ardupilot/libraries/AP_HAL_PX4/GPIO.h

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2013-07-11 00:01:59 -03:00
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef __AP_HAL_PX4_GPIO_H__
#define __AP_HAL_PX4_GPIO_H__
#include "AP_HAL_PX4.h"
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#define PX4_GPIO_PIEZO_PIN 110
#define PX4_GPIO_EXT_FMU_RELAY1_PIN 111
#define PX4_GPIO_EXT_FMU_RELAY2_PIN 112
#define PX4_GPIO_EXT_IO_RELAY1_PIN 113
#define PX4_GPIO_EXT_IO_RELAY2_PIN 114
#define PX4_GPIO_EXT_IO_ACC1_PIN 115
#define PX4_GPIO_EXT_IO_ACC2_PIN 116
/*
start servo channels used as GPIO at 50. Pin 50 is
the first FMU servo pin
*/
#define PX4_GPIO_FMU_SERVO_PIN(n) (n+50)
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
# define HAL_GPIO_A_LED_PIN 27
# define HAL_GPIO_B_LED_PIN 26
# define HAL_GPIO_C_LED_PIN 25
# define HAL_GPIO_LED_ON LOW
# define HAL_GPIO_LED_OFF HIGH
#endif
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class PX4::PX4GPIO : public AP_HAL::GPIO {
public:
PX4GPIO();
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);
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void toggle(uint8_t pin);
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/* 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);
// used by UART code to avoid a hw bug in the AUAV-X2
void set_usb_connected(void) { _usb_connected = true; }
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private:
int _led_fd;
int _tone_alarm_fd;
int _gpio_fmu_fd;
int _gpio_io_fd;
bool _usb_connected = false;
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};
class PX4::PX4DigitalSource : public AP_HAL::DigitalSource {
public:
PX4DigitalSource(uint8_t v);
void mode(uint8_t output);
uint8_t read();
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void write(uint8_t value);
void toggle();
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private:
uint8_t _v;
};
#endif // __AP_HAL_PX4_GPIO_H__