From 33c9459ebe37e87a7b9678513e41711416fbdb52 Mon Sep 17 00:00:00 2001 From: David Sidrane Date: Fri, 13 Jul 2018 11:56:53 -0700 Subject: [PATCH] fmu:Use extended board_supports_single_wire APU with UxART --- src/drivers/px4fmu/fmu.cpp | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp index 0aa599b4f1..a93c8dad7f 100644 --- a/src/drivers/px4fmu/fmu.cpp +++ b/src/drivers/px4fmu/fmu.cpp @@ -520,8 +520,10 @@ PX4FMU::init() _vehicle_cmd_sub = orb_subscribe(ORB_ID(vehicle_command)); // dsm_init sets some file static variables and returns a file descriptor _rcs_fd = dsm_init(RC_SERIAL_PORT); - // assume SBUS input - sbus_config(_rcs_fd, board_supports_single_wire()); + // assume SBUS input and immediately switch it to + // so that if Single wire mode on TX there will be only + // a short contention + sbus_config(_rcs_fd, board_supports_single_wire(RC_UXART_BASE)); # ifdef GPIO_PPM_IN // disable CPPM input by mapping it away from the timer capture input px4_arch_unconfiggpio(GPIO_PPM_IN); @@ -1548,7 +1550,7 @@ PX4FMU::cycle() if (_rc_scan_begin == 0) { _rc_scan_begin = _cycle_timestamp; // Configure serial port for SBUS - sbus_config(_rcs_fd, board_supports_single_wire()); + sbus_config(_rcs_fd, board_supports_single_wire(RC_UXART_BASE)); rc_io_invert(true, RC_UXART_BASE); } else if (_rc_scan_locked