ardupilot/libraries/AP_HAL_VRBRAIN/GPIO.h

55 lines
1.5 KiB
C++

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef __AP_HAL_VRBRAIN_GPIO_H__
#define __AP_HAL_VRBRAIN_GPIO_H__
#include <AP_HAL_VRBRAIN.h>
# define HAL_GPIO_A_LED_PIN 25
# define HAL_GPIO_B_LED_PIN 26
# define HAL_GPIO_C_LED_PIN 27
# define EXTERNAL_LED_GPS 28
# define EXTERNAL_LED_ARMED 29
# define EXTERNAL_LED_MOTOR1 30
# define EXTERNAL_LED_MOTOR2 31
# define BUZZER_PIN 32
# define HAL_GPIO_LED_ON HIGH
# define HAL_GPIO_LED_OFF LOW
class VRBRAIN::VRBRAINGPIO : public AP_HAL::GPIO {
public:
VRBRAINGPIO();
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:
int _led_fd;
int _buzzer_fd;
};
class VRBRAIN::VRBRAINDigitalSource : public AP_HAL::DigitalSource {
public:
VRBRAINDigitalSource(uint8_t v);
void mode(uint8_t output);
uint8_t read();
void write(uint8_t value);
void toggle();
private:
uint8_t _v;
};
#endif // __AP_HAL_VRBRAIN_GPIO_H__