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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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This commit is contained in:
Mark Whitehorn
2016-01-14 17:55:52 +01:00
committed by Lorenz Meier
parent 434ce85937
commit 71a3e3713c
1 changed files with 4 additions and 6 deletions
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src/drivers/px4fmu/fmu.cpp
+4 -6
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@@ -673,6 +673,8 @@ PX4FMU::cycle()
_rcs_fd = :: open(RC_SERIAL_PORT, O_RDWR | O_NONBLOCK); _rcs_fd = :: open(RC_SERIAL_PORT, O_RDWR | O_NONBLOCK);
// assume SBUS input // assume SBUS input
sbus_config(_rcs_fd, false); 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 #endif
_initialized = true; _initialized = true;
} }
@@ -866,12 +868,6 @@ PX4FMU::cycle()
if (report_lock && rc_scan_locked) { if (report_lock && rc_scan_locked) {
report_lock = false; report_lock = false;
warnx("fmu: RC input %u locked", rc_scan_state); 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 // read all available data from the serial RC input UART
@@ -1018,6 +1014,8 @@ PX4FMU::cycle()
} else if (!rc_scan_locked) { } else if (!rc_scan_locked) {
// This triggers the port re-configuration // This triggers the port re-configuration
rc_scan_begin = 0; 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 // Scan the next protocol
rc_scan_state = RC_SCAN_SBUS; rc_scan_state = RC_SCAN_SBUS;
} }