ardupilot/libraries/AP_HAL_SITL/GPIO.h

37 lines
905 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() 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;
/* return true if USB cable is connected */
bool usb_connected(void) override;
private:
SITL_State *_sitlState;
uint8_t pin_mode_is_write;
};
class HALSITL::DigitalSource : public AP_HAL::DigitalSource {
public:
explicit DigitalSource(uint8_t pin);
void mode(uint8_t output) override;
uint8_t read() override;
void write(uint8_t value) override;
void toggle() override;
private:
uint8_t _pin;
};