs(uint16_t values[_MAX_ACTUATORS])
{ {
if (MAX_ACTUATORS < 4) { if (_MAX_ACTUATORS < 4) {
return; return;
} }