BUGFIX:GPS not working. Invalid values passed to px4_arch_configgpio #9665
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Thanks! That's a very interesting find. |
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@dagar if the CI fail is tangential please merge this. |
| px4_arch_configgpio(_gpios[_pins[i]]); | ||
| px4_arch_gpiowrite(_gpios[_pins[i]], !_polarity); | ||
| // Pin range is ranges from 1 to 6 | ||
| if (_pins[i] > 0 && _pins[i] < (int)arraySize(_gpios)) { |
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From what I see this should be _pins[i] >= 0 && ...
Note the check in CameraInterfaceGPIO::trigger: it uses if (_pins[i] >= 0) {
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@bkueng Could you provide a final answer here?
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So do we need to change this or not?
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Yes, needs a change. _pins[i] is set to param value -1 in https://github.com/PX4/Firmware/blob/6f7b17d693a16ebb7a89210d2a7166f5f7c44b08/src/drivers/camera_trigger/interfaces/src/camera_interface.cpp#L42
and param value == 1 is a valid setting. Fix pushed.
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@bkueng - Thank you for seeing and fixing that. What do you think of a better approach for efficiency and simplicity? The parameter init phase should fill the array of pins with the actual GPIO values and end with 0. So the pin array would be the actual GPIO values. There would be no double indexing at run time and the loops end early on pin value of 0. |
Agreed. Can you do it? :) |
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@bkueng yes. |
This reverts commit a62a71f. The root cause was the camera trigger passing invalid pin configuration setting overwriting the UART4 TX pin setting
This is the root cause of #9461 The _pins array was initialized to -1. It was used to index the _gpios array. The value at _gpios[-1] was a number that mapped to Analog mode on Port A pin 0. These is the UART4_TX pin and was being reconfigured by the fault in the camera_trigger to an alaog input.
Because _pins[i] is set from parameter value - 1
This is the root cause of #9461 The _pins array was initialized to -1. It was used to index the _gpios array. The value at _gpios[-1] was a number that mapped to Analog mode on Port A pin 0. This is the UART4_TX pin and was being reconfigured by the fault in the camera_trigger to an analog input.
reverts hotfix