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AP_HAL_ChibiOS: GPIO: Check IOMCU after local pins for speed

This commit is contained in:
Iampete1 2024-07-28 17:37:47 +01:00 committed by Randy Mackay
parent 06a61f5dd9
commit bafaffb07e
1 changed files with 21 additions and 18 deletions
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39
libraries/AP_HAL_ChibiOS/GPIO.cpp
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@ -246,12 +246,6 @@ uint8_t GPIO::read(uint8_t pin)
void GPIO::write(uint8_t pin, uint8_t value)
{
#if HAL_WITH_IO_MCU
if (AP_BoardConfig::io_enabled() && iomcu.valid_GPIO_pin(pin)) {
iomcu.write_GPIO(pin, value);
return;
}
#endif
struct gpio_entry *g = gpio_by_pin_num(pin);
if (g) {
if (g->is_input) {
@ -263,36 +257,42 @@ void GPIO::write(uint8_t pin, uint8_t value)
} else {
palSetLine(g->pal_line);
}
return;
}
#if HAL_WITH_IO_MCU
if (AP_BoardConfig::io_enabled() && iomcu.valid_GPIO_pin(pin)) {
iomcu.write_GPIO(pin, value);
}
#endif
}
void GPIO::toggle(uint8_t pin)
{
#if HAL_WITH_IO_MCU
if (AP_BoardConfig::io_enabled() && iomcu.valid_GPIO_pin(pin)) {
iomcu.toggle_GPIO(pin);
return;
}
#endif
struct gpio_entry *g = gpio_by_pin_num(pin);
if (g) {
palToggleLine(g->pal_line);
return;
}
#if HAL_WITH_IO_MCU
if (AP_BoardConfig::io_enabled() && iomcu.valid_GPIO_pin(pin)) {
iomcu.toggle_GPIO(pin);
}
#endif
}
/* Alternative interface: */
AP_HAL::DigitalSource* GPIO::channel(uint16_t pin)
{
struct gpio_entry *g = gpio_by_pin_num(pin);
if (g != nullptr) {
return new DigitalSource(g->pal_line);
}
#if HAL_WITH_IO_MCU
if (AP_BoardConfig::io_enabled() && iomcu.valid_GPIO_pin(pin)) {
return new IOMCU_DigitalSource(pin);
}
#endif
struct gpio_entry *g = gpio_by_pin_num(pin);
if (!g) {
return nullptr;
}
return new DigitalSource(g->pal_line);
return nullptr;
}
extern const AP_HAL::HAL& hal;
@ -526,12 +526,15 @@ bool GPIO::wait_pin(uint8_t pin, INTERRUPT_TRIGGER_TYPE mode, uint32_t timeout_u
// check if a pin number is valid
bool GPIO::valid_pin(uint8_t pin) const
{
if (gpio_by_pin_num(pin) != nullptr) {
return true;
}
#if HAL_WITH_IO_MCU
if (AP_BoardConfig::io_enabled() && iomcu.valid_GPIO_pin(pin)) {
return true;
}
#endif
return gpio_by_pin_num(pin) != nullptr;
return false;
}
// return servo channel associated with GPIO pin. Returns true on success and fills in servo_ch argument