Target check in chdrv_group_prepare() intitialization function #38
Description
In the implementation of the hardware initialising function, chdrv_group_prepare(ch_group_t *grp_ptr) in soniclib/ch_driver.c, the default code path has an access to the members grp_ptr->sensor_int_pin and grp_ptr->sensor_trig_pin which are only defined for shasta targets. Therefore compilation fails for whitney targets since the access occurs before the #ifdef INCLUDE_WHITNEY_SUPPORT check, and CHIRP_SENSOR_INT_PIN and CHIRP_SENSOR_TRIG_PIN are undefined for whitney targets at compile time.
int chdrv_group_prepare(ch_group_t *grp_ptr) {
int ch_err = !grp_ptr;
uint8_t i;
if (!ch_err) {
grp_ptr->sensor_count = 0;
for (i = 0; i < grp_ptr->num_buses; i++) {
grp_ptr->queue[i].len = 0;
grp_ptr->queue[i].idx = 0;
grp_ptr->queue[i].read_pending = 0;
grp_ptr->queue[i].running = 0;
}
grp_ptr->sensor_int_pin = CHIRP_SENSOR_INT_PIN;
grp_ptr->sensor_trig_pin = CHIRP_SENSOR_TRIG_PIN;
#ifdef INCLUDE_WHITNEY_SUPPORT
ch_err = chbsp_i2c_init();
#endif
}
return ch_err;
}Compile error:
Solution
I have added the following logic to check target definition and pick the appropriate initialization for each target in soniclib/ch_driver.c.
#ifdef INCLUDE_SHASTA_SUPPORT
grp_ptr->sensor_int_pin = CHIRP_SENSOR_INT_PIN;
grp_ptr->sensor_trig_pin = CHIRP_SENSOR_TRIG_PIN;
#elif defined(INCLUDE_WHITNEY_SUPPORT)
ch_err = chbsp_i2c_init();
#endifPull Request added for fix
@tdk-invn-oss/ultrasonic-maintainers