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107 lines
3.1 KiB
107 lines
3.1 KiB
/* |
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* This file is free software: you can redistribute it and/or modify it |
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* under the terms of the GNU General Public License as published by the |
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* Free Software Foundation, either version 3 of the License, or |
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* (at your option) any later version. |
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* |
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* This file is distributed in the hope that it will be useful, but |
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* WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. |
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* See the GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License along |
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* with this program. If not, see <http://www.gnu.org/licenses/>. |
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* |
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* Code by Andrew Tridgell and Siddharth Bharat Purohit |
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*/ |
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#pragma once |
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#include "AP_HAL_ChibiOS.h" |
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#ifndef HAL_GPIO_LED_ON |
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#define HAL_GPIO_LED_ON 0 |
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#endif |
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#ifndef HAL_GPIO_LED_OFF |
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#define HAL_GPIO_LED_OFF 1 |
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#endif |
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/* |
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pin types for alternative configuration |
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*/ |
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enum class PERIPH_TYPE : uint8_t { |
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UART_RX, |
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UART_TX, |
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I2C_SDA, |
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I2C_SCL, |
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OTHER, |
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}; |
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class ChibiOS::GPIO : public AP_HAL::GPIO { |
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public: |
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GPIO(); |
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void init() override; |
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void pinMode(uint8_t pin, uint8_t output) override; |
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uint8_t read(uint8_t pin) override; |
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void write(uint8_t pin, uint8_t value) override; |
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void toggle(uint8_t pin) override; |
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/* Alternative interface: */ |
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AP_HAL::DigitalSource* channel(uint16_t n) override; |
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/* Interrupt interface - fast, for RCOutput and SPI radios */ |
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bool attach_interrupt(uint8_t interrupt_num, |
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AP_HAL::Proc p, |
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INTERRUPT_TRIGGER_TYPE mode) override; |
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/* Interrupt interface - for AP_HAL::GPIO */ |
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bool attach_interrupt(uint8_t pin, |
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irq_handler_fn_t fn, |
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INTERRUPT_TRIGGER_TYPE mode) override; |
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/* return true if USB cable is connected */ |
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bool usb_connected(void) override; |
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void set_usb_connected() { _usb_connected = true; } |
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/* attach interrupt via ioline_t */ |
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bool _attach_interrupt(ioline_t line, AP_HAL::Proc p, uint8_t mode); |
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/* |
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block waiting for a pin to change. A timeout of 0 means wait |
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forever. Return true on pin change, false on timeout |
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*/ |
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bool wait_pin(uint8_t pin, INTERRUPT_TRIGGER_TYPE mode, uint32_t timeout_us) override; |
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#ifndef IOMCU_FW |
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// timer tick |
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void timer_tick(void) override; |
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#endif |
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/* |
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resolve an ioline to take account of alternative configurations |
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*/ |
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static ioline_t resolve_alt_config(ioline_t base, PERIPH_TYPE ptype, uint8_t instance); |
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private: |
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bool _usb_connected; |
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bool _ext_started; |
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bool _attach_interruptI(ioline_t line, palcallback_t cb, void *p, uint8_t mode); |
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bool _attach_interrupt(ioline_t line, palcallback_t cb, void *p, uint8_t mode); |
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#ifdef HAL_PIN_ALT_CONFIG |
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void setup_alt_config(void); |
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static uint8_t alt_config; |
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#endif |
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}; |
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class ChibiOS::DigitalSource : public AP_HAL::DigitalSource { |
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public: |
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DigitalSource(ioline_t line); |
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void mode(uint8_t output) override; |
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uint8_t read() override; |
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void write(uint8_t value) override; |
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void toggle() override; |
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private: |
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ioline_t line; |
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};
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