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AP_HAL_PX4: GPIO: return correct FMU pin read even if IO not connected/detected

This commit is contained in:
Siddharth Bharat Purohit 2017-03-21 18:46:20 +05:30 committed by Andrew Tridgell
parent be04cf120d
commit 5029dd1bab
1 changed files with 0 additions and 3 deletions
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3
libraries/AP_HAL_PX4/GPIO.cpp
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@ -165,9 +165,6 @@ uint8_t PX4GPIO::read(uint8_t pin) {
case PX4_GPIO_FMU_SERVO_PIN(0) ... PX4_GPIO_FMU_SERVO_PIN(5): { case PX4_GPIO_FMU_SERVO_PIN(0) ... PX4_GPIO_FMU_SERVO_PIN(5): {
uint32_t relays = 0; uint32_t relays = 0;
if (_gpio_io_fd == -1) {
return LOW;
}
ioctl(_gpio_fmu_fd, GPIO_GET, (unsigned long)&relays); ioctl(_gpio_fmu_fd, GPIO_GET, (unsigned long)&relays);
return (relays & (1U<<(pin-PX4_GPIO_FMU_SERVO_PIN(0))))?HIGH:LOW; return (relays & (1U<<(pin-PX4_GPIO_FMU_SERVO_PIN(0))))?HIGH:LOW;
} }