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AP_RSSI: let HAL's attach_interrupt implementation handle board stuff

This commit is contained in:
Peter Barker 2018-08-21 21:51:47 +10:00 committed by Peter Barker
parent 9569abe57a
commit 822fab0f5a
1 changed files with 0 additions and 10 deletions
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10
libraries/AP_RSSI/AP_RSSI.cpp
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@ -14,14 +14,10 @@
*/
#include <AP_RSSI/AP_RSSI.h>
#include <AP_BoardConfig/AP_BoardConfig.h>
#include <GCS_MAVLink/GCS.h>
#include <RC_Channel/RC_Channel.h>
#include <utility>
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
#include <board_config.h>
#endif
extern const AP_HAL::HAL& hal;
@ -246,7 +242,6 @@ void AP_RSSI::check_pwm_pin_rssi()
// read the PWM value from a pin
float AP_RSSI::read_pwm_pin_rssi()
{
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN || CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
// check if pin has changed and configure interrupt handlers if required:
check_pwm_pin_rssi();
@ -275,9 +270,6 @@ float AP_RSSI::read_pwm_pin_rssi()
}
return pwm_state.rssi_value;
#else
return 0.0f;
#endif
}
// Scale and constrain a float rssi value to 0.0 to 1.0 range
@ -313,7 +305,6 @@ float AP_RSSI::scale_and_constrain_float_rssi(float current_rssi_value, float lo
// interrupt handler for reading pwm value
void AP_RSSI::irq_handler(uint8_t pin, bool pin_high, uint32_t timestamp_us)
{
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN || CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
if (pin_high) {
pwm_state.pulse_start_us = timestamp_us;
} else {
@ -322,7 +313,6 @@ void AP_RSSI::irq_handler(uint8_t pin, bool pin_high, uint32_t timestamp_us)
pwm_state.pulse_start_us = 0;
}
}
#endif
}
AP_RSSI *AP_RSSI::_s_instance = nullptr;