AP_BoardConfig: add arm/disarm controlled GPIO for module power control

ArduPilot · Nov 18, 2023 · 176a4aa · 176a4aa
1 parent fffe3af
commit 176a4aa
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Showing 2 changed files with 12 additions and 2 deletions.
diff --git a/libraries/AP_BoardConfig/AP_BoardConfig.cpp b/libraries/AP_BoardConfig/AP_BoardConfig.cpp
@@ -289,7 +289,7 @@ 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
+    // @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
     // @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
@@ -155,9 +155,19 @@ class AP_BoardConfig {
         UNLOCK_FLASH = (1<<4),
         WRITE_PROTECT_FLASH = (1<<5),
         WRITE_PROTECT_BOOTLOADER = (1<<6),
-        SKIP_BOARD_VALIDATION = (1<<7)
+        SKIP_BOARD_VALIDATION = (1<<7),
+        DISABLE_ARMING_GPIO = (1<<8)
     };
 
+    //return true if arming gpio output is disabled
+    static bool arming_gpio_disabled(void) {
+        return _singleton?(_singleton->_options & DISABLE_ARMING_GPIO)!=0:1;
+    }
+
+#ifndef HAL_ARM_GPIO_POL_INVERT
+#define HAL_ARM_GPIO_POL_INVERT 0
+#endif
+
     // return true if ftp is disabled
     static bool ftp_disabled(void) {
         return _singleton?(_singleton->_options & DISABLE_FTP)!=0:1;