ardupilot/libraries/AP_HAL_Linux/GPIO.h

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2013-09-22 03:01:24 -03:00
#ifndef __AP_HAL_LINUX_GPIO_H__
#define __AP_HAL_LINUX_GPIO_H__
#include <AP_HAL_Linux.h>
class Linux::LinuxGPIO : public AP_HAL::GPIO {
public:
LinuxGPIO();
void init();
void pinMode(uint8_t pin, uint8_t output);
int8_t analogPinToDigitalPin(uint8_t pin);
uint8_t read(uint8_t pin);
void write(uint8_t pin, uint8_t value);
void toggle(uint8_t pin);
/* Alternative interface: */
AP_HAL::DigitalSource* channel(uint16_t n);
/* Interrupt interface: */
bool attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p,
uint8_t mode);
/* return true if USB cable is connected */
bool usb_connected(void);
};
class Linux::LinuxDigitalSource : public AP_HAL::DigitalSource {
public:
LinuxDigitalSource(uint8_t v);
void mode(uint8_t output);
uint8_t read();
void write(uint8_t value);
void toggle();
private:
uint8_t _v;
};
#endif // __AP_HAL_LINUX_GPIO_H__