mirror of https://github.com/ArduPilot/ardupilot
75 lines
1.9 KiB
C++
75 lines
1.9 KiB
C++
#pragma once
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#include "AP_HAL_PX4.h"
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#define PX4_GPIO_PIEZO_PIN 110
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#define PX4_GPIO_EXT_FMU_RELAY1_PIN 111
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#define PX4_GPIO_EXT_FMU_RELAY2_PIN 112
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#define PX4_GPIO_EXT_IO_RELAY1_PIN 113
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#define PX4_GPIO_EXT_IO_RELAY2_PIN 114
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#define PX4_GPIO_EXT_IO_ACC1_PIN 115
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#define PX4_GPIO_EXT_IO_ACC2_PIN 116
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/*
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start servo channels used as GPIO at 50. Pin 50 is
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the first FMU servo pin
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*/
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#define PX4_GPIO_FMU_SERVO_PIN(n) (n+50)
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#ifndef HAL_GPIO_A_LED_PIN
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#define HAL_GPIO_A_LED_PIN 27
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#endif
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#ifndef HAL_GPIO_B_LED_PIN
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#define HAL_GPIO_B_LED_PIN 26
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#endif
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#ifndef HAL_GPIO_C_LED_PIN
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#define HAL_GPIO_C_LED_PIN 25
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#endif
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#ifndef HAL_GPIO_LED_ON
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#define HAL_GPIO_LED_ON 0
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#endif
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#ifndef HAL_GPIO_LED_OFF
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#define HAL_GPIO_LED_OFF 1
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#endif
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class PX4::PX4GPIO : public AP_HAL::GPIO {
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public:
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PX4GPIO();
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void init() override;
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void pinMode(uint8_t pin, uint8_t output) override;
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int8_t analogPinToDigitalPin(uint8_t pin) override;
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uint8_t read(uint8_t pin) override;
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void write(uint8_t pin, uint8_t value) override;
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void toggle(uint8_t pin) override;
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/* Alternative interface: */
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AP_HAL::DigitalSource* channel(uint16_t n) override;
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/* Interrupt interface: */
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bool attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p, uint8_t mode) override;
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/* return true if USB cable is connected */
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bool usb_connected(void) override;
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// used by UART code to avoid a hw bug in the AUAV-X2
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void set_usb_connected(void) { _usb_connected = true; }
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private:
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int _led_fd = -1;
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int _tone_alarm_fd = -1;
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int _gpio_fmu_fd = -1;
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int _gpio_io_fd = -1;
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bool _usb_connected = false;
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};
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class PX4::PX4DigitalSource : public AP_HAL::DigitalSource {
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public:
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PX4DigitalSource(uint8_t v);
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void mode(uint8_t output);
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uint8_t read();
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void write(uint8_t value);
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void toggle();
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private:
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uint8_t _v;
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};
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