mirror of https://github.com/ArduPilot/ardupilot
73 lines
1.9 KiB
C++
73 lines
1.9 KiB
C++
#pragma once
|
|
|
|
#include "AP_HAL_PX4.h"
|
|
|
|
#define PX4_GPIO_PIEZO_PIN 110
|
|
#define PX4_GPIO_EXT_FMU_RELAY1_PIN 111
|
|
#define PX4_GPIO_EXT_FMU_RELAY2_PIN 112
|
|
#define PX4_GPIO_EXT_IO_RELAY1_PIN 113
|
|
#define PX4_GPIO_EXT_IO_RELAY2_PIN 114
|
|
#define PX4_GPIO_EXT_IO_ACC1_PIN 115
|
|
#define PX4_GPIO_EXT_IO_ACC2_PIN 116
|
|
|
|
/*
|
|
start servo channels used as GPIO at 50. Pin 50 is
|
|
the first FMU servo pin
|
|
*/
|
|
#define PX4_GPIO_FMU_SERVO_PIN(n) (n+50)
|
|
|
|
#ifndef HAL_GPIO_A_LED_PIN
|
|
#define HAL_GPIO_A_LED_PIN 27
|
|
#endif
|
|
#ifndef HAL_GPIO_B_LED_PIN
|
|
#define HAL_GPIO_B_LED_PIN 26
|
|
#endif
|
|
#ifndef HAL_GPIO_C_LED_PIN
|
|
#define HAL_GPIO_C_LED_PIN 25
|
|
#endif
|
|
#ifndef HAL_GPIO_LED_ON
|
|
#define HAL_GPIO_LED_ON 0
|
|
#endif
|
|
#ifndef HAL_GPIO_LED_OFF
|
|
#define HAL_GPIO_LED_OFF 1
|
|
#endif
|
|
|
|
class PX4::PX4GPIO : public AP_HAL::GPIO {
|
|
public:
|
|
PX4GPIO();
|
|
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: */
|
|
bool attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p, uint8_t mode) override;
|
|
|
|
/* return true if USB cable is connected */
|
|
bool usb_connected(void) override;
|
|
|
|
// used by UART code to avoid a hw bug in the AUAV-X2
|
|
void set_usb_connected(void) { _usb_connected = true; }
|
|
|
|
private:
|
|
int _led_fd = -1;
|
|
int _gpio_fmu_fd = -1;
|
|
int _gpio_io_fd = -1;
|
|
bool _usb_connected = false;
|
|
};
|
|
|
|
class PX4::PX4DigitalSource : public AP_HAL::DigitalSource {
|
|
public:
|
|
PX4DigitalSource(uint8_t v);
|
|
void mode(uint8_t output);
|
|
uint8_t read();
|
|
void write(uint8_t value);
|
|
void toggle();
|
|
private:
|
|
uint8_t _v;
|
|
};
|