ardupilot/libraries/AP_HAL_PX4/GPIO.h

86 lines
2.4 KiB
C++

#pragma once
#include "AP_HAL_PX4.h"
#define PX4_GPIO_PIEZO_PIN 110
#define PX4_GPIO_EXT_FMU_RELAY1_PIN 111
#define PX4_GPIO_EXT_FMU_RELAY2_PIN 112
#define PX4_GPIO_EXT_IO_RELAY1_PIN 113
#define PX4_GPIO_EXT_IO_RELAY2_PIN 114
#define PX4_GPIO_EXT_IO_ACC1_PIN 115
#define PX4_GPIO_EXT_IO_ACC2_PIN 116
/*
start servo channels used as GPIO at 50. Pin 50 is
the first FMU servo pin
*/
#define PX4_GPIO_FMU_SERVO_PIN(n) (n+50)
#ifndef HAL_GPIO_A_LED_PIN
#define HAL_GPIO_A_LED_PIN 27
#endif
#ifndef HAL_GPIO_B_LED_PIN
#define HAL_GPIO_B_LED_PIN 26
#endif
#ifndef HAL_GPIO_C_LED_PIN
#define HAL_GPIO_C_LED_PIN 25
#endif
#ifndef HAL_GPIO_LED_ON
#define HAL_GPIO_LED_ON 0
#endif
#ifndef HAL_GPIO_LED_OFF
#define HAL_GPIO_LED_OFF 1
#endif
class PX4::PX4GPIO : public AP_HAL::GPIO {
public:
PX4GPIO();
void init() override;
void pinMode(uint8_t pin, uint8_t output) override;
uint8_t read(uint8_t pin) override;
void write(uint8_t pin, uint8_t value) override;
void toggle(uint8_t pin) override;
/* Alternative interface: */
AP_HAL::DigitalSource* channel(uint16_t n) override;
/* Interrupt interface: */
bool attach_interrupt(uint8_t interrupt_num,
irq_handler_fn_t fn,
INTERRUPT_TRIGGER_TYPE mode) override;
/* return true if USB cable is connected */
bool usb_connected(void) override;
// used by UART code to avoid a hw bug in the AUAV-X2
void set_usb_connected(void) { _usb_connected = true; }
private:
int _led_fd = -1;
int _gpio_fmu_fd = -1;
int _gpio_io_fd = -1;
bool _usb_connected = false;
static int irq_handler_gpio0(int irq, void *context);
static int irq_handler_gpio1(int irq, void *context);
static int irq_handler_gpio2(int irq, void *context);
static int irq_handler_gpio3(int irq, void *context);
static int irq_handler_gpio4(int irq, void *context);
static int irq_handler_gpio5(int irq, void *context);
static void irq_handler(uint8_t pin);
static uint32_t pin_to_gpio(uint8_t pin);
static AP_HAL::GPIO::irq_handler_fn_t pin_handlers[];
};
class PX4::PX4DigitalSource : public AP_HAL::DigitalSource {
public:
PX4DigitalSource(uint8_t v);
void mode(uint8_t output);
uint8_t read();
void write(uint8_t value);
void toggle();
private:
uint8_t _v;
};