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move PPM input disable into scan case for PPM; PPM input is now enabled only while in RC_SCAN_PPM state

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Mark Whitehorn 2016-01-10 08:17:23 -07:00 committed by Lorenz Meier
parent 434ce85937
commit 71a3e3713c
1 changed files with 4 additions and 6 deletions
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10
src/drivers/px4fmu/fmu.cpp
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@ -673,6 +673,8 @@ PX4FMU::cycle()
_rcs_fd = :: open(RC_SERIAL_PORT, O_RDWR | O_NONBLOCK);
// assume SBUS input
sbus_config(_rcs_fd, false);
// disable CPPM input by mapping it away from the timer capture input
stm32_configgpio(GPIO_PPM_IN & ~(GPIO_AF_MASK | GPIO_PUPD_MASK));
#endif
_initialized = true;
}
@ -866,12 +868,6 @@ PX4FMU::cycle()
if (report_lock && rc_scan_locked) {
report_lock = false;
warnx("fmu: RC input %u locked", rc_scan_state);
if (rc_scan_state != RC_SCAN_PPM) {
warnx("fmu: disabling PPM input");
// disable CPPM input by mapping it away from the timer capture input
stm32_configgpio(GPIO_PPM_IN & ~GPIO_AF_MASK);
}
}
// read all available data from the serial RC input UART
@ -1018,6 +1014,8 @@ PX4FMU::cycle()
} else if (!rc_scan_locked) {
// This triggers the port re-configuration
rc_scan_begin = 0;
// disable CPPM input by mapping it away from the timer capture input
stm32_configgpio(GPIO_PPM_IN & ~(GPIO_AF_MASK | GPIO_PUPD_MASK));
// Scan the next protocol
rc_scan_state = RC_SCAN_SBUS;
}