mirror of https://github.com/ArduPilot/ardupilot
43 lines
1.0 KiB
C++
43 lines
1.0 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef __AP_HAL_PX4_GPIO_H__
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#define __AP_HAL_PX4_GPIO_H__
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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_RELAY_PIN 111
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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();
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void pinMode(uint8_t pin, uint8_t output);
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int8_t analogPinToDigitalPin(uint8_t pin);
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uint8_t read(uint8_t pin);
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void write(uint8_t pin, uint8_t value);
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/* Alternative interface: */
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AP_HAL::DigitalSource* channel(uint16_t n);
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/* Interrupt interface: */
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bool attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p, uint8_t mode);
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private:
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int _led_fd;
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int _tone_alarm_fd;
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int _gpio_fd;
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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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private:
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uint8_t _v;
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};
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#endif // __AP_HAL_EMPTY_GPIO_H__
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