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HAL_ChibiOS: retain OPENDRAIN if set on a pin

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this allows OPENDRAIN when set on a pin to be retained when set with a
pinMode(). This fixes a partially lit B/E LED on the Pixhawk4
This commit is contained in:
Andrew Tridgell 2019-11-15 15:03:33 +11:00 committed by Randy Mackay
parent ffe642a530
commit 096a624301
2 changed files with 11 additions and 1 deletions
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10
libraries/AP_HAL_ChibiOS/GPIO.cpp
View File

@ -17,6 +17,7 @@
#include "GPIO.h" #include "GPIO.h"
#include <AP_BoardConfig/AP_BoardConfig.h> #include <AP_BoardConfig/AP_BoardConfig.h>
#include "hwdef/common/stm32_util.h"
using namespace ChibiOS; using namespace ChibiOS;
@ -79,6 +80,15 @@ void GPIO::pinMode(uint8_t pin, uint8_t output)
return; return;
} }
g->mode = output?PAL_MODE_OUTPUT_PUSHPULL:PAL_MODE_INPUT; g->mode = output?PAL_MODE_OUTPUT_PUSHPULL:PAL_MODE_INPUT;
#if defined(STM32F7) || defined(STM32H7) || defined(STM32F4)
if (g->mode == PAL_MODE_OUTPUT_PUSHPULL) {
// retain OPENDRAIN if already set
iomode_t old_mode = palReadLineMode(g->pal_line);
if ((old_mode & PAL_MODE_OUTPUT_OPENDRAIN) == PAL_MODE_OUTPUT_OPENDRAIN) {
g->mode = PAL_MODE_OUTPUT_OPENDRAIN;
}
}
#endif
palSetLineMode(g->pal_line, g->mode); palSetLineMode(g->pal_line, g->mode);
g->is_input = !output; g->is_input = !output;
} }

2
libraries/AP_HAL_ChibiOS/hwdef/fmuv5/hwdef.dat
View File

@ -290,7 +290,7 @@ PC12 SDMMC_CK SDMMC1
PD2 SDMMC_CMD SDMMC1 PD2 SDMMC_CMD SDMMC1
# red LED marked as B/E # red LED marked as B/E
PB1 LED_RED OUTPUT GPIO(90) PB1 LED_RED OUTPUT OPENDRAIN GPIO(90)
# green LED marked as PWR. We leave this solid on, but allow # green LED marked as PWR. We leave this solid on, but allow
# for it to be controlled as a relay if needed # for it to be controlled as a relay if needed