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fmu:Use extended rc_io_invert API with UxART

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This commit is contained in:
David Sidrane
2018-07-17 08:53:29 +02:00
committed by Lorenz Meier
parent c291566c3e
commit f48481fcbd
1 changed files with 8 additions and 11 deletions
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src/drivers/px4fmu/fmu.cpp
+8 -11
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@@ -335,8 +335,7 @@ private:
unsigned frame_drops, int rssi); unsigned frame_drops, int rssi);
void set_rc_scan_state(RC_SCAN _rc_scan_state); void set_rc_scan_state(RC_SCAN _rc_scan_state);
void rc_io_invert(); void rc_io_invert(bool invert, uint32_t uxart_base);
void rc_io_invert(bool invert);
void safety_check_button(void); void safety_check_button(void);
void flash_safety_button(void); void flash_safety_button(void);
@@ -1149,11 +1148,9 @@ void PX4FMU::set_rc_scan_state(RC_SCAN newState)
_rc_scan_state = 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, uxart_base);
INVERT_RC_INPUT(invert);
#endif
} }
#endif #endif
@@ -1552,7 +1549,7 @@ PX4FMU::cycle()
_rc_scan_begin = _cycle_timestamp; _rc_scan_begin = _cycle_timestamp;
// Configure serial port for SBUS // Configure serial port for SBUS
sbus_config(_rcs_fd, board_supports_single_wire()); sbus_config(_rcs_fd, board_supports_single_wire());
rc_io_invert(true); rc_io_invert(true, RC_UXART_BASE);
} else if (_rc_scan_locked } else if (_rc_scan_locked
|| _cycle_timestamp - _rc_scan_begin < rc_scan_max) { || _cycle_timestamp - _rc_scan_begin < rc_scan_max) {
@@ -1583,7 +1580,7 @@ PX4FMU::cycle()
_rc_scan_begin = _cycle_timestamp; _rc_scan_begin = _cycle_timestamp;
// // Configure serial port for DSM // // Configure serial port for DSM
dsm_config(_rcs_fd); dsm_config(_rcs_fd);
rc_io_invert(false); rc_io_invert(false, RC_UXART_BASE);
} else if (_rc_scan_locked } else if (_rc_scan_locked
|| _cycle_timestamp - _rc_scan_begin < rc_scan_max) { || _cycle_timestamp - _rc_scan_begin < rc_scan_max) {
@@ -1614,7 +1611,7 @@ PX4FMU::cycle()
_rc_scan_begin = _cycle_timestamp; _rc_scan_begin = _cycle_timestamp;
// Configure serial port for DSM // Configure serial port for DSM
dsm_config(_rcs_fd); dsm_config(_rcs_fd);
rc_io_invert(false); rc_io_invert(false, RC_UXART_BASE);
} else if (_rc_scan_locked } else if (_rc_scan_locked
|| _cycle_timestamp - _rc_scan_begin < rc_scan_max) { || _cycle_timestamp - _rc_scan_begin < rc_scan_max) {
@@ -1662,7 +1659,7 @@ PX4FMU::cycle()
_rc_scan_begin = _cycle_timestamp; _rc_scan_begin = _cycle_timestamp;
// Configure serial port for DSM // Configure serial port for DSM
dsm_config(_rcs_fd); dsm_config(_rcs_fd);
rc_io_invert(false); rc_io_invert(false, RC_UXART_BASE);
} else if (_rc_scan_locked } else if (_rc_scan_locked
|| _cycle_timestamp - _rc_scan_begin < rc_scan_max) { || _cycle_timestamp - _rc_scan_begin < rc_scan_max) {
@@ -1704,7 +1701,7 @@ PX4FMU::cycle()
_rc_scan_begin = _cycle_timestamp; _rc_scan_begin = _cycle_timestamp;
// Configure timer input pin for CPPM // Configure timer input pin for CPPM
px4_arch_configgpio(GPIO_PPM_IN); 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) { } else if (_rc_scan_locked || _cycle_timestamp - _rc_scan_begin < rc_scan_max) {