mirror of https://github.com/ArduPilot/ardupilot
41 lines
1.0 KiB
C++
41 lines
1.0 KiB
C++
#pragma once
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#include "AP_HAL_SITL.h"
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL && !defined(HAL_BUILD_AP_PERIPH)
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class HALSITL::GPIO : public AP_HAL::GPIO {
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public:
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explicit GPIO(SITL_State *sitlState): _sitlState(sitlState) {}
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void init() override;
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void pinMode(uint8_t pin, uint8_t output) 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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/* return true if USB cable is connected */
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bool usb_connected(void) override;
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bool valid_pin(uint8_t pin) const override { return pin < 16; }
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private:
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SITL_State *_sitlState;
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uint8_t pin_mode_is_write;
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};
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class HALSITL::DigitalSource : public AP_HAL::DigitalSource {
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public:
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explicit DigitalSource(uint8_t pin);
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void mode(uint8_t output) override;
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uint8_t read() override;
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void write(uint8_t value) override;
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void toggle() override;
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private:
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uint8_t _pin;
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};
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#endif
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