HAL_ChibOS: fixed handling of disabled channels

libraries/AP_HAL_ChibiOS/RCOutput.cpp

@@ -31,14 +31,15 @@ const struct ChibiRCOutput::pwm_group ChibiRCOutput::pwm_group_list[] = { HAL_PW
 
 #define NUM_GROUPS ARRAY_SIZE_SIMPLE(pwm_group_list)
 
+#define CHAN_DISABLED 255
+
 void ChibiRCOutput::init()
 {
     for (uint8_t i = 0; i < NUM_GROUPS; i++ ) {
         //Start Pwm groups
         pwmStart(pwm_group_list[i].pwm_drv, &pwm_group_list[i].pwm_cfg);
-        pwmChangePeriod(pwm_group_list[i].pwm_drv, pwm_group_list[i].pwm_cfg.frequency/50);
         for (uint8_t j = 0; j < 4; j++ ) {
-            if (pwm_group_list[i].chan[j] != 255) {
+            if (pwm_group_list[i].chan[j] != CHAN_DISABLED) {
                 total_channels = MAX(total_channels, pwm_group_list[i].chan[j]+1);
             }
         }
@@ -77,7 +78,7 @@ void ChibiRCOutput::set_freq(uint32_t chmask, uint16_t freq_hz)
     for (uint8_t i = 0; i < NUM_GROUPS; i++ ) {
         uint16_t grp_ch_mask = 0;
         for (uint8_t j=0; j<4; j++) {
-            if (pwm_group_list[i].chan[j] != 255) {
+            if (pwm_group_list[i].chan[j] != CHAN_DISABLED) {
                 grp_ch_mask |= (1U<<pwm_group_list[i].chan[j]);
             }
         }
@@ -201,6 +202,9 @@ void ChibiRCOutput::push_local(void)
     for (uint8_t i = 0; i < NUM_GROUPS; i++ ) {
         for (uint8_t j = 0; j < 4; j++) {
             uint8_t chan = pwm_group_list[i].chan[j];
+            if (chan == CHAN_DISABLED) {
+                continue;
+            }
             if (outmask & (1UL<<chan)) {
                 uint32_t period_us = period[chan];
                 if(_output_mode == MODE_PWM_BRUSHED && (fast_channel_mask & (1UL<<chan))) {

libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py

@@ -516,6 +516,7 @@ def write_PWM_config(f):
             group = len(groups)+1
             n = int(t[3])
             chan_list = [255, 255, 255, 255]
+            chan_mode = ['PWM_OUTPUT_DISABLED', 'PWM_OUTPUT_DISABLED', 'PWM_OUTPUT_DISABLED', 'PWM_OUTPUT_DISABLED']
             for p in pwm_out:
                 if p.type != t:
                     continue
@@ -531,6 +532,7 @@ def write_PWM_config(f):
                     errors("Bad PWM number in %s" % p)
                 pwmchan = int(pwmchan_str)
                 chan_list[chan-1] = pwmchan-1
+                chan_mode[chan-1] = 'PWM_OUTPUT_ACTIVE_HIGH'
             groups.append('HAL_PWM_GROUP%u' % group)
             if n in [1, 8]:
                 # only the advanced timers do 8MHz clocks
@@ -547,11 +549,16 @@ def write_PWM_config(f):
           NULL,     /* no callback */ \\
           { \\
            /* Channel Config */ \\
-           {PWM_OUTPUT_ACTIVE_HIGH, NULL}, \\
-           {PWM_OUTPUT_ACTIVE_HIGH, NULL}, \\
-           {PWM_OUTPUT_ACTIVE_HIGH, NULL}, \\
-           {PWM_OUTPUT_ACTIVE_HIGH, NULL}  \\
-          }, 0, 0}, &PWMD%u}\n''' % (group, chan_list[0], chan_list[1], chan_list[2], chan_list[3], pwm_clock, period, n))
+           {%s, NULL}, \\
+           {%s, NULL}, \\
+           {%s, NULL}, \\
+           {%s, NULL}  \\
+          }, 0, 0}, &PWMD%u}\n''' % (group,
+                                     chan_list[0], chan_list[1], chan_list[2], chan_list[3],
+                                     pwm_clock,
+                                     period,
+                                     chan_mode[0], chan_mode[1], chan_mode[2], chan_mode[3],
+                                     n))
         f.write('#define HAL_PWM_GROUPS %s\n\n' % ','.join(groups))