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.
124 lines
2.9 KiB
124 lines
2.9 KiB
/* |
|
This program 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 program 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/>. |
|
*/ |
|
/* |
|
Flymaple port by Mike McCauley |
|
*/ |
|
#include <AP_HAL.h> |
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE |
|
|
|
#include "GPIO.h" |
|
#include "FlymapleWirish.h" |
|
|
|
using namespace AP_HAL_FLYMAPLE_NS; |
|
|
|
// Glue into libmaple |
|
void libmaple_pinMode(uint8_t pin, uint8_t output) |
|
{ |
|
WiringPinMode mode = output ? OUTPUT : INPUT; |
|
pinMode(pin, mode); |
|
} |
|
|
|
uint8_t libmaple_digitalRead(uint8_t pin) |
|
{ |
|
return digitalRead(pin); |
|
} |
|
void libmaple_digitalWrite(uint8_t pin, uint8_t value) |
|
{ |
|
digitalWrite(pin, value); |
|
} |
|
|
|
FLYMAPLEGPIO::FLYMAPLEGPIO() |
|
{} |
|
|
|
void FLYMAPLEGPIO::init() |
|
{} |
|
|
|
void FLYMAPLEGPIO::pinMode(uint8_t pin, uint8_t output) |
|
{ |
|
return libmaple_pinMode(pin, output); |
|
} |
|
|
|
int8_t FLYMAPLEGPIO::analogPinToDigitalPin(uint8_t pin) |
|
{ |
|
return pin; |
|
} |
|
|
|
|
|
uint8_t FLYMAPLEGPIO::read(uint8_t pin) |
|
{ |
|
return libmaple_digitalRead(pin); |
|
} |
|
|
|
void FLYMAPLEGPIO::write(uint8_t pin, uint8_t value) |
|
{ |
|
libmaple_digitalWrite(pin, value); |
|
} |
|
|
|
void FLYMAPLEGPIO::toggle(uint8_t pin) |
|
{ |
|
libmaple_digitalWrite(pin, !libmaple_digitalRead(pin)); |
|
} |
|
|
|
/* Alternative interface: */ |
|
AP_HAL::DigitalSource* FLYMAPLEGPIO::channel(uint16_t n) { |
|
return new FLYMAPLEDigitalSource(n); |
|
} |
|
|
|
/* Interrupt interface: */ |
|
bool FLYMAPLEGPIO::attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p, uint8_t mode) |
|
{ |
|
// Flymaple can only handle RISING, FALLING and CHANGE |
|
ExtIntTriggerMode flymaple_interrupt_mode; |
|
if (mode == HAL_GPIO_INTERRUPT_FALLING) |
|
flymaple_interrupt_mode = FALLING; |
|
else if (mode == HAL_GPIO_INTERRUPT_RISING) |
|
flymaple_interrupt_mode = RISING; |
|
else |
|
return false; |
|
|
|
// REVISIT: Assumes pin and interrupt number are the same. Are they? |
|
attachInterrupt(interrupt_num, p, flymaple_interrupt_mode); |
|
return true; |
|
} |
|
|
|
bool FLYMAPLEGPIO::usb_connected(void) |
|
{ |
|
return SerialUSB.isConnected(); |
|
} |
|
|
|
FLYMAPLEDigitalSource::FLYMAPLEDigitalSource(uint8_t v) : |
|
_v(v) |
|
{ |
|
SerialUSB.println(_v); |
|
} |
|
|
|
void FLYMAPLEDigitalSource::mode(uint8_t output) |
|
{ |
|
libmaple_pinMode(_v, output); |
|
} |
|
|
|
uint8_t FLYMAPLEDigitalSource::read() { |
|
return libmaple_digitalRead(_v); |
|
} |
|
|
|
void FLYMAPLEDigitalSource::write(uint8_t value) { |
|
libmaple_digitalWrite(_v, value); |
|
} |
|
|
|
void FLYMAPLEDigitalSource::toggle() { |
|
libmaple_digitalWrite(_v, !libmaple_digitalRead(_v)); |
|
} |
|
#endif
|
|
|