ardupilot/libraries/AP_HAL_SITL/GPIO.h

40 lines
945 B
C++

#pragma once
#include "AP_HAL_SITL.h"
class HALSITL::GPIO : public AP_HAL::GPIO {
public:
explicit GPIO(SITL_State *sitlState): _sitlState(sitlState) {}
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);
/* Alternative interface: */
AP_HAL::DigitalSource* channel(uint16_t n);
/* Interrupt interface: */
bool attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p,
uint8_t mode);
/* return true if USB cable is connected */
bool usb_connected(void);
private:
SITL_State *_sitlState;
};
class HALSITL::DigitalSource : public AP_HAL::DigitalSource {
public:
explicit DigitalSource(uint8_t pin);
void mode(uint8_t output);
uint8_t read();
void write(uint8_t value);
void toggle();
private:
uint8_t _pin;
};