ardupilot/libraries/AP_HAL_AVR/GPIO.h

59 lines
1.6 KiB
C++

#ifndef __AP_HAL_AVR_GPIO_H__
#define __AP_HAL_AVR_GPIO_H__
#include <AP_HAL.h>
#include "AP_HAL_AVR_Namespace.h"
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
# define HAL_GPIO_A_LED_PIN 37
# define HAL_GPIO_B_LED_PIN 36
# define HAL_GPIO_C_LED_PIN 35
# define HAL_GPIO_LED_ON HIGH
# define HAL_GPIO_LED_OFF LOW
# define HAL_GPIO_USB_MUX_PIN -1
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
# 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
# define HAL_GPIO_USB_MUX_PIN 23
#endif
class AP_HAL_AVR::AVRDigitalSource : public AP_HAL::DigitalSource {
public:
AVRDigitalSource(uint8_t bit, uint8_t port) : _bit(bit), _port(port) {}
void mode(uint8_t output);
uint8_t read();
void write(uint8_t value);
void toggle();
private:
const uint8_t _bit;
const uint8_t _port;
};
class AP_HAL_AVR::AVRGPIO : public AP_HAL::GPIO {
public:
AVRGPIO() {}
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);
void toggle(uint8_t pin);
AP_HAL::DigitalSource* channel(uint16_t);
bool attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc proc,
uint8_t mode);
/* return true if USB cable is connected */
bool usb_connected(void);
/* private-ish: only to be used from the appropriate interrupt */
static AP_HAL::Proc _interrupt_6;
};
#endif // __AP_HAL_AVR_GPIO_H__