You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
78 lines
2.4 KiB
78 lines
2.4 KiB
/* |
|
* This file is free software: you can redistribute it and/or modify it |
|
* under the terms of the GNU General Public License as published by the |
|
* Free Software Foundation, either version 3 of the License, or |
|
* (at your option) any later version. |
|
* |
|
* This file is distributed in the hope that it will be useful, but |
|
* WITHOUT ANY WARRANTY; without even the implied warranty of |
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. |
|
* See the GNU General Public License for more details. |
|
* |
|
* You should have received a copy of the GNU General Public License along |
|
* with this program. If not, see <http://www.gnu.org/licenses/>. |
|
* |
|
* Code by Andrew Tridgell and Siddharth Bharat Purohit |
|
*/ |
|
#pragma once |
|
|
|
#include "AP_HAL_ChibiOS.h" |
|
|
|
#ifndef HAL_GPIO_LED_ON |
|
#define HAL_GPIO_LED_ON 0 |
|
#endif |
|
|
|
#ifndef HAL_GPIO_LED_OFF |
|
#define HAL_GPIO_LED_OFF 1 |
|
#endif |
|
|
|
class ChibiOS::GPIO : public AP_HAL::GPIO { |
|
public: |
|
GPIO(); |
|
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; |
|
|
|
/* Interrupt interface - fast, for RCOutput and SPI radios */ |
|
bool attach_interrupt(uint8_t interrupt_num, |
|
AP_HAL::Proc p, |
|
INTERRUPT_TRIGGER_TYPE mode) override; |
|
|
|
/* Interrupt interface - for AP_HAL::GPIO */ |
|
bool attach_interrupt(uint8_t pin, |
|
irq_handler_fn_t fn, |
|
INTERRUPT_TRIGGER_TYPE mode) override; |
|
|
|
/* return true if USB cable is connected */ |
|
bool usb_connected(void) override; |
|
|
|
void set_usb_connected() { _usb_connected = true; } |
|
|
|
/* attach interrupt via ioline_t */ |
|
bool _attach_interrupt(ioline_t line, AP_HAL::Proc p, uint8_t mode); |
|
|
|
private: |
|
bool _usb_connected; |
|
bool _ext_started; |
|
|
|
bool _attach_interrupt(ioline_t line, palcallback_t cb, void *p, uint8_t mode); |
|
#ifdef HAL_PIN_ALT_CONFIG |
|
void setup_alt_config(void); |
|
#endif |
|
}; |
|
|
|
class ChibiOS::DigitalSource : public AP_HAL::DigitalSource { |
|
public: |
|
DigitalSource(ioline_t line); |
|
void mode(uint8_t output) override; |
|
uint8_t read() override; |
|
void write(uint8_t value) override; |
|
void toggle() override; |
|
private: |
|
ioline_t line; |
|
};
|
|
|