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AP_HAL_ChibiOS: allow enabling GPIO as alt config

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This commit is contained in:
Iampete1 2021-09-23 19:06:03 +01:00 committed by Peter Barker
parent dc45a113f9
commit a96150a528
2 changed files with 12 additions and 0 deletions
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11
libraries/AP_HAL_ChibiOS/GPIO.cpp
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@ -134,6 +134,17 @@ void GPIO::setup_alt_config(void)
for (uint8_t i=0; i<ARRAY_SIZE(alternate_config); i++) {
const struct alt_config &alt = alternate_config[i];
if (alt_config == alt.alternate) {
if (alt.periph_type == PERIPH_TYPE::GPIO) {
// enable pin in GPIO table
for (uint8_t j=0; j<ARRAY_SIZE(_gpio_tab); j++) {
struct gpio_entry *g = &_gpio_tab[j];
if (g->pal_line == alt.line) {
g->enabled = true;
break;
}
}
continue;
}
const iomode_t mode = alt.mode & ~PAL_STM32_HIGH;
const uint8_t odr = (alt.mode & PAL_STM32_HIGH)?1:0;
palSetLineMode(alt.line, mode);

1
libraries/AP_HAL_ChibiOS/GPIO.h
View File

@ -35,6 +35,7 @@ enum class PERIPH_TYPE : uint8_t {
I2C_SDA,
I2C_SCL,
OTHER,
GPIO,
};
class ChibiOS::GPIO : public AP_HAL::GPIO {