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AP_HAL_ChibiOS: adjust GPIO settings for serial passthru

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Andy Piper 2021-04-18 14:34:12 +01:00 committed by Andrew Tridgell
parent 5fcd2de4fa
commit 4bb4e2fb22
1 changed files with 4 additions and 2 deletions
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6
libraries/AP_HAL_ChibiOS/RCOutput.cpp
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@ -1819,8 +1819,10 @@ uint16_t RCOutput::serial_read_bytes(uint8_t *buf, uint16_t len)
}
pwm_group &group = *serial_group;
const ioline_t line = group.pal_lines[group.serial.chan];
uint32_t gpio_mode = PAL_MODE_INPUT_PULLUP;
uint32_t restore_mode = PAL_MODE_ALTERNATE(group.alt_functions[group.serial.chan]) | PAL_STM32_OSPEED_MID2 | PAL_STM32_OTYPE_PUSHPULL;
// keep speed low to avoid noise when switching between input and output
uint32_t gpio_mode = PAL_STM32_MODE_INPUT | PAL_STM32_OTYPE_PUSHPULL | PAL_STM32_PUPDR_PULLUP | PAL_STM32_OSPEED_LOWEST;
// restore the line to what it was before
iomode_t restore_mode = palReadLineMode(line);
uint16_t i = 0;
#if RCOU_SERIAL_TIMING_DEBUG