mirror of https://github.com/ArduPilot/ardupilot
57 lines
1.5 KiB
C++
57 lines
1.5 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef __AP_HAL_VRBRAIN_GPIO_H__
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#define __AP_HAL_VRBRAIN_GPIO_H__
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#include <AP_HAL_VRBRAIN.h>
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# define HAL_GPIO_A_LED_PIN 25
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# define HAL_GPIO_B_LED_PIN 26
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# define HAL_GPIO_C_LED_PIN 27
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# define EXTERNAL_LED_GPS 28
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# define EXTERNAL_LED_ARMED 29
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# define EXTERNAL_LED_MOTOR1 30
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# define EXTERNAL_LED_MOTOR2 31
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# define BUZZER_PIN 32
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# define EXTERNAL_RELAY1_PIN 33
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# define EXTERNAL_RELAY2_PIN 34
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# define HAL_GPIO_LED_ON HIGH
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# define HAL_GPIO_LED_OFF LOW
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class VRBRAIN::VRBRAINGPIO : public AP_HAL::GPIO {
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public:
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VRBRAINGPIO();
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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, uint8_t mode);
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/* return true if USB cable is connected */
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bool usb_connected(void);
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private:
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int _led_fd;
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int _buzzer_fd;
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};
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class VRBRAIN::VRBRAINDigitalSource : public AP_HAL::DigitalSource {
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public:
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VRBRAINDigitalSource(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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#endif // __AP_HAL_VRBRAIN_GPIO_H__
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