AP_BoardConfig: add option to use IO safety led switch for ProfiLED

bugobliterator · Oct 15, 2024 · 19b66f1 · 19b66f1
1 parent 93646a2
commit 19b66f1
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Showing 2 changed files with 11 additions and 2 deletions.
diff --git a/libraries/AP_BoardConfig/AP_BoardConfig.cpp b/libraries/AP_BoardConfig/AP_BoardConfig.cpp
@@ -281,7 +281,7 @@ const AP_Param::GroupInfo AP_BoardConfig::var_info[] = {
     // @Param: OPTIONS
     // @DisplayName: Board options
     // @Description: Board specific option flags
-    // @Bitmask: 0:Enable hardware watchdog, 1:Disable MAVftp, 2:Enable set of internal parameters, 3:Enable Debug Pins, 4:Unlock flash on reboot, 5:Write protect firmware flash on reboot, 6:Write protect bootloader flash on reboot, 7:Skip board validation, 8:Disable board arming gpio output change on arm/disarm
+    // @Bitmask: 0:Enable hardware watchdog, 1:Disable MAVftp, 2:Enable set of internal parameters, 3:Enable Debug Pins, 4:Unlock flash on reboot, 5:Write protect firmware flash on reboot, 6:Write protect bootloader flash on reboot, 7:Skip board validation, 8:Disable board arming gpio output change on arm/disarm, 9:Use safety pins as profiled
     // @User: Advanced
     AP_GROUPINFO("OPTIONS", 19, AP_BoardConfig, _options, HAL_BRD_OPTIONS_DEFAULT),
 

diff --git a/libraries/AP_BoardConfig/AP_BoardConfig.h b/libraries/AP_BoardConfig/AP_BoardConfig.h
@@ -11,6 +11,8 @@
 #include <AP_Radio/AP_Radio.h>
 #endif
 
+#include <AP_IOMCU/AP_IOMCU.h>
+
 extern "C" typedef int (*main_fn_t)(int argc, char **);
 
 class AP_BoardConfig {
@@ -158,7 +160,8 @@ class AP_BoardConfig {
         WRITE_PROTECT_FLASH = (1<<5),
         WRITE_PROTECT_BOOTLOADER = (1<<6),
         SKIP_BOARD_VALIDATION = (1<<7),
-        DISABLE_ARMING_GPIO = (1<<8)
+        DISABLE_ARMING_GPIO = (1<<8),
+        IO_SAFETY_PINS_AS_PROFILED = (1<<9),
     };
 
     //return true if arming gpio output is disabled
@@ -229,6 +232,12 @@ class AP_BoardConfig {
     }
 #endif
 
+#if HAL_WITH_IO_MCU && AP_IOMCU_PROFILED_SUPPORT_ENABLED
+    bool use_safety_as_led() {
+        return _singleton? (_singleton->_options & IO_SAFETY_PINS_AS_PROFILED) : false;
+    }
+#endif
+
 private:
     static AP_BoardConfig *_singleton;