AP_HAL_ChibiOS: GPIO: read: support virtual read of IOMCU pins

ArduPilot · Jul 31, 2024 · 21ad679 · 21ad679
1 parent 60d579d
commit 21ad679
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/libraries/AP_HAL_ChibiOS/GPIO.cpp b/libraries/AP_HAL_ChibiOS/GPIO.cpp
@@ -241,6 +241,11 @@ uint8_t GPIO::read(uint8_t pin)
     if (g) {
         return palReadLine(g->pal_line);
     }
+#if HAL_WITH_IO_MCU
+    if (AP_BoardConfig::io_enabled() && iomcu.valid_GPIO_pin(pin)) {
+        return iomcu.read_virtual_GPIO(pin);
+    }
+#endif
     return 0;
 }