mirror of https://github.com/ArduPilot/ardupilot
99 lines
2.4 KiB
C++
99 lines
2.4 KiB
C++
#pragma once
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#include "AP_HAL_Linux.h"
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#include <AP_HAL/AP_HAL.h>
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#include <AP_HAL/utility/RingBuffer.h>
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#include "GPIO.h"
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namespace Linux {
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class DigitalSource_Sysfs : public AP_HAL::DigitalSource {
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friend class GPIO_Sysfs;
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public:
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~DigitalSource_Sysfs();
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uint8_t read() override;
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void write(uint8_t value) override;
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void mode(uint8_t output) override;
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void toggle() override;
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private:
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/* Only GPIO_Sysfs will be able to instantiate */
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DigitalSource_Sysfs(unsigned pin, int value_fd);
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int _value_fd;
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unsigned _pin;
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};
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/**
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* Generic implementation of AP_HAL::GPIO for Linux based boards.
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*/
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class GPIO_Sysfs : public AP_HAL::GPIO {
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friend class DigitalSource_Sysfs;
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public:
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/* Fill this table with the real pin numbers. */
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static const unsigned pin_table[];
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static const uint8_t n_pins;
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static GPIO_Sysfs *from(AP_HAL::GPIO *gpio) {
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return static_cast<GPIO_Sysfs*>(gpio);
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}
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void init() override;
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void pinMode(uint8_t vpin, uint8_t output) override;
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uint8_t read(uint8_t vpin) override;
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void write(uint8_t vpin, uint8_t value) override;
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void toggle(uint8_t vpin) override;
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/*
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* Export pin, instantiate a new DigitalSource_Sysfs and return its
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* pointer.
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*/
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AP_HAL::DigitalSource *channel(uint16_t vpin) override;
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/*
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* Currently this function always returns false.
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*/
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bool usb_connected() override;
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protected:
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void _pinMode(unsigned int pin, uint8_t output);
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int _open_pin_value(unsigned int pin, int flags);
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/*
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* Make pin available for use. This function should be called before
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* calling functions that use the pin number as parameter.
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*
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* Returns true if pin is exported successfully and false otherwise.
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*
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* Note: the pin is ignored if already exported.
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*/
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static bool _export_pin(uint8_t vpin);
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#ifdef HAL_GPIO_SCRIPT
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/*
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support for calling external scripts based on GPIO writes
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*/
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void _gpio_script_write(uint8_t vpin, uint8_t value);
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/*
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thread to run scripts
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*/
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void _gpio_script_thread(void);
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/*
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control structures for _gpio_script_write
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*/
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typedef struct {
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uint8_t pin;
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uint8_t value;
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} pin_value_t;
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struct {
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bool thread_created;
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ObjectBuffer<pin_value_t> pending{10};
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} _script;
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#endif // HAL_GPIO_SCRIPT
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};
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}
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