ardupilot/libraries/AP_HAL/GPIO.h

106 lines
3.3 KiB
C++

#pragma once
#include <stdint.h>
#include "AP_HAL_Namespace.h"
#define HAL_GPIO_INPUT 0
#define HAL_GPIO_OUTPUT 1
#define HAL_GPIO_ALT 2
class AP_HAL::DigitalSource {
public:
virtual void mode(uint8_t output) = 0;
virtual uint8_t read() = 0;
virtual void write(uint8_t value) = 0;
virtual void toggle() = 0;
};
class AP_HAL::PWMSource {
public:
bool set_pin(int16_t new_pin, const char *subsystem);
int16_t pin() const { return _pin; } // returns pin this is attached to
uint16_t get_pwm_us(); // return last measured PWM input
uint16_t get_pwm_avg_us(); // return average PWM since last call to get_pwm_avg_us
private:
uint16_t _irq_value_us; // last calculated pwm value (irq copy)
uint32_t _pulse_start_us; // system time of start of pulse
int16_t _pin = -1;
uint32_t _irq_value_us_sum; // for get_pwm_avg_us
uint32_t _irq_value_us_count; // for get_pwm_avg_us
bool interrupt_attached;
// PWM input handling
void irq_handler(uint8_t pin,
bool pin_state,
uint32_t timestamp);
};
class AP_HAL::GPIO {
public:
GPIO() {}
virtual void init() = 0;
virtual void pinMode(uint8_t pin, uint8_t output) = 0;
// optional interface on some boards
virtual void pinMode(uint8_t pin, uint8_t output, uint8_t alt) {};
virtual uint8_t read(uint8_t pin) = 0;
virtual void write(uint8_t pin, uint8_t value) = 0;
virtual void toggle(uint8_t pin) = 0;
virtual bool valid_pin(uint8_t pin) const { return true; }
/* Alternative interface: */
virtual AP_HAL::DigitalSource* channel(uint16_t n) = 0;
enum INTERRUPT_TRIGGER_TYPE {
INTERRUPT_NONE,
INTERRUPT_FALLING,
INTERRUPT_RISING,
INTERRUPT_BOTH,
};
/* Interrupt interface: */
// ret , pin , state,timestamp
// where:
// ret indicates the functor must return void
// pin is the pin which has triggered the interrupt
// state is the new state of the pin
// timestamp is the time in microseconds the interrupt occured
FUNCTOR_TYPEDEF(irq_handler_fn_t, void, uint8_t, bool, uint32_t);
virtual bool attach_interrupt(uint8_t pin,
irq_handler_fn_t fn,
INTERRUPT_TRIGGER_TYPE mode) {
return false;
}
virtual bool attach_interrupt(uint8_t pin,
AP_HAL::Proc proc,
INTERRUPT_TRIGGER_TYPE mode) {
return false;
}
bool detach_interrupt(uint8_t pin) {
if (attach_interrupt(pin, (irq_handler_fn_t)nullptr, AP_HAL::GPIO::INTERRUPT_NONE)) {
return true;
}
return attach_interrupt(pin, (AP_HAL::Proc)nullptr, AP_HAL::GPIO::INTERRUPT_NONE);
}
/*
block waiting for a pin to change. A timeout of 0 means wait
forever. Return true on pin change, false on timeout
*/
virtual bool wait_pin(uint8_t pin, INTERRUPT_TRIGGER_TYPE mode, uint32_t timeout_us) { return false; }
/* return true if USB cable is connected */
virtual bool usb_connected(void) = 0;
// optional timer tick
virtual void timer_tick(void) {};
};