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AP_IOMCU: Add binding procedure for DSMx

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This commit is contained in:
Eugene Shamaev 2018-08-26 18:06:10 +03:00 committed by Andrew Tridgell
parent 032c5ab707
commit 4d64b86f87
2 changed files with 17 additions and 0 deletions
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14
libraries/AP_IOMCU/AP_IOMCU.cpp
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@ -784,6 +784,20 @@ void AP_IOMCU::shutdown(void)
} }
} }
/*
request bind on a DSM radio
*/
void AP_IOMCU::bind_dsm(uint8_t mode)
{
if (config.protocol_version != IOMCU_PROTOCOL_VERSION ||
hal.util->get_soft_armed()) {
// only with ChibiOS IO firmware, and disarmed
return;
}
uint16_t reg = mode;
write_registers(PAGE_SETUP, PAGE_REG_SETUP_DSM_BIND, &reg);
}
/* /*
setup for mixing. This allows fixed wing aircraft to fly in manual setup for mixing. This allows fixed wing aircraft to fly in manual
mode if the FMU dies mode if the FMU dies

3
libraries/AP_IOMCU/AP_IOMCU.h
View File

@ -65,6 +65,9 @@ public:
*/ */
bool check_rcinput(uint32_t &last_frame_us, uint8_t &num_channels, uint16_t *channels, uint8_t max_channels); bool check_rcinput(uint32_t &last_frame_us, uint8_t &num_channels, uint16_t *channels, uint8_t max_channels);
// Do DSM receiver binding
void bind_dsm(uint8_t mode);
/* /*
get servo rail voltage get servo rail voltage
*/ */