mirror of https://github.com/ArduPilot/ardupilot
121 lines
3.9 KiB
C++
121 lines
3.9 KiB
C++
#pragma once
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#include <stdint.h>
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#include "AP_HAL_Namespace.h"
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#define HAL_GPIO_INPUT 0
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#define HAL_GPIO_OUTPUT 1
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#define HAL_GPIO_ALT 2
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class AP_HAL::DigitalSource {
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public:
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virtual void mode(uint8_t output) = 0;
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virtual uint8_t read() = 0;
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virtual void write(uint8_t value) = 0;
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virtual void toggle() = 0;
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};
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class AP_HAL::PWMSource {
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public:
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// Destructor detaches interrupt
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~PWMSource();
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bool set_pin(int16_t new_pin, const char *subsystem);
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int16_t pin() const { return _pin; } // returns pin this is attached to
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uint16_t get_pwm_us(); // return last measured PWM input
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uint16_t get_pwm_avg_us(); // return average PWM since last call to get_pwm_avg_us
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private:
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uint16_t _irq_value_us; // last calculated pwm value (irq copy)
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uint32_t _pulse_start_us; // system time of start of pulse
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int16_t _pin = -1;
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uint32_t _irq_value_us_sum; // for get_pwm_avg_us
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uint32_t _irq_value_us_count; // for get_pwm_avg_us
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bool interrupt_attached;
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// PWM input handling
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void irq_handler(uint8_t pin,
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bool pin_state,
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uint32_t timestamp);
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};
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class AP_HAL::GPIO {
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public:
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GPIO() {}
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virtual void init() = 0;
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virtual void pinMode(uint8_t pin, uint8_t output) = 0;
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// optional interface on some boards
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virtual void pinMode(uint8_t pin, uint8_t output, uint8_t alt) {};
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virtual uint8_t read(uint8_t pin) = 0;
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virtual void write(uint8_t pin, uint8_t value) = 0;
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virtual void toggle(uint8_t pin) = 0;
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virtual bool valid_pin(uint8_t pin) const { return true; }
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// return servo channel associated with GPIO pin. Returns true on success and fills in servo_ch argument
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// servo_ch uses zero-based indexing
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virtual bool pin_to_servo_channel(uint8_t pin, uint8_t& servo_ch) const { return false; }
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// allow for save and restore of pin settings
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virtual bool get_mode(uint8_t pin, uint32_t &mode) { return false; }
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virtual void set_mode(uint8_t pin, uint32_t mode) {}
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/* Alternative interface: */
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virtual AP_HAL::DigitalSource* channel(uint16_t n) = 0;
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enum INTERRUPT_TRIGGER_TYPE {
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INTERRUPT_NONE,
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INTERRUPT_FALLING,
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INTERRUPT_RISING,
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INTERRUPT_BOTH,
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};
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/* Interrupt interface: */
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// ret , pin , state,timestamp
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// where:
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// ret indicates the functor must return void
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// pin is the pin which has triggered the interrupt
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// state is the new state of the pin
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// timestamp is the time in microseconds the interrupt occurred
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FUNCTOR_TYPEDEF(irq_handler_fn_t, void, uint8_t, bool, uint32_t);
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virtual bool attach_interrupt(uint8_t pin,
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irq_handler_fn_t fn,
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INTERRUPT_TRIGGER_TYPE mode) {
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return false;
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}
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virtual bool attach_interrupt(uint8_t pin,
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AP_HAL::Proc proc,
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INTERRUPT_TRIGGER_TYPE mode) {
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return false;
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}
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bool detach_interrupt(uint8_t pin) {
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if (attach_interrupt(pin, (irq_handler_fn_t)nullptr, AP_HAL::GPIO::INTERRUPT_NONE)) {
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return true;
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}
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return attach_interrupt(pin, (AP_HAL::Proc)nullptr, AP_HAL::GPIO::INTERRUPT_NONE);
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}
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/*
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block waiting for a pin to change. A timeout of 0 means wait
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forever. Return true on pin change, false on timeout
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*/
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virtual bool wait_pin(uint8_t pin, INTERRUPT_TRIGGER_TYPE mode, uint32_t timeout_us) { return false; }
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/* return true if USB cable is connected */
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virtual bool usb_connected(void) = 0;
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// optional timer tick
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virtual void timer_tick(void) {};
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// Run arming checks
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virtual bool arming_checks(size_t buflen, char *buffer) const { return true; }
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};
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