Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

APM_OBC: fix for HAL_GPIO_*

This commit is contained in:
Andrew Tridgell 2014-06-02 09:28:45 +10:00
parent 1e2b644b1b
commit 0d83d4f4f5
2 changed files with 3 additions and 19 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

15
libraries/APM_OBC/APM_OBC.cpp
View File

@ -115,10 +115,7 @@ APM_OBC::check(APM_OBC::control_mode mode, uint32_t last_heartbeat_ms)
// mode. This tells it to pass through controls from the
// receiver
if (_manual_pin != -1) {
if (_manual_pin != _last_manual_pin) {
hal.gpio->pinMode(_manual_pin, GPIO_OUTPUT);
_last_manual_pin = _manual_pin;
}
hal.gpio->pinMode(_manual_pin, HAL_GPIO_OUTPUT);
hal.gpio->write(_manual_pin, mode==OBC_MANUAL);
}
@ -194,20 +191,14 @@ APM_OBC::check(APM_OBC::control_mode mode, uint32_t last_heartbeat_ms)
// if we are not terminating or if there is a separate terminate
// pin configured then toggle the heartbeat pin at 10Hz
if (_heartbeat_pin != -1 && (_terminate_pin != -1 || !_terminate)) {
if (_heartbeat_pin != _last_heartbeat_pin) {
hal.gpio->pinMode(_heartbeat_pin, GPIO_OUTPUT);
_last_heartbeat_pin = _heartbeat_pin;
}
_heartbeat_pin_value = !_heartbeat_pin_value;
hal.gpio->pinMode(_heartbeat_pin, HAL_GPIO_OUTPUT);
hal.gpio->write(_heartbeat_pin, _heartbeat_pin_value);
}
// set the terminate pin
if (_terminate_pin != -1) {
if (_terminate_pin != _last_terminate_pin) {
hal.gpio->pinMode(_terminate_pin, GPIO_OUTPUT);
_last_terminate_pin = _terminate_pin;
}
hal.gpio->pinMode(_terminate_pin, HAL_GPIO_OUTPUT);
hal.gpio->write(_terminate_pin, _terminate?1:0);
}
}

7
libraries/APM_OBC/APM_OBC.h
View File

@ -56,8 +56,6 @@ public:
{
AP_Param::setup_object_defaults(this, var_info);
_last_heartbeat_pin = -1;
_last_manual_pin = -1;
_state = STATE_PREFLIGHT;
_terminate.set(0);
@ -87,11 +85,6 @@ private:
AP_Int8 _terminate;
AP_Int8 _terminate_action;
// last pins to cope with changing at runtime
int8_t _last_heartbeat_pin;
int8_t _last_manual_pin;
int8_t _last_terminate_pin;
// waypoint numbers to jump to on failsafe conditions
AP_Int8 _wp_comms_hold;
AP_Int8 _wp_gps_loss;