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HAL_ChibiOS: support GPIO get_mode and set_mode

This commit is contained in:
Andrew Tridgell 2021-10-10 15:45:39 +11:00
parent 029743e27a
commit 6fa9768eab
2 changed files with 31 additions and 2 deletions
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27
libraries/AP_HAL_ChibiOS/GPIO.cpp
View File

@ -57,8 +57,9 @@ static struct gpio_entry {
static struct gpio_entry *gpio_by_pin_num(uint8_t pin_num, bool check_enabled=true)
{
for (uint8_t i=0; i<ARRAY_SIZE(_gpio_tab); i++) {
if (pin_num == _gpio_tab[i].pin_num) {
if (check_enabled && !_gpio_tab[i].enabled) {
const auto &t = _gpio_tab[i];
if (pin_num == t.pin_num) {
if (check_enabled && t.pwm_num != 0 && !t.enabled) {
return NULL;
}
return &_gpio_tab[i];
@ -508,6 +509,28 @@ bool GPIO::valid_pin(uint8_t pin) const
return gpio_by_pin_num(pin) != nullptr;
}
#if defined(STM32F7) || defined(STM32H7) || defined(STM32F4) || defined(STM32F3) || defined(STM32G4) || defined(STM32L4)
// allow for save and restore of pin settings
bool GPIO::get_mode(uint8_t pin, uint32_t &mode)
{
auto *p = gpio_by_pin_num(pin);
if (!p) {
return false;
}
mode = uint32_t(palReadLineMode(p->pal_line));
return true;
}
void GPIO::set_mode(uint8_t pin, uint32_t mode)
{
auto *p = gpio_by_pin_num(pin);
if (p) {
palSetLineMode(p->pal_line, ioline_t(mode));
}
}
#endif
#ifndef IOMCU_FW
/*
timer to setup interrupt quotas for a 100ms period from

6
libraries/AP_HAL_ChibiOS/GPIO.h
View File

@ -87,6 +87,12 @@ public:
*/
static ioline_t resolve_alt_config(ioline_t base, PERIPH_TYPE ptype, uint8_t instance);
#if defined(STM32F7) || defined(STM32H7) || defined(STM32F4) || defined(STM32F3) || defined(STM32G4) || defined(STM32L4)
// allow for save and restore of pin settings
bool get_mode(uint8_t pin, uint32_t &mode) override;
void set_mode(uint8_t pin, uint32_t mode) override;
#endif
private:
bool _usb_connected;
bool _ext_started;