mirror of https://github.com/ArduPilot/ardupilot
40 lines
945 B
C++
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;
|
|
};
|