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HAL_ChibiOS: support DSM bind on IOMCU

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This commit is contained in:
Andrew Tridgell 2019-05-10 11:56:11 +10:00
parent 4378d92c6e
commit 3ce762ab7c
1 changed files with 8 additions and 0 deletions
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8
libraries/AP_HAL_ChibiOS/RCInput.cpp
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@ -168,6 +168,14 @@ void RCInput::_timer_tick(void)
*/
bool RCInput::rc_bind(int dsmMode)
{
#if HAL_WITH_IO_MCU
rcin_mutex.take(HAL_SEMAPHORE_BLOCK_FOREVER);
if (AP_BoardConfig::io_enabled()) {
iomcu.bind_dsm(dsmMode);
}
rcin_mutex.give();
#endif
#if HAL_USE_ICU == TRUE
// ask AP_RCProtocol to start a bind
rcin_prot.start_bind();