Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_HAL_ChibiOS: RCOut banner: check for GPIO on IOMCU

This commit is contained in:
Iampete1 2024-07-28 17:33:51 +01:00 committed by Randy Mackay
parent 4811d0458f
commit d0ab1b5113
1 changed files with 5 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
libraries/AP_HAL_ChibiOS/RCOutput.cpp
View File

@ -1266,9 +1266,13 @@ bool RCOutput::get_output_mode_banner(char banner_msg[], uint8_t banner_msg_len)
if (iomcu_enabled) {
uint8_t iomcu_mask;
const output_mode iomcu_mode = iomcu.get_output_mode(iomcu_mask);
const uint8_t gpio_mask = iomcu.get_GPIO_mask();
for (uint8_t i = 0; i < chan_offset; i++ ) {
if (iomcu_mask & 1U<<i) {
const uint8_t chan_bit = 1U<<i;
if (iomcu_mask & chan_bit) {
ch_mode[i] = iomcu_mode;
} else if (gpio_mask & chan_bit) {
ch_mode[i] = MODE_PWM_NONE;
} else {
ch_mode[i] = MODE_PWM_NORMAL;
}