mirror of https://github.com/ArduPilot/ardupilot
48 lines
1.3 KiB
C++
48 lines
1.3 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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#define HAL_GPIO_INTERRUPT_LOW 0
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#define HAL_GPIO_INTERRUPT_HIGH 1
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#define HAL_GPIO_INTERRUPT_FALLING 2
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#define HAL_GPIO_INTERRUPT_RISING 3
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#define HAL_GPIO_INTERRUPT_BOTH 4
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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::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 int8_t analogPinToDigitalPin(uint8_t pin) = 0;
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/* Alternative interface: */
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virtual AP_HAL::DigitalSource* channel(uint16_t n) = 0;
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/* Interrupt interface: */
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virtual bool attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p,
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uint8_t mode) = 0;
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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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};
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