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px4fmu: cleanup - removed duplicate const MAX_ACTUATORS definition
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@BazookaJoe1900 @dagar
BazookaJoe1900 authored and dagar committed Jul 11, 2019
1 parent e5128ac commit 7be5d15
Showing 1 changed file with 35 additions and 36 deletions.
71 changes: 35 additions & 36 deletions src/drivers/px4fmu/fmu.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -68,7 +68,6 @@
#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 MAX_ACTUATORS = DIRECT_PWM_OUTPUT_CHANNELS;

/*
* Define the various LED flash sequences for each system state.
Expand Down Expand Up @@ -187,7 +186,7 @@ class PX4FMU : public cdev::CDev, public ModuleBase<PX4FMU>
hrt_abstime _last_safety_check = 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;
unsigned _pwm_default_rate;
Expand Down Expand Up @@ -223,10 +222,10 @@ class PX4FMU : public cdev::CDev, public ModuleBase<PX4FMU>

static pwm_limit_t _pwm_limit;
static actuator_armed_s _armed;
uint16_t _failsafe_pwm[_max_actuators] {};
uint16_t _disarmed_pwm[_max_actuators] {};
uint16_t _min_pwm[_max_actuators] {};
uint16_t _max_pwm[_max_actuators] {};
uint16_t _failsafe_pwm[_MAX_ACTUATORS] {};
uint16_t _disarmed_pwm[_MAX_ACTUATORS] {};
uint16_t _min_pwm[_MAX_ACTUATORS] {};
uint16_t _max_pwm[_MAX_ACTUATORS] {};
uint16_t _reverse_pwm_mask;
unsigned _num_failsafe_set;
unsigned _num_disarmed_set;
Expand Down Expand Up @@ -280,7 +279,7 @@ class PX4FMU : public cdev::CDev, public ModuleBase<PX4FMU>
* Reorder PWM outputs according to _motor_ordering
* @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;
Expand Down Expand Up @@ -324,7 +323,7 @@ PX4FMU::PX4FMU(bool run_as_task) :
_motor_ordering(MotorOrdering::PX4),
_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;
_max_pwm[i] = PWM_DEFAULT_MAX;
}
Expand Down Expand Up @@ -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++) {

/* 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
* configuration.
*
Expand All @@ -767,7 +766,7 @@ PX4FMU::set_pwm_rate(uint32_t rate_map, unsigned default_rate, unsigned alt_rate
* 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
uint32_t mask = up_pwm_servo_get_rate_group(group);
Expand Down Expand Up @@ -864,7 +863,7 @@ PX4FMU::update_pwm_rev_mask()
return;
}

for (unsigned i = 0; i < _max_actuators; i++) {
for (unsigned i = 0; i < _MAX_ACTUATORS; i++) {
char pname[16];

/* fill the channel reverse mask from parameters */
Expand All @@ -886,7 +885,7 @@ PX4FMU::update_pwm_trims()

if (_mixers != nullptr) {

int16_t values[_max_actuators] = {};
int16_t values[_MAX_ACTUATORS] = {};

const char *pname_format;

Expand All @@ -901,7 +900,7 @@ PX4FMU::update_pwm_trims()
return;
}

for (unsigned i = 0; i < _max_actuators; i++) {
for (unsigned i = 0; i < _MAX_ACTUATORS; i++) {
char pname[16];

/* fill the struct from parameters */
Expand All @@ -917,7 +916,7 @@ PX4FMU::update_pwm_trims()
}

/* 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);
}
}
Expand Down Expand Up @@ -1182,11 +1181,11 @@ PX4FMU::cycle()
_mixers->set_airmode(_airmode);

/* do mixing */
float outputs[_max_actuators];
float outputs[_MAX_ACTUATORS];
const unsigned mixed_num_outputs = _mixers->mix(outputs, _num_outputs);

/* 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,
_disarmed_pwm, _min_pwm, _max_pwm, outputs, pwm_limited, &_pwm_limit);
Expand Down Expand Up @@ -1548,7 +1547,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;

/* discard if too many values are sent */
if (pwm->channel_count > _max_actuators) {
if (pwm->channel_count > _MAX_ACTUATORS) {
ret = -EINVAL;
break;
}
Expand Down Expand Up @@ -1581,7 +1580,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
*/
_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) {
_num_failsafe_set++;
}
Expand All @@ -1593,19 +1592,19 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
case PWM_SERVO_GET_FAILSAFE_PWM: {
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->channel_count = _max_actuators;
pwm->channel_count = _MAX_ACTUATORS;
break;
}

case PWM_SERVO_SET_DISARMED_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;

/* discard if too many values are sent */
if (pwm->channel_count > _max_actuators) {
if (pwm->channel_count > _MAX_ACTUATORS) {
ret = -EINVAL;
break;
}
Expand Down Expand Up @@ -1636,7 +1635,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
*/
_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) {
_num_disarmed_set++;
}
Expand All @@ -1648,19 +1647,19 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
case PWM_SERVO_GET_DISARMED_PWM: {
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->channel_count = _max_actuators;
pwm->channel_count = _MAX_ACTUATORS;
break;
}

case PWM_SERVO_SET_MIN_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;

/* discard if too many values are sent */
if (pwm->channel_count > _max_actuators) {
if (pwm->channel_count > _MAX_ACTUATORS) {
ret = -EINVAL;
break;
}
Expand Down Expand Up @@ -1692,11 +1691,11 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
case PWM_SERVO_GET_MIN_PWM: {
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->channel_count = _max_actuators;
pwm->channel_count = _MAX_ACTUATORS;
arg = (unsigned long)&pwm;
break;
}
Expand All @@ -1705,7 +1704,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;

/* discard if too many values are sent */
if (pwm->channel_count > _max_actuators) {
if (pwm->channel_count > _MAX_ACTUATORS) {
ret = -EINVAL;
break;
}
Expand All @@ -1730,11 +1729,11 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
case PWM_SERVO_GET_MAX_PWM: {
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->channel_count = _max_actuators;
pwm->channel_count = _MAX_ACTUATORS;
arg = (unsigned long)&pwm;
break;
}
Expand All @@ -1743,7 +1742,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;

/* 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);
ret = -EINVAL;
break;
Expand Down Expand Up @@ -2186,7 +2185,7 @@ ssize_t
PX4FMU::write(file *filp, const char *buffer, size_t len)
{
unsigned count = len / 2;
uint16_t values[MAX_ACTUATORS];
uint16_t values[_MAX_ACTUATORS];

#if BOARD_HAS_PWM == 0
return 0;
Expand All @@ -2197,8 +2196,8 @@ PX4FMU::write(file *filp, const char *buffer, size_t len)
count = BOARD_HAS_PWM;
}

if (count > MAX_ACTUATORS) {
count = MAX_ACTUATORS;
if (count > _MAX_ACTUATORS) {
count = _MAX_ACTUATORS;
}

// allow for misaligned values
Expand All @@ -2220,9 +2219,9 @@ PX4FMU::write(file *filp, const char *buffer, size_t len)
}

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;
}

Expand Down

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