mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-02-08 17:03:57 -04:00
71 lines
2.1 KiB
C
71 lines
2.1 KiB
C
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/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* Code by Andrew Tridgell and Siddharth Bharat Purohit
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*/
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#pragma once
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#include "AP_HAL_ChibiOS.h"
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#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
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# define HAL_GPIO_A_LED_PIN 0
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# define HAL_GPIO_B_LED_PIN 0
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# define HAL_GPIO_C_LED_PIN 0
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# define HAL_GPIO_LED_ON LOW
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# define HAL_GPIO_LED_OFF HIGH
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412
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# define HAL_GPIO_CYRF_RESET 1
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# define HAL_GPIO_CYRF_IRQ 2
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#else
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# define HAL_GPIO_CYRF_RESET 1
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# define HAL_GPIO_CYRF_IRQ 15
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#endif
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#endif
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class ChibiOS::ChibiGPIO : public AP_HAL::GPIO {
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public:
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ChibiGPIO();
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void init();
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void pinMode(uint8_t pin, uint8_t output);
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int8_t analogPinToDigitalPin(uint8_t pin);
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uint8_t read(uint8_t pin);
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void write(uint8_t pin, uint8_t value);
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void toggle(uint8_t pin);
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/* Alternative interface: */
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AP_HAL::DigitalSource* channel(uint16_t n);
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/* Interrupt interface: */
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bool attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p,
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uint8_t mode);
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/* return true if USB cable is connected */
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bool usb_connected(void) override;
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void set_usb_connected() { _usb_connected = true; }
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private:
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bool _usb_connected = false;
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};
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class ChibiOS::ChibiDigitalSource : public AP_HAL::DigitalSource {
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public:
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ChibiDigitalSource(uint8_t v);
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void mode(uint8_t output);
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uint8_t read();
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void write(uint8_t value);
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void toggle();
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private:
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uint8_t _v;
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};
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