IOMCU: add virtual GPIO read so relays work again #27683
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I tried to include this in 4.5.6-beta1 but was unable to due to a merge conflict. If someone is keen on including this in 4.5 then a backport PR would be greatly appreciated! |
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I've removed the 4.5 backports project from this PR because the above linked PR has been merged or more accurately the commits from the above linked PR have been included in this release PR #27868 |
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#25108 Added logging of relay where it only called set and wrote the log if there would be a state change. However, because pin read was never implemented on IOMCU read would always return 0 and the pin never turn off.
This fixes that by adding a "virtual read" method to get the commanded state of the IOMCU pin. Much like the DroneCAN pins this is NOT a real read, just a return of the last commanded state. However, this is enough to get relay to work again.
This also adds a getter for the IOMCU GPIO mask so its state is correctly represented in the
RCOutsend text. EG WithSERVO1_FUNCTION-1:This fixes #27648
This has been tested on CubeOrange, however in my testing and in that of @andyp1per this functionality does not work on CubeOrangePlus. It seems to be a long standing issue, it is present in ever since the OrangePlus was added. I'm not sure why this would be. We do see the pin respond momentarily and then go low again.