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[fix] correct ADC buffer offset for ChibiOS (#2761)

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- with ChibiOS 20.3 the half buffer starting position is computed by
  hand and was wrong in this case: it should be the product of the half
  buffer size by the number of channels
- some other minor fixes:
  - using && instead of & in boolean comparison
  - suppress a warning (comparison always true/false due to limited data range)
    when the number of channels is zero (no ADC in use)
This commit is contained in:
Gautier Hattenberger
2021-08-17 17:24:52 +02:00
committed by GitHub
parent 8ffd3dfcaf
commit 3250aa8dcd
1 changed files with 9 additions and 3 deletions
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sw/airborne/arch/chibios/mcu_periph/adc_arch.c
+9 -3
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@@ -179,10 +179,10 @@ static void adc_regular_sequence(uint32_t *sqr1, uint32_t *sqr2, uint32_t *sqr3,
if (i <= 6) { if (i <= 6) {
first6 |= (channel[i - 1] << ((i - 1) * 5)); first6 |= (channel[i - 1] << ((i - 1) * 5));
} }
if ((i > 6) & (i <= 12)) { if ((i > 6) && (i <= 12)) {
second6 |= (channel[i - 1] << ((i - 6 - 1) * 5)); second6 |= (channel[i - 1] << ((i - 6 - 1) * 5));
} }
if ((i > 12) & (i <= 18)) { if ((i > 12) && (i <= 18)) {
third6 |= (channel[i - 1] << ((i - 12 - 1) * 5)); third6 |= (channel[i - 1] << ((i - 12 - 1) * 5));
} }
} }
@@ -231,7 +231,7 @@ void adc1callback(ADCDriver *adcp)
// half buffer start in the middle of buffer, else, is start at // half buffer start in the middle of buffer, else, is start at
// beginiing of buffer // beginiing of buffer
const adcsample_t *buffer = adc_samples + (adcIsBufferComplete(adcp) ? const adcsample_t *buffer = adc_samples + (adcIsBufferComplete(adcp) ?
n : 0U); n * ADC_NUM_CHANNELS : 0U);
for (int channel = 0; channel < ADC_NUM_CHANNELS; channel++) { for (int channel = 0; channel < ADC_NUM_CHANNELS; channel++) {
if (adc1_buffers[channel] != NULL) { if (adc1_buffers[channel] != NULL) {
@@ -254,6 +254,8 @@ void adc1callback(ADCDriver *adcp)
} }
} }
#if USE_ADC_WATCHDOG #if USE_ADC_WATCHDOG
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wtype-limits" // remove warning when ADC_NUM_CHANNELS is 0 and test always false
if ((adc_watchdog.adc == adcp) && if ((adc_watchdog.adc == adcp) &&
(adc_watchdog.channel < ADC_NUM_CHANNELS) && (adc_watchdog.channel < ADC_NUM_CHANNELS) &&
(adc_watchdog.cb != NULL)) { (adc_watchdog.cb != NULL)) {
@@ -262,6 +264,7 @@ void adc1callback(ADCDriver *adcp)
adc_watchdog.cb(); adc_watchdog.cb();
} }
} }
#pragma GCC diagnostic pop
#endif // USE_ADC_WATCHDOG #endif // USE_ADC_WATCHDOG
chSysUnlockFromISR(); chSysUnlockFromISR();
@@ -289,7 +292,10 @@ static void adcerrorcallback(ADCDriver *adcp, adcerror_t err)
void adc_buf_channel(uint8_t adc_channel, struct adc_buf *s, uint8_t av_nb_sample) void adc_buf_channel(uint8_t adc_channel, struct adc_buf *s, uint8_t av_nb_sample)
{ {
// check for out-of-bounds access // check for out-of-bounds access
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wtype-limits" // remove warning when ADC_NUM_CHANNELS is 0 and test always true
if (adc_channel >= ADC_NUM_CHANNELS) { return; } if (adc_channel >= ADC_NUM_CHANNELS) { return; }
#pragma GCC diagnostic pop
adc1_buffers[adc_channel] = s; adc1_buffers[adc_channel] = s;
if (av_nb_sample <= MAX_AV_NB_SAMPLE) { if (av_nb_sample <= MAX_AV_NB_SAMPLE) {
s->av_nb_sample = av_nb_sample; s->av_nb_sample = av_nb_sample;