mirror of https://github.com/ArduPilot/ardupilot
59 lines
1.6 KiB
C++
59 lines
1.6 KiB
C++
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#ifndef __AP_HAL_AVR_GPIO_H__
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#define __AP_HAL_AVR_GPIO_H__
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#include <AP_HAL.h>
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#include "AP_HAL_AVR_Namespace.h"
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
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# define HAL_GPIO_A_LED_PIN 37
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# define HAL_GPIO_B_LED_PIN 36
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# define HAL_GPIO_C_LED_PIN 35
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# define HAL_GPIO_LED_ON HIGH
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# define HAL_GPIO_LED_OFF LOW
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# define HAL_GPIO_USB_MUX_PIN -1
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#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
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# define HAL_GPIO_A_LED_PIN 27
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# define HAL_GPIO_B_LED_PIN 26
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# define HAL_GPIO_C_LED_PIN 25
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# define HAL_GPIO_LED_ON LOW
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# define HAL_GPIO_LED_OFF HIGH
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# define HAL_GPIO_USB_MUX_PIN 23
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#endif
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class AP_HAL_AVR::AVRDigitalSource : public AP_HAL::DigitalSource {
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public:
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AVRDigitalSource(uint8_t bit, uint8_t port) : _bit(bit), _port(port) {}
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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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void toggle();
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private:
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const uint8_t _bit;
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const uint8_t _port;
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};
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class AP_HAL_AVR::AVRGPIO : public AP_HAL::GPIO {
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public:
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AVRGPIO() {}
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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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void toggle(uint8_t pin);
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AP_HAL::DigitalSource* channel(uint16_t);
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bool attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc proc,
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uint8_t mode);
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/* return true if USB cable is connected */
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bool usb_connected(void);
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/* private-ish: only to be used from the appropriate interrupt */
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static AP_HAL::Proc _interrupt_6;
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};
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#endif // __AP_HAL_AVR_GPIO_H__
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