mirror of https://github.com/ArduPilot/ardupilot
69 lines
2.1 KiB
C++
69 lines
2.1 KiB
C++
#pragma once
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#include <stdint.h>
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#include "AP_HAL_Namespace.h"
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#define HAL_GPIO_INPUT 0
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#define HAL_GPIO_OUTPUT 1
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#define HAL_GPIO_ALT 2
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class AP_HAL::DigitalSource {
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public:
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virtual void mode(uint8_t output) = 0;
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virtual uint8_t read() = 0;
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virtual void write(uint8_t value) = 0;
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virtual void toggle() = 0;
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};
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class AP_HAL::GPIO {
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public:
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GPIO() {}
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virtual void init() = 0;
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virtual void pinMode(uint8_t pin, uint8_t output) = 0;
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// optional interface on some boards
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virtual void pinMode(uint8_t pin, uint8_t output, uint8_t alt) {};
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virtual uint8_t read(uint8_t pin) = 0;
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virtual void write(uint8_t pin, uint8_t value) = 0;
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virtual void toggle(uint8_t pin) = 0;
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/* Alternative interface: */
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virtual AP_HAL::DigitalSource* channel(uint16_t n) = 0;
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enum INTERRUPT_TRIGGER_TYPE {
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INTERRUPT_NONE,
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INTERRUPT_FALLING,
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INTERRUPT_RISING,
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INTERRUPT_BOTH,
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};
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/* Interrupt interface: */
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// ret , pin , state,timestamp
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// where:
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// ret indicates the functor must return void
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// pin is the pin which has triggered the interrupt
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// state is the new state of the pin
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// timestamp is the time in microseconds the interrupt occured
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FUNCTOR_TYPEDEF(irq_handler_fn_t, void, uint8_t, bool, uint32_t);
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virtual bool attach_interrupt(uint8_t pin,
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irq_handler_fn_t fn,
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INTERRUPT_TRIGGER_TYPE mode) = 0;
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virtual bool attach_interrupt(uint8_t pin,
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AP_HAL::Proc proc,
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INTERRUPT_TRIGGER_TYPE mode) {
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return false;
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}
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bool detach_interrupt(uint8_t pin) {
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if (attach_interrupt(pin, (irq_handler_fn_t)nullptr, AP_HAL::GPIO::INTERRUPT_NONE)) {
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return true;
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}
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return attach_interrupt(pin, (AP_HAL::Proc)nullptr, AP_HAL::GPIO::INTERRUPT_NONE);
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}
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/* return true if USB cable is connected */
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virtual bool usb_connected(void) = 0;
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};
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