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AP_HAL_Linux: Improve loading firmware

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This commit is contained in:
mirkix 2015-11-12 20:56:50 +01:00
parent 4f7246c432
commit f00d4f0b3e
1 changed files with 1 additions and 2 deletions
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3
libraries/AP_HAL_Linux/RCOutput_AioPRU.cpp
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@ -51,13 +51,12 @@ void RCOutput_AioPRU::init(void* machtnicht)
// Reset PRU 1 // Reset PRU 1
*ctrl = 0; *ctrl = 0;
hal.scheduler->delay(1);
// Load firmware // Load firmware
memcpy(iram, PRUcode, sizeof(PRUcode)); memcpy(iram, PRUcode, sizeof(PRUcode));
// Start PRU 1 // Start PRU 1
*ctrl = 3; *ctrl |= 2;
// all outputs default to 50Hz, the top level vehicle code // all outputs default to 50Hz, the top level vehicle code
// overrides this when necessary // overrides this when necessary