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HAL_ChibiOS: fixed AP_Periph build

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This commit is contained in:
Andrew Tridgell 2019-08-27 21:08:25 +10:00
parent fd80220d3e
commit 83872c23e5
1 changed files with 10 additions and 4 deletions
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14
libraries/AP_HAL_ChibiOS/RCInput.cpp
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@ -36,7 +36,9 @@ using namespace ChibiOS;
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
void RCInput::init() void RCInput::init()
{ {
#ifndef HAL_BUILD_AP_PERIPH
AP::RC().init(); AP::RC().init();
#endif
#if HAL_USE_ICU == TRUE #if HAL_USE_ICU == TRUE
//attach timer channel on which the signal will be received //attach timer channel on which the signal will be received
@ -121,6 +123,11 @@ void RCInput::_timer_tick(void)
return; return;
} }
#ifndef HAL_NO_UARTDRIVER
const char *rc_protocol = nullptr;
#endif
#ifndef HAL_BUILD_AP_PERIPH
#if HAL_USE_ICU == TRUE #if HAL_USE_ICU == TRUE
const uint32_t *p; const uint32_t *p;
uint32_t n; uint32_t n;
@ -137,10 +144,6 @@ void RCInput::_timer_tick(void)
} }
#endif #endif
#ifndef HAL_NO_UARTDRIVER
const char *rc_protocol = nullptr;
#endif
if (AP::RC().new_input()) { if (AP::RC().new_input()) {
rcin_mutex.take(HAL_SEMAPHORE_BLOCK_FOREVER); rcin_mutex.take(HAL_SEMAPHORE_BLOCK_FOREVER);
_rcin_timestamp_last_signal = AP_HAL::micros(); _rcin_timestamp_last_signal = AP_HAL::micros();
@ -154,6 +157,7 @@ void RCInput::_timer_tick(void)
rc_protocol = AP::RC().protocol_name(); rc_protocol = AP::RC().protocol_name();
#endif #endif
} }
#endif // HAL_BUILD_AP_PERIPH
#if HAL_RCINPUT_WITH_AP_RADIO #if HAL_RCINPUT_WITH_AP_RADIO
if (radio && radio->last_recv_us() != last_radio_us) { if (radio && radio->last_recv_us() != last_radio_us) {
@ -205,8 +209,10 @@ bool RCInput::rc_bind(int dsmMode)
rcin_mutex.give(); rcin_mutex.give();
#endif #endif
#ifndef HAL_BUILD_AP_PERIPH
// ask AP_RCProtocol to start a bind // ask AP_RCProtocol to start a bind
AP::RC().start_bind(); AP::RC().start_bind();
#endif
#if HAL_RCINPUT_WITH_AP_RADIO #if HAL_RCINPUT_WITH_AP_RADIO
if (radio) { if (radio) {