Mirrors_Framework/PX4-Autopilot
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Only perform GIOP operations on defined IO (#6381)

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Check if the table entry fo the IO requested is defined
   so that 0 is never passed to px4_arch_gpioXXXX functions.
This commit is contained in:
David Sidrane
2017-01-18 09:53:16 -10:00
committed by GitHub
parent e7db0ed098
commit 23eb07ff3e
1 changed files with 20 additions and 6 deletions
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src/drivers/px4fmu/fmu.cpp
+20 -6
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@@ -2484,19 +2484,31 @@ PX4FMU::gpio_set_function(uint32_t gpios, int function)
if (gpios & (1 << i)) {
switch (function) {
case GPIO_SET_INPUT:
px4_arch_configgpio(_gpio_tab[i].input);
if (_gpio_tab[i].input) {
px4_arch_configgpio(_gpio_tab[i].input);
}
break;
case GPIO_SET_OUTPUT:
px4_arch_configgpio(_gpio_tab[i].output);
if (_gpio_tab[i].output) {
px4_arch_configgpio(_gpio_tab[i].output);
}
break;
case GPIO_SET_OUTPUT_LOW:
px4_arch_configgpio((_gpio_tab[i].output & ~(GPIO_OUTPUT_SET)) | GPIO_OUTPUT_CLEAR);
if (_gpio_tab[i].output) {
px4_arch_configgpio((_gpio_tab[i].output & ~(GPIO_OUTPUT_SET)) | GPIO_OUTPUT_CLEAR);
}
break;
case GPIO_SET_OUTPUT_HIGH:
px4_arch_configgpio((_gpio_tab[i].output & ~(GPIO_OUTPUT_CLEAR)) | GPIO_OUTPUT_SET);
if (_gpio_tab[i].output) {
px4_arch_configgpio((_gpio_tab[i].output & ~(GPIO_OUTPUT_CLEAR)) | GPIO_OUTPUT_SET);
}
break;
case GPIO_SET_ALT_1:
@@ -2526,7 +2538,9 @@ PX4FMU::gpio_write(uint32_t gpios, int function)
for (unsigned i = 0; i < _ngpio; i++)
if (gpios & (1 << i)) {
px4_arch_gpiowrite(_gpio_tab[i].output, value);
if (_gpio_tab[i].output) {
px4_arch_gpiowrite(_gpio_tab[i].output, value);
}
}
}
@@ -2536,7 +2550,7 @@ PX4FMU::gpio_read(void)
uint32_t bits = 0;
for (unsigned i = 0; i < _ngpio; i++)
if (px4_arch_gpioread(_gpio_tab[i].input)) {
if (_gpio_tab[i].input != 0 && px4_arch_gpioread(_gpio_tab[i].input)) {
bits |= (1 << i);
}