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hostmot2: use the H entry's pins for two-part sserial encoders #4635

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Merged
andypugh merged 1 commit into from
Oct 4, 2026
Merged

hostmot2: use the H entry's pins for two-part sserial encoders #4635

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19 changes: 19 additions & 0 deletions src/hal/drivers/mesa-hostmot2/sserial.c
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Original file line number Diff line number Diff line change
Expand Up @@ -1866,6 +1866,25 @@ int hm2_sserial_read_pins(hm2_sserial_remote_t *chan){
if ( ! (h_flag && l_flag)){
break;
}
if (conf->DataType == LBP_ENCODER_L) {
// LBP_ENCODER_L entries have no pins; the encoder body
// below must run on the matching LBP_ENCODER_H entry's
// pin set regardless of which entry completes the pair.
int e;
for (e = 0; e < chan->num_confs; e++){
if (chan->confs[e].DataType == LBP_ENCODER_H){
pin = &chan->pins[e];
break;
}
}
if (e == chan->num_confs){
HM2_ERR_NO_LL("sserial read: LBP_ENCODER_L with no matching LBP_ENCODER_H (name: ""%s"")\n",
conf->NameString);
h_flag = 0; l_flag = 0;
buff_store = 0;
break;
}
}
buff = buff_store;
/* Fallthrough */
case LBP_ENCODER:
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