2016-02-17 21:25:25 -04:00
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#pragma once
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2012-08-20 15:37:46 -03:00
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2012-08-23 19:22:24 -03:00
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#include <stdint.h>
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2012-08-20 15:37:46 -03:00
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#include "AP_HAL_Namespace.h"
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2014-06-01 20:24:52 -03:00
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#define HAL_GPIO_INPUT 0
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#define HAL_GPIO_OUTPUT 1
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2015-08-17 22:18:21 -03:00
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#define HAL_GPIO_ALT 2
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2012-08-23 19:22:24 -03:00
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2012-10-02 01:55:52 -03:00
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class AP_HAL::DigitalSource {
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public:
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virtual void mode(uint8_t output) = 0;
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virtual uint8_t read() = 0;
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2013-08-08 10:14:06 -03:00
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virtual void write(uint8_t value) = 0;
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virtual void toggle() = 0;
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2012-10-02 01:55:52 -03:00
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};
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2012-08-20 15:37:46 -03:00
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class AP_HAL::GPIO {
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public:
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GPIO() {}
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2012-08-23 19:22:24 -03:00
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virtual void init() = 0;
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virtual void pinMode(uint8_t pin, uint8_t output) = 0;
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2015-08-19 06:18:54 -03:00
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// optional interface on some boards
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virtual void pinMode(uint8_t pin, uint8_t output, uint8_t alt) {};
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2012-08-23 19:22:24 -03:00
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virtual uint8_t read(uint8_t pin) = 0;
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virtual void write(uint8_t pin, uint8_t value) = 0;
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2013-08-08 10:14:06 -03:00
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virtual void toggle(uint8_t pin) = 0;
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2013-03-21 22:31:14 -03:00
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2012-10-02 01:55:52 -03:00
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/* Alternative interface: */
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2012-12-06 14:45:45 -04:00
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virtual AP_HAL::DigitalSource* channel(uint16_t n) = 0;
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2012-10-11 21:24:56 -03:00
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2018-07-04 02:36:37 -03:00
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enum INTERRUPT_TRIGGER_TYPE {
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INTERRUPT_NONE,
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INTERRUPT_FALLING,
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INTERRUPT_RISING,
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INTERRUPT_BOTH,
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};
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2012-10-11 21:24:56 -03:00
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/* Interrupt interface: */
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2018-07-04 02:36:37 -03:00
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// ret , pin , state,timestamp
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// where:
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// ret indicates the functor must return void
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// pin is the pin which has triggered the interrupt
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// state is the new state of the pin
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// timestamp is the time in microseconds the interrupt occured
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FUNCTOR_TYPEDEF(irq_handler_fn_t, void, uint8_t, bool, uint32_t);
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virtual bool attach_interrupt(uint8_t pin,
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irq_handler_fn_t fn,
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2018-08-21 08:39:11 -03:00
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INTERRUPT_TRIGGER_TYPE mode) {
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return false;
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}
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2018-07-04 02:36:37 -03:00
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virtual bool attach_interrupt(uint8_t pin,
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AP_HAL::Proc proc,
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INTERRUPT_TRIGGER_TYPE mode) {
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return false;
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}
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bool detach_interrupt(uint8_t pin) {
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if (attach_interrupt(pin, (irq_handler_fn_t)nullptr, AP_HAL::GPIO::INTERRUPT_NONE)) {
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return true;
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}
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return attach_interrupt(pin, (AP_HAL::Proc)nullptr, AP_HAL::GPIO::INTERRUPT_NONE);
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}
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2013-09-19 03:23:40 -03:00
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2020-04-22 02:52:49 -03:00
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/*
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block waiting for a pin to change. A timeout of 0 means wait
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forever. Return true on pin change, false on timeout
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*/
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virtual bool wait_pin(uint8_t pin, INTERRUPT_TRIGGER_TYPE mode, uint32_t timeout_us) { return false; }
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2013-09-19 03:23:40 -03:00
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/* return true if USB cable is connected */
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virtual bool usb_connected(void) = 0;
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2012-08-20 15:37:46 -03:00
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};
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