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FIX AT32 LED blink BUG #11228

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FIX AT32 LED blink BUG #11228

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7b391b3
FIX AT32 LED blink BUG
sunyanmeng963 Jan 5, 2026
d6caa76
Merge branch 'iNavFlight:master' into master
sunyanmeng963 Jan 23, 2026
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9 changes: 5 additions & 4 deletions src/main/drivers/io.c
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Original file line number Diff line number Diff line change
Expand Up @@ -244,10 +244,11 @@ void IOToggle(IO_t io)
IO_GPIO(io)->BSRRL = mask;
}
#elif defined(AT32F43x)
if (IO_GPIO(io)->odt & mask)
mask <<= 16; // bit is set, shift mask to reset half

IO_GPIO(io)->scr = IO_Pin(io);
if (IO_GPIO(io)->odt & mask) {
IO_GPIO(io)->clr = mask;
} else {
IO_GPIO(io)->scr = mask;
}
Comment on lines +247 to +251
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@qodo-code-review qodo-code-review bot Jan 5, 2026

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Suggestion: Refactor the AT32F43x GPIO toggle logic to use the scr register for both setting and clearing pins in a single atomic write, which improves efficiency by removing the if/else branch. [general, importance: 6]

Suggested change
if (IO_GPIO(io)->odt & mask) {
IO_GPIO(io)->clr = mask;
} else {
IO_GPIO(io)->scr = mask;
}
#elif defined(AT32F43x)
uint32_t toggleMask = mask;
if (IO_GPIO(io)->odt & mask) {
toggleMask <<= 16;
}
IO_GPIO(io)->scr = toggleMask;

#else
if (IO_GPIO(io)->ODR & mask)
mask <<= 16; // bit is set, shift mask to reset half
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