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AP_BLHeli: adjust for new UART locking API

master
Andrew Tridgell 6 years ago
parent
1fd1614e34
commit
8cca632b67
1 changed files with 4 additions and 4 deletions
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  1. 8
      libraries/AP_BLHeli/AP_BLHeli.cpp

8
libraries/AP_BLHeli/AP_BLHeli.cpp
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@ -865,7 +865,7 @@ void AP_BLHeli::blheli_process_command(void)
} }
if (uart_locked) { if (uart_locked) {
debug("Unlocked UART"); debug("Unlocked UART");
uart->lock_port(0); uart->lock_port(0, 0);
uart_locked = false; uart_locked = false;
} }
memset(blheli.connected, 0, sizeof(blheli.connected)); memset(blheli.connected, 0, sizeof(blheli.connected));
@ -1079,7 +1079,7 @@ bool AP_BLHeli::process_input(uint8_t b)
if (blheli.state == BLHELI_COMMAND_RECEIVED) { if (blheli.state == BLHELI_COMMAND_RECEIVED) {
valid_packet = true; valid_packet = true;
last_valid_ms = AP_HAL::millis(); last_valid_ms = AP_HAL::millis();
if (uart->lock_port(BLHELI_UART_LOCK_KEY)) { if (uart->lock_port(BLHELI_UART_LOCK_KEY, 0)) {
uart_locked = true; uart_locked = true;
} }
blheli_process_command(); blheli_process_command();
@ -1089,7 +1089,7 @@ bool AP_BLHeli::process_input(uint8_t b)
} else if (msp.state == MSP_COMMAND_RECEIVED) { } else if (msp.state == MSP_COMMAND_RECEIVED) {
if (msp.packetType == MSP_PACKET_COMMAND) { if (msp.packetType == MSP_PACKET_COMMAND) {
valid_packet = true; valid_packet = true;
if (uart->lock_port(BLHELI_UART_LOCK_KEY)) { if (uart->lock_port(BLHELI_UART_LOCK_KEY, 0)) {
uart_locked = true; uart_locked = true;
} }
last_valid_ms = AP_HAL::millis(); last_valid_ms = AP_HAL::millis();
@ -1185,7 +1185,7 @@ void AP_BLHeli::update(void)
SRV_Channels::set_disabled_channel_mask(0); SRV_Channels::set_disabled_channel_mask(0);
} }
debug("Unlocked UART"); debug("Unlocked UART");
uart->lock_port(0); uart->lock_port(0, 0);
uart_locked = false; uart_locked = false;
} }
if (initialised || (channel_mask.get() == 0 && channel_auto.get() == 0)) { if (initialised || (channel_mask.get() == 0 && channel_auto.get() == 0)) {

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