ardupilot/libraries/AP_HAL_ChibiOS/GPIO.h

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/*
* This file 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 file 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/>.
*
* Code by Andrew Tridgell and Siddharth Bharat Purohit
*/
#pragma once
#include "AP_HAL_ChibiOS.h"
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#ifndef HAL_GPIO_LED_ON
#define HAL_GPIO_LED_ON 0
#endif
#ifndef HAL_GPIO_LED_OFF
#define HAL_GPIO_LED_OFF 1
#endif
/*
pin types for alternative configuration
*/
enum class PERIPH_TYPE : uint8_t {
UART_RX,
UART_TX,
I2C_SDA,
I2C_SCL,
OTHER,
};
class ChibiOS::GPIO : public AP_HAL::GPIO {
public:
GPIO();
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;
/* Interrupt interface - fast, for RCOutput and SPI radios */
bool attach_interrupt(uint8_t interrupt_num,
AP_HAL::Proc p,
INTERRUPT_TRIGGER_TYPE mode) override;
/* Interrupt interface - for AP_HAL::GPIO */
bool attach_interrupt(uint8_t pin,
irq_handler_fn_t fn,
INTERRUPT_TRIGGER_TYPE mode) override;
/* return true if USB cable is connected */
bool usb_connected(void) override;
void set_usb_connected() { _usb_connected = true; }
/* attach interrupt via ioline_t */
bool _attach_interrupt(ioline_t line, AP_HAL::Proc p, uint8_t mode);
/*
block waiting for a pin to change. A timeout of 0 means wait
forever. Return true on pin change, false on timeout
*/
bool wait_pin(uint8_t pin, INTERRUPT_TRIGGER_TYPE mode, uint32_t timeout_us) override;
#ifndef IOMCU_FW
// timer tick
void timer_tick(void) override;
#endif
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// check if a pin number is valid
bool valid_pin(uint8_t pin) const override;
/*
resolve an ioline to take account of alternative configurations
*/
static ioline_t resolve_alt_config(ioline_t base, PERIPH_TYPE ptype, uint8_t instance);
private:
bool _usb_connected;
bool _ext_started;
bool _attach_interruptI(ioline_t line, palcallback_t cb, void *p, uint8_t mode);
bool _attach_interrupt(ioline_t line, palcallback_t cb, void *p, uint8_t mode);
#ifdef HAL_PIN_ALT_CONFIG
void setup_alt_config(void);
static uint8_t alt_config;
#endif
};
class ChibiOS::DigitalSource : public AP_HAL::DigitalSource {
public:
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DigitalSource(ioline_t line);
void mode(uint8_t output) override;
uint8_t read() override;
void write(uint8_t value) override;
void toggle() override;
private:
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ioline_t line;
};