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

AP_IOMCU: use AP::RC() for AP_RCProtocol

This commit is contained in:
Andrew Tridgell 2019-08-27 17:41:50 +10:00
parent cbdb23afb5
commit 672d09c965
3 changed files with 5 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AP_IOMCU/iofirmware/iofirmware.cpp
View File

@ -305,7 +305,7 @@ void AP_IOMCU_FW::rcin_update()
rc_input.pwm[i] = hal.rcin->read(i);
}
rc_last_input_ms = last_ms;
rc_input.rc_protocol = (uint16_t)rcprotocol->protocol_detected();
rc_input.rc_protocol = (uint16_t)AP::RC().protocol_detected();
} else if (last_ms - rc_last_input_ms > 200U) {
rc_input.flags_rc_ok = false;
}

2
libraries/AP_IOMCU/iofirmware/iofirmware.h
View File

@ -117,8 +117,6 @@ public:
uint32_t sbus_last_ms;
uint32_t sbus_interval_ms;
AP_RCProtocol *rcprotocol;
uint32_t fmu_data_received_time;
uint32_t last_heater_ms;
uint32_t reboot_time;

10
libraries/AP_IOMCU/iofirmware/rc.cpp
View File

@ -68,12 +68,10 @@ void AP_IOMCU_FW::rcin_serial_init(void)
&sd3_listener,
EVENT_MASK(1),
SD_PARITY_ERROR);
rcprotocol = AP_RCProtocol::get_singleton();
// disable input for SBUS with pulses, we will use the UART for
// SBUS.
rcprotocol->disable_for_pulses(AP_RCProtocol::SBUS);
rcprotocol->disable_for_pulses(AP_RCProtocol::SBUS_NI);
AP::RC().disable_for_pulses(AP_RCProtocol::SBUS);
AP::RC().disable_for_pulses(AP_RCProtocol::SBUS_NI);
}
static struct {
@ -96,7 +94,7 @@ void AP_IOMCU_FW::rcin_serial_update(void)
n = MIN(n, sizeof(b));
rc_stats.num_dsm_bytes += n;
for (uint8_t i=0; i<n; i++) {
rcprotocol->process_byte(b[i], 115200);
AP::RC().process_byte(b[i], 115200);
}
//BLUE_TOGGLE();
}
@ -111,7 +109,7 @@ void AP_IOMCU_FW::rcin_serial_update(void)
n = MIN(n, sizeof(b));
rc_stats.num_sbus_bytes += n;
for (uint8_t i=0; i<n; i++) {
rcprotocol->process_byte(b[i], 100000);
AP::RC().process_byte(b[i], 100000);
}
}
}