Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_HAL_SITL: stop setting of pull-up resistors affecting SIM_PIN_MASK

Browse Source
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

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)
{}
{
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)
{
@ -33,6 +42,13 @@ void GPIO::write(uint8_t pin, uint8_t value)
if (!_sitlState->_sitl) {
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 new_mask = mask;

2
libraries/AP_HAL_SITL/GPIO.h
View File

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