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AP_IOMCU: enable uart for SBUS input

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This commit is contained in:
Andrew Tridgell 2018-11-02 20:43:24 +11:00
parent d18277487e
commit c148813c17
1 changed files with 14 additions and 7 deletions
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21
libraries/AP_IOMCU/iofirmware/rc.cpp
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@ -25,8 +25,6 @@
extern const AP_HAL::HAL& hal;
static bool sbus_out_initialised;
// usart3 is for SBUS input and output
static const SerialConfig uart3_cfg = {
100000, // speed
@ -39,10 +37,6 @@ static const SerialConfig uart3_cfg = {
void sbus_out_write(uint16_t *channels, uint8_t nchannels)
{
if (!sbus_out_initialised) {
sdStart(&SD3, &uart3_cfg);
sbus_out_initialised = true;
}
uint8_t buffer[25];
AP_SBusOut::sbus_format_frame(channels, nchannels, buffer);
chnWrite(&SD3, buffer, sizeof(buffer));
@ -64,6 +58,7 @@ static const SerialConfig uart1_cfg = {
void AP_IOMCU_FW::rcin_serial_init(void)
{
sdStart(&SD1, &uart1_cfg);
sdStart(&SD3, &uart3_cfg);
}
@ -76,11 +71,23 @@ void AP_IOMCU_FW::rcin_serial_update(void)
{
uint8_t b[16];
uint32_t n;
// read from DSM port
if ((n = chnReadTimeout(&SD1, b, sizeof(b), TIME_IMMEDIATE)) > 0) {
n = MIN(n, sizeof(b));
num_dsm_bytes += n;
for (uint8_t i=0; i<n; i++) {
rcprotocol->process_byte(b[i]);
rcprotocol->process_byte(b[i], 115200);
}
//BLUE_TOGGLE();
}
// read from SBUS port
if ((n = chnReadTimeout(&SD3, b, sizeof(b), TIME_IMMEDIATE)) > 0) {
n = MIN(n, sizeof(b));
num_dsm_bytes += n;
for (uint8_t i=0; i<n; i++) {
rcprotocol->process_byte(b[i], 100000);
}
//BLUE_TOGGLE();
}