diff options
Diffstat (limited to 'src/drivers/mkblctrl/mkblctrl.cpp')
| -rw-r--r-- | src/drivers/mkblctrl/mkblctrl.cpp | 41 |
1 files changed, 2 insertions, 39 deletions
diff --git a/src/drivers/mkblctrl/mkblctrl.cpp b/src/drivers/mkblctrl/mkblctrl.cpp index 06930db38..1bc3e97a4 100644 --- a/src/drivers/mkblctrl/mkblctrl.cpp +++ b/src/drivers/mkblctrl/mkblctrl.cpp @@ -59,10 +59,11 @@ #include <nuttx/arch.h> #include <nuttx/i2c.h> +#include <board_config.h> + #include <drivers/device/device.h> #include <drivers/drv_pwm_output.h> #include <drivers/drv_gpio.h> -#include <drivers/boards/px4fmu/px4fmu_internal.h> #include <drivers/drv_hrt.h> #include <drivers/drv_rc_input.h> @@ -1346,44 +1347,6 @@ mk_new_mode(PortMode new_mode, int update_rate, int motorcount, bool motortest, gpio_bits = 0; servo_mode = MK::MODE_NONE; - switch (new_mode) { - case PORT_FULL_GPIO: - case PORT_MODE_UNSET: - /* nothing more to do here */ - break; - - case PORT_FULL_SERIAL: - /* set all multi-GPIOs to serial mode */ - gpio_bits = GPIO_MULTI_1 | GPIO_MULTI_2 | GPIO_MULTI_3 | GPIO_MULTI_4; - break; - - case PORT_FULL_PWM: - /* select 4-pin PWM mode */ - servo_mode = MK::MODE_4PWM; - break; - - case PORT_GPIO_AND_SERIAL: - /* set RX/TX multi-GPIOs to serial mode */ - gpio_bits = GPIO_MULTI_3 | GPIO_MULTI_4; - break; - - case PORT_PWM_AND_SERIAL: - /* select 2-pin PWM mode */ - servo_mode = MK::MODE_2PWM; - /* set RX/TX multi-GPIOs to serial mode */ - gpio_bits = GPIO_MULTI_3 | GPIO_MULTI_4; - break; - - case PORT_PWM_AND_GPIO: - /* select 2-pin PWM mode */ - servo_mode = MK::MODE_2PWM; - break; - } - - /* adjust GPIO config for serial mode(s) */ - if (gpio_bits != 0) - g_mk->ioctl(0, GPIO_SET_ALT_1, gpio_bits); - /* native PX4 addressing) */ g_mk->set_px4mode(px4mode); |