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

bugobliterator · Aug 30, 2024 · 72cf9b0 · 72cf9b0
1 parent 45dd2af
commit 72cf9b0
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Showing 2 changed files with 9 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
@@ -158,7 +158,8 @@ 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 +230,12 @@ class AP_BoardConfig {
     }
 #endif
 
+#if HAL_WITH_IO_MCU
+    bool use_safety_as_led() {
+        return state.safety_option.get() |  IO_SAFETY_PINS_AS_PROFILED;
+    }
+#endif
+
 private:
     static AP_BoardConfig *_singleton;