HAL_ChibiOS: use DRDY pin for ADIS16470 on mRoNexus

2026-02-07 13:25:15 +08:00 · 2020-04-22 15:58:35 +10:00
parent 5c6749ee54
commit ffe773ff6f
2 changed files with 10 additions and 7 deletions
--- a/libraries/AP_HAL_ChibiOS/GPIO.cpp
+++ b/libraries/AP_HAL_ChibiOS/GPIO.cpp
@@ -363,8 +363,9 @@ bool GPIO::wait_pin(uint8_t pin, INTERRUPT_TRIGGER_TYPE mode, uint32_t timeout_u
    g->thd_wait = nullptr;
    _attach_interruptI(g->pal_line,
                       palcallback_t(nullptr),
-                       g,
+                       nullptr,
                       mode);
    osalSysUnlock();
-    return msg != MSG_TIMEOUT;
+
+    return msg == MSG_OK;
 }