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HAL_ChibiOS: allow internal GPIO fuctions to use disabled pins

This commit is contained in:
Andrew Tridgell 2018-03-25 21:43:42 +11:00
parent 1be41b83fc
commit b350b07593
1 changed files with 4 additions and 6 deletions
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10
libraries/AP_HAL_ChibiOS/GPIO.cpp
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@ -36,11 +36,11 @@ static struct gpio_entry {
/*
map a user pin number to a GPIO table entry
*/
static struct gpio_entry *gpio_by_pin_num(uint8_t pin_num)
static struct gpio_entry *gpio_by_pin_num(uint8_t pin_num, bool check_enabled=true)
{
for (uint8_t i=0; i<ARRAY_SIZE_SIMPLE(_gpio_tab); i++) {
if (pin_num == _gpio_tab[i].pin_num) {
if (!_gpio_tab[i].enabled) {
if (check_enabled && !_gpio_tab[i].enabled) {
return NULL;
}
return &_gpio_tab[i];
@ -125,18 +125,16 @@ extern const AP_HAL::HAL& hal;
*/
bool GPIO::attach_interrupt(uint8_t pin, AP_HAL::Proc p, uint8_t mode)
{
struct gpio_entry *g = gpio_by_pin_num(pin);
struct gpio_entry *g = gpio_by_pin_num(pin, false);
if (!g) {
return false;
}
uint8_t pad = PAL_PAD(g->pal_line);
if (p && ext_irq[pad] != nullptr && ext_irq[pad] != p) {
// already used
hal.console->printf("A fail\n");
return false;
} else if (!p && !ext_irq[pad]) {
// nothing to remove
hal.console->printf("D fail\n");
return false;
}
uint32_t chmode = 0;
@ -209,7 +207,7 @@ void ext_interrupt_cb(EXTDriver *extp, expchannel_t channel)
*/
void GPIO::_set_mode(uint8_t pin, uint32_t mode)
{
struct gpio_entry *g = gpio_by_pin_num(pin);
struct gpio_entry *g = gpio_by_pin_num(pin, false);
if (g) {
palSetLineMode(g->pal_line, mode);
}