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HAL_ChibiOS: added pullup/pulldown support on GPIO 

using the convention of write() on an input pin to set pullup/pulldown
This commit is contained in:
Andrew Tridgell 2018-08-29 14:10:09 +10:00
parent 7885b267f0
commit a9e29f7556
1 changed files with 16 additions and 2 deletions
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18
libraries/AP_HAL_ChibiOS/GPIO.cpp
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@ -27,6 +27,8 @@ static struct gpio_entry {
uint8_t pwm_num;
ioline_t pal_line;
AP_HAL::GPIO::irq_handler_fn_t fn; // callback for GPIO interface
bool is_input;
uint8_t mode;
} _gpio_tab[] = HAL_GPIO_PINS;
#define NUM_PINS ARRAY_SIZE(_gpio_tab)
@ -70,7 +72,15 @@ void GPIO::pinMode(uint8_t pin, uint8_t output)
{
struct gpio_entry *g = gpio_by_pin_num(pin);
if (g) {
palSetLineMode(g->pal_line, output);
if (!output && g->is_input &&
(g->mode == PAL_MODE_INPUT_PULLUP ||
g->mode == PAL_MODE_INPUT_PULLDOWN)) {
// already set
return;
}
g->mode = output?PAL_MODE_OUTPUT_PUSHPULL:PAL_MODE_INPUT;
palSetLineMode(g->pal_line, g->mode);
g->is_input = !output;
}
}
@ -88,7 +98,11 @@ void GPIO::write(uint8_t pin, uint8_t value)
{
struct gpio_entry *g = gpio_by_pin_num(pin);
if (g) {
if (value == PAL_LOW) {
if (g->is_input) {
// control pullup/pulldown
g->mode = value==1?PAL_MODE_INPUT_PULLUP:PAL_MODE_INPUT_PULLDOWN;
palSetLineMode(g->pal_line, g->mode);
} else if (value == PAL_LOW) {
palClearLine(g->pal_line);
} else {
palSetLine(g->pal_line);