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fmu:Use extended rc_io_invert API with UxART

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David Sidrane 2018-07-13 11:52:37 -07:00 committed by Lorenz Meier
parent c291566c3e
commit f48481fcbd
1 changed files with 8 additions and 11 deletions
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19
src/drivers/px4fmu/fmu.cpp
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@ -335,8 +335,7 @@ private:
unsigned frame_drops, int rssi);
void set_rc_scan_state(RC_SCAN _rc_scan_state);
void rc_io_invert();
void rc_io_invert(bool invert);
void rc_io_invert(bool invert, uint32_t uxart_base);
void safety_check_button(void);
void flash_safety_button(void);
@ -1149,11 +1148,9 @@ void PX4FMU::set_rc_scan_state(RC_SCAN newState)
_rc_scan_state = newState;
}
void PX4FMU::rc_io_invert(bool invert)
void PX4FMU::rc_io_invert(bool invert, uint32_t uxart_base)
{
#ifdef INVERT_RC_INPUT
INVERT_RC_INPUT(invert);
#endif
INVERT_RC_INPUT(invert, uxart_base);
}
#endif
@ -1552,7 +1549,7 @@ PX4FMU::cycle()
_rc_scan_begin = _cycle_timestamp;
// Configure serial port for SBUS
sbus_config(_rcs_fd, board_supports_single_wire());
rc_io_invert(true);
rc_io_invert(true, RC_UXART_BASE);
} else if (_rc_scan_locked
|| _cycle_timestamp - _rc_scan_begin < rc_scan_max) {
@ -1583,7 +1580,7 @@ PX4FMU::cycle()
_rc_scan_begin = _cycle_timestamp;
// // Configure serial port for DSM
dsm_config(_rcs_fd);
rc_io_invert(false);
rc_io_invert(false, RC_UXART_BASE);
} else if (_rc_scan_locked
|| _cycle_timestamp - _rc_scan_begin < rc_scan_max) {
@ -1614,7 +1611,7 @@ PX4FMU::cycle()
_rc_scan_begin = _cycle_timestamp;
// Configure serial port for DSM
dsm_config(_rcs_fd);
rc_io_invert(false);
rc_io_invert(false, RC_UXART_BASE);
} else if (_rc_scan_locked
|| _cycle_timestamp - _rc_scan_begin < rc_scan_max) {
@ -1662,7 +1659,7 @@ PX4FMU::cycle()
_rc_scan_begin = _cycle_timestamp;
// Configure serial port for DSM
dsm_config(_rcs_fd);
rc_io_invert(false);
rc_io_invert(false, RC_UXART_BASE);
} else if (_rc_scan_locked
|| _cycle_timestamp - _rc_scan_begin < rc_scan_max) {
@ -1704,7 +1701,7 @@ PX4FMU::cycle()
_rc_scan_begin = _cycle_timestamp;
// Configure timer input pin for CPPM
px4_arch_configgpio(GPIO_PPM_IN);
rc_io_invert(false);
rc_io_invert(false, RC_UXART_BASE);
} else if (_rc_scan_locked || _cycle_timestamp - _rc_scan_begin < rc_scan_max) {