ardupilot/libraries/AP_HAL_FLYMAPLE/GPIO.cpp

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/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
Flymaple port by Mike McCauley
*/
#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
#include "GPIO.h"
#include "FlymapleWirish.h"
using namespace AP_HAL_FLYMAPLE_NS;
// Glue into libmaple
void libmaple_pinMode(uint8_t pin, uint8_t output)
{
WiringPinMode mode = output ? OUTPUT : INPUT;
pinMode(pin, mode);
}
uint8_t libmaple_digitalRead(uint8_t pin)
{
return digitalRead(pin);
}
void libmaple_digitalWrite(uint8_t pin, uint8_t value)
{
digitalWrite(pin, value);
}
FLYMAPLEGPIO::FLYMAPLEGPIO()
{}
void FLYMAPLEGPIO::init()
{}
void FLYMAPLEGPIO::pinMode(uint8_t pin, uint8_t output)
{
return libmaple_pinMode(pin, output);
}
int8_t FLYMAPLEGPIO::analogPinToDigitalPin(uint8_t pin)
{
return pin;
}
uint8_t FLYMAPLEGPIO::read(uint8_t pin)
{
return libmaple_digitalRead(pin);
}
void FLYMAPLEGPIO::write(uint8_t pin, uint8_t value)
{
libmaple_digitalWrite(pin, value);
}
void FLYMAPLEGPIO::toggle(uint8_t pin)
{
libmaple_digitalWrite(pin, !libmaple_digitalRead(pin));
}
/* Alternative interface: */
AP_HAL::DigitalSource* FLYMAPLEGPIO::channel(uint16_t n) {
return new FLYMAPLEDigitalSource(n);
}
/* Interrupt interface: */
bool FLYMAPLEGPIO::attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p, uint8_t mode)
{
// Flymaple can only handle RISING, FALLING and CHANGE
ExtIntTriggerMode flymaple_interrupt_mode;
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if (mode == HAL_GPIO_INTERRUPT_FALLING)
flymaple_interrupt_mode = FALLING;
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else if (mode == HAL_GPIO_INTERRUPT_RISING)
flymaple_interrupt_mode = RISING;
else
return false;
// REVISIT: Assumes pin and interrupt number are the same. Are they?
attachInterrupt(interrupt_num, p, flymaple_interrupt_mode);
return true;
}
bool FLYMAPLEGPIO::usb_connected(void)
{
return SerialUSB.isConnected();
}
FLYMAPLEDigitalSource::FLYMAPLEDigitalSource(uint8_t v) :
_v(v)
{
SerialUSB.println(_v);
}
void FLYMAPLEDigitalSource::mode(uint8_t output)
{
libmaple_pinMode(_v, output);
}
uint8_t FLYMAPLEDigitalSource::read() {
return libmaple_digitalRead(_v);
}
void FLYMAPLEDigitalSource::write(uint8_t value) {
libmaple_digitalWrite(_v, value);
}
void FLYMAPLEDigitalSource::toggle() {
libmaple_digitalWrite(_v, !libmaple_digitalRead(_v));
}
#endif