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AP_IOMCU: add GPIO mask getter and GPIO virtual read

This commit is contained in:
Iampete1 2024-07-28 17:32:50 +01:00 committed by Andrew Tridgell
parent a156fb391d
commit a7bec2e431
2 changed files with 25 additions and 0 deletions
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17
libraries/AP_IOMCU/AP_IOMCU.cpp
View File

@ -1360,6 +1360,12 @@ void AP_IOMCU::set_GPIO_mask(uint8_t mask)
trigger_event(IOEVENT_GPIO);
}
// Get GPIO mask of channels setup for output
uint8_t AP_IOMCU::get_GPIO_mask() const
{
return GPIO.channel_mask;
}
// write to a output pin
void AP_IOMCU::write_GPIO(uint8_t pin, bool value)
{
@ -1377,6 +1383,17 @@ void AP_IOMCU::write_GPIO(uint8_t pin, bool value)
trigger_event(IOEVENT_GPIO);
}
// Read the last output value send to the GPIO pin
// This is not a real read of the actual pin
// This allows callers to check for state change
uint8_t AP_IOMCU::read_virtual_GPIO(uint8_t pin) const
{
if (!convert_pin_number(pin)) {
return 0;
}
return (GPIO.output_mask & (1U << pin)) != 0;
}
// toggle a output pin
void AP_IOMCU::toggle_GPIO(uint8_t pin)
{

8
libraries/AP_IOMCU/AP_IOMCU.h
View File

@ -157,9 +157,17 @@ public:
// set GPIO mask of channels setup for output
void set_GPIO_mask(uint8_t mask);
// Get GPIO mask of channels setup for output
uint8_t get_GPIO_mask() const;
// write to a output pin
void write_GPIO(uint8_t pin, bool value);
// Read the last output value send to the GPIO pin
// This is not a real read of the actual pin
// This allows callers to check for state change
uint8_t read_virtual_GPIO(uint8_t pin) const;
// toggle a output pin
void toggle_GPIO(uint8_t pin);