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AP_HAL_SITL: stop setting of pull-up resistors affecting SIM_PIN_MASK

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This commit is contained in:
Peter Barker 2020-10-01 15:43:50 +10:00 committed by Peter Barker
parent 8885aa255d
commit c40b5490f4
2 changed files with 19 additions and 1 deletions
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18
libraries/AP_HAL_SITL/GPIO.cpp
View File

@ -11,7 +11,16 @@ void GPIO::init()
{} {}
void GPIO::pinMode(uint8_t pin, uint8_t output) void GPIO::pinMode(uint8_t pin, uint8_t output)
{} {
if (pin > 7) {
return;
}
if (output) {
pin_mode_is_write |= (1U<<pin);
} else {
pin_mode_is_write &= ~(1U<<pin);
}
}
uint8_t GPIO::read(uint8_t pin) uint8_t GPIO::read(uint8_t pin)
{ {
@ -33,6 +42,13 @@ void GPIO::write(uint8_t pin, uint8_t value)
if (!_sitlState->_sitl) { if (!_sitlState->_sitl) {
return; return;
} }
if (pin < 8) {
if (!(pin_mode_is_write & (1U<<pin))) {
// ignore setting of pull-up resistors
return;
}
}
uint16_t mask = static_cast<uint16_t>(_sitlState->_sitl->pin_mask.get()); uint16_t mask = static_cast<uint16_t>(_sitlState->_sitl->pin_mask.get());
uint16_t new_mask = mask; uint16_t new_mask = mask;

2
libraries/AP_HAL_SITL/GPIO.h
View File

@ -19,6 +19,8 @@ public:
private: private:
SITL_State *_sitlState; SITL_State *_sitlState;
uint8_t pin_mode_is_write;
}; };
class HALSITL::DigitalSource : public AP_HAL::DigitalSource { class HALSITL::DigitalSource : public AP_HAL::DigitalSource {