mirror of https://github.com/ArduPilot/ardupilot
89 lines
1.5 KiB
C++
89 lines
1.5 KiB
C++
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#include "GPIO.h"
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using namespace HALSITL;
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extern const AP_HAL::HAL& hal;
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void GPIO::init()
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{}
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void GPIO::pinMode(uint8_t pin, uint8_t output)
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{}
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int8_t GPIO::analogPinToDigitalPin(uint8_t pin)
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{
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return pin;
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}
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uint8_t GPIO::read(uint8_t pin)
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{
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if (!sitlState->_sitl) {
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return 0;
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}
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uint8_t mask = sitlState->_sitl->pin_mask.get();
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return mask & (1U<<pin)? 1: 0;
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}
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void GPIO::write(uint8_t pin, uint8_t value)
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{
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if (!sitlState->_sitl) {
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return;
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}
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uint8_t mask = sitlState->_sitl->pin_mask.get();
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uint8_t new_mask = mask;
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if (value) {
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new_mask |= (1U<<pin);
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} else {
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new_mask &= ~(1U<<pin);
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}
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if (mask != new_mask) {
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sitlState->_sitl->pin_mask.set_and_notify(new_mask);
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}
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}
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void GPIO::toggle(uint8_t pin)
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{
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write(pin, !read(pin));
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}
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/* Alternative interface: */
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AP_HAL::DigitalSource* GPIO::channel(uint16_t n) {
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return new DigitalSource(0);
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}
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/* Interrupt interface: */
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bool GPIO::attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p,
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uint8_t mode) {
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return true;
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}
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bool GPIO::usb_connected(void)
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{
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return false;
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}
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DigitalSource::DigitalSource(uint8_t v) :
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pin(v)
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{}
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void DigitalSource::mode(uint8_t output)
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{}
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uint8_t DigitalSource::read()
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{
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return hal.gpio->read(pin);
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}
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void DigitalSource::write(uint8_t value)
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{
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value = value?1:0;
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return hal.gpio->write(pin, value);
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}
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void DigitalSource::toggle()
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{
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return hal.gpio->write(pin, !hal.gpio->read(pin));
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}
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