Diff: FutabaSBUS.cpp

Revision:

2:07dbb77a6f1a

Parent:

1:e3c92fba87f2

Child:

3:50e10bf74374

--- a/FutabaSBUS.cpp	Thu Feb 09 21:50:00 2012 +0000
+++ b/FutabaSBUS.cpp	Mon Feb 08 08:47:36 2016 +0000
@@ -21,7 +21,7 @@
  */
 
 #include "FutabaSBUS.h"
-#include "MODSERIAL.h"
+//#include "MODSERIAL.h"
 #include "mbed.h"
 
 //debug only
@@ -42,7 +42,8 @@
     // Set Datalenght & Frame
     sbus_.format(8, Serial::Even, 2);
     // Attach interrupt routines
-    sbus_.attach(this, &FutabaSBUS::SBUS_irq_rx, MODSERIAL::RxIrq);
+//    sbus_.attach(this, &FutabaSBUS::SBUS_irq_rx, MODSERIAL::RxIrq);
+    sbus_.attach(this, &FutabaSBUS::SBUS_irq_rx, RawSerial::RxIrq);
     // init ticker 500us
     rxSBUS.attach_us(this, &FutabaSBUS::rx_ticker_500us,500);
     rx_timeout=50;
@@ -85,6 +86,11 @@
 
 uint8_t FutabaSBUS::failsafe(void) {return failsafe_status;}
 
+void FutabaSBUS::failsafe(uint8_t status) {
+    failsafe_status = status;
+    sbus_.baud(100000);
+}
+
 void FutabaSBUS::passthrough(bool mode) {
     // Set passtrough mode, if true, received channel data is send to servos
     sbus_passthrough = mode;
@@ -98,7 +104,8 @@
 /****************************************************************/
 /****************************************************************/
 
-void FutabaSBUS::SBUS_irq_rx(MODSERIAL_IRQ_INFO *q) {
+//void FutabaSBUS::SBUS_irq_rx(MODSERIAL_IRQ_INFO *q) {
+void FutabaSBUS::SBUS_irq_rx(void) {
     rx_timeout=2;
     tx_timeout=4;
 }
@@ -237,7 +244,7 @@
 }
 
 void FutabaSBUS::rx_ticker_500us(void) {
-    // RX
+/*    // RX
     switch (rx_timeout) {
         case 0:
             break;
@@ -246,6 +253,7 @@
         default:
             rx_timeout--;
     }
+*/
     // TX
     switch (tx_timeout) {
         case 0: