From a38b94c7ddbb0924fdba9d7681ab13239f5353ce Mon Sep 17 00:00:00 2001 From: David Sidrane Date: Wed, 13 Jun 2018 09:47:34 -1000 Subject: [PATCH] BUGFIX:GPS not working. Invalid values passed to px4_arch_configgpio This is the root cause of https://github.com/PX4/Firmware/issues/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. --- src/drivers/camera_trigger/interfaces/src/gpio.cpp | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/src/drivers/camera_trigger/interfaces/src/gpio.cpp b/src/drivers/camera_trigger/interfaces/src/gpio.cpp index 060f10f4a6..0fe8f9aee5 100644 --- a/src/drivers/camera_trigger/interfaces/src/gpio.cpp +++ b/src/drivers/camera_trigger/interfaces/src/gpio.cpp @@ -22,8 +22,11 @@ CameraInterfaceGPIO::~CameraInterfaceGPIO() void CameraInterfaceGPIO::setup() { for (unsigned i = 0; i < arraySize(_pins); i++) { - 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)) { + px4_arch_configgpio(_gpios[_pins[i]]); + px4_arch_gpiowrite(_gpios[_pins[i]], !_polarity); + } } }