Add pin lock method to digital out#502
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g0nz4I0 merged 6 commits intodevelopmentfrom Apr 25, 2025
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Pull Request Overview
This PR adds a method to lock a GPIO pin in a specific state until board reset, supporting safety features like preventing contactor reactivation after a fault. Key changes include:
- Addition of a new lock_pin_state method in DigitalOutput and related service classes.
- Consistent header updates and minor formatting improvements across HALAL and HALALMock implementations.
- Adjusted error handling when registering/use of DigitalOutput IDs.
Reviewed Changes
Copilot reviewed 6 out of 6 changed files in this pull request and generated no comments.
Show a summary per file
| File | Description |
|---|---|
| Src/ST-LIB_LOW/DigitalOutput/DigitalOutput.cpp | Added lock_pin_state method and simplified formatting of existing methods. |
| Src/HALALMock/Services/DigitalOutputService/DigitalOutputService.cpp | Reformatted error message and toggle method; mock implementation of lock_pin_state introduced. |
| Src/HALAL/Services/DigitalOutputService/DigitalOutputService.cpp | New implementation for lock_pin_state with proper error handling and use of HAL routines. |
| Inc/ST-LIB_LOW/DigitalOutput/DigitalOutput.hpp | Updated header to include lock_pin_state declaration. |
| Inc/HALALMock/Services/DigitalOutputService/DigitalOutputService.hpp | Declared lock_pin_state in the HALALMock service header. |
| Inc/HALAL/Services/DigitalOutputService/DigitalOutputService.hpp | Declared lock_pin_state in the HALAL service header. |
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I'm going to shove the linter up *********
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The HAL has a method that can lock a GPIO in a certain state until the board resets (using HAL_GPIO_LockPin). This could be useful for the contactors as an example, where once you enter fault you don't want to close them until you reset the board after fixing the fault cause. This is the same for the GD reset and enable, brakes, etc. All driven by a GPIO.
Also I took the chance to run the linter through the digital out code, the logic of this modification is minimal. The interesting methods are named force_lock_state