ardupilot/libraries/AP_HAL_VRBRAIN/GPIO.h

57 lines
1.5 KiB
C
Raw Normal View History

#pragma once
#include "AP_HAL_VRBRAIN.h"
#if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
# define HAL_GPIO_A_LED_PIN 25
# define HAL_GPIO_B_LED_PIN 26
# define HAL_GPIO_C_LED_PIN 27
# define EXTERNAL_LED_GPS 28
# define EXTERNAL_LED_ARMED 29
# define EXTERNAL_LED_MOTOR1 30
# define EXTERNAL_LED_MOTOR2 31
# define EXTERNAL_RELAY1_PIN 34
# define EXTERNAL_RELAY2_PIN 33
# define HAL_GPIO_LED_ON HIGH
# define HAL_GPIO_LED_OFF LOW
#endif
class VRBRAIN::VRBRAINGPIO : public AP_HAL::GPIO {
public:
VRBRAINGPIO();
void init() override;
void pinMode(uint8_t pin, uint8_t output) override;
uint8_t read(uint8_t pin) override;
void write(uint8_t pin, uint8_t value) override;
void toggle(uint8_t pin) override;
/* Alternative interface: */
AP_HAL::DigitalSource* channel(uint16_t n) override;
/* return true if USB cable is connected */
bool usb_connected(void) override;
// used by UART code to avoid a hw bug in the AUAV-X2
void set_usb_connected(void) { _usb_connected = true; }
private:
int _led_fd = -1;
int _tone_alarm_fd = -1;
int _gpio_fmu_fd = -1;
bool _usb_connected = false;
};
class VRBRAIN::VRBRAINDigitalSource : public AP_HAL::DigitalSource {
public:
VRBRAINDigitalSource(uint8_t v);
void mode(uint8_t output);
uint8_t read();
void write(uint8_t value);
void toggle();
private:
uint8_t _v;
};