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Code Issues Wiki Activity

Port iNav's rangefinder

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This commit is contained in:
jflyper 2017-12-14 23:44:22 +09:00
parent 8a9fd29dd3
commit 11c47c631b
53 changed files with 898 additions and 492 deletions
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12
src/main/fc/fc_init.c
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@ -60,7 +60,6 @@
#include "drivers/buttons.h"
#include "drivers/inverter.h"
#include "drivers/flash_m25p16.h"
#include "drivers/sonar_hcsr04.h"
#include "drivers/sdcard.h"
#include "drivers/usb_io.h"
#include "drivers/transponder_ir.h"
@ -121,7 +120,6 @@
#include "sensors/gyro.h"
#include "sensors/initialisation.h"
#include "sensors/sensors.h"
#include "sensors/sonar.h"
#include "telemetry/telemetry.h"
@ -473,14 +471,16 @@ void init(void)
cameraControlInit();
#endif
#if defined(SONAR_SOFTSERIAL2_EXCLUSIVE) && defined(USE_SONAR) && defined(USE_SOFTSERIAL2)
if (feature(FEATURE_SONAR) && feature(FEATURE_SOFTSERIAL)) {
// XXX These kind of code should goto target/config.c?
// XXX And these no longer work properly as FEATURE_RANGEFINDER does control HCSR04 runtime configuration.
#if defined(RANGEFINDER_HCSR04_SOFTSERIAL2_EXCLUSIVE) && defined(USE_RANGEFINDER_HCSR04) && defined(USE_SOFTSERIAL2)
if (feature(FEATURE_RANGEFINDER) && feature(FEATURE_SOFTSERIAL)) {
serialRemovePort(SERIAL_PORT_SOFTSERIAL2);
}
#endif
#if defined(SONAR_SOFTSERIAL1_EXCLUSIVE) && defined(USE_SONAR) && defined(USE_SOFTSERIAL1)
if (feature(FEATURE_SONAR) && feature(FEATURE_SOFTSERIAL)) {
#if defined(RANGEFINDER_HCSR04_SOFTSERIAL1_EXCLUSIVE) && defined(USE_RANGEFINDER_HCSR04) && defined(USE_SOFTSERIAL1)
if (feature(FEATURE_RANGEFINDER) && feature(FEATURE_SOFTSERIAL)) {
serialRemovePort(SERIAL_PORT_SOFTSERIAL1);
}
#endif