mirror of https://github.com/ArduPilot/ardupilot
AP_IOMCU: disable DSM and SBUS for pulse input
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@ -171,8 +171,6 @@ void AP_IOMCU_FW::init()
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palSetLineMode(HAL_GPIO_PIN_SPEKTRUM_PWR_EN, PAL_MODE_OUTPUT_PUSHPULL);
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palSetLineMode(HAL_GPIO_PIN_SPEKTRUM_PWR_EN, PAL_MODE_OUTPUT_PUSHPULL);
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SPEKTRUM_POWER(1);
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SPEKTRUM_POWER(1);
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rcprotocol = AP_RCProtocol::get_instance();
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// we do no allocations after setup completes
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// we do no allocations after setup completes
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reg_status.freemem = hal.util->available_memory();
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reg_status.freemem = hal.util->available_memory();
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}
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}
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@ -66,6 +66,15 @@ void AP_IOMCU_FW::rcin_serial_init(void)
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&sd3_listener,
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&sd3_listener,
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EVENT_MASK(1),
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EVENT_MASK(1),
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SD_PARITY_ERROR);
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SD_PARITY_ERROR);
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rcprotocol = AP_RCProtocol::get_instance();
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// disable input for DSM and SBUS with pulses, we will use uarts
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// for those. This allows us to use the RCIN port for a much wider
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// range of protocols, relying on the 16 bit CRC on those
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// protocols to keep them glitch free
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rcprotocol->disable_for_pulses(AP_RCProtocol::SBUS);
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rcprotocol->disable_for_pulses(AP_RCProtocol::SBUS_NI);
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rcprotocol->disable_for_pulses(AP_RCProtocol::DSM);
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}
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}
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static struct {
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static struct {
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