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drivers/rc_input: only invert RC when starting/ending SBUS

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This commit is contained in:
Daniel Agar
2021-03-24 16:13:51 -04:00
committed by David Sidrane
parent 79703c9c7a
commit a305fc9c34
1 changed files with 10 additions and 9 deletions
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src/drivers/rc_input/RCInput.cpp
+10 -9
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@@ -256,7 +256,14 @@ void RCInput::rc_io_invert(bool invert)
// and if not use an IOCTL
if (!board_rc_invert_input(_device, invert)) {
#if defined(TIOCSINVERT)
ioctl(_rcs_fd, TIOCSINVERT, invert ? (SER_INVERT_ENABLED_RX | SER_INVERT_ENABLED_TX) : 0);
if (invert) {
ioctl(_rcs_fd, TIOCSINVERT, SER_INVERT_ENABLED_RX | SER_INVERT_ENABLED_TX);
} else {
ioctl(_rcs_fd, TIOCSINVERT, 0);
}
#endif // TIOCSINVERT
}
}
@@ -434,6 +441,7 @@ void RCInput::Run()
} else {
// Scan the next protocol
rc_io_invert(false);
set_rc_scan_state(RC_SCAN_DSM);
}
@@ -442,9 +450,8 @@ void RCInput::Run()
case RC_SCAN_DSM:
if (_rc_scan_begin == 0) {
_rc_scan_begin = cycle_timestamp;
// // Configure serial port for DSM
// Configure serial port for DSM
dsm_config(_rcs_fd);
rc_io_invert(false);
} else if (_rc_scan_locked
|| cycle_timestamp - _rc_scan_begin < rc_scan_max) {
@@ -478,7 +485,6 @@ void RCInput::Run()
_rc_scan_begin = cycle_timestamp;
// Configure serial port for DSM
dsm_config(_rcs_fd);
rc_io_invert(false);
} else if (_rc_scan_locked
|| cycle_timestamp - _rc_scan_begin < rc_scan_max) {
@@ -526,7 +532,6 @@ void RCInput::Run()
_rc_scan_begin = cycle_timestamp;
// Configure serial port for DSM
dsm_config(_rcs_fd);
rc_io_invert(false);
} else if (_rc_scan_locked
|| cycle_timestamp - _rc_scan_begin < rc_scan_max) {
@@ -568,8 +573,6 @@ void RCInput::Run()
_rc_scan_begin = cycle_timestamp;
// Configure timer input pin for CPPM
px4_arch_configgpio(GPIO_PPM_IN);
rc_io_invert(false);
ioctl(_rcs_fd, TIOCSINVERT, 0);
} else if (_rc_scan_locked || cycle_timestamp - _rc_scan_begin < rc_scan_max) {
@@ -603,7 +606,6 @@ void RCInput::Run()
_rc_scan_begin = cycle_timestamp;
// Configure serial port for CRSF
crsf_config(_rcs_fd);
rc_io_invert(false);
} else if (_rc_scan_locked
|| cycle_timestamp - _rc_scan_begin < rc_scan_max) {
@@ -648,7 +650,6 @@ void RCInput::Run()
_rc_scan_begin = cycle_timestamp;
// Configure serial port for GHST
ghst_config(_rcs_fd);
rc_io_invert(false);
} else if (_rc_scan_locked
|| cycle_timestamp - _rc_scan_begin < rc_scan_max) {