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40 lines
971 B
40 lines
971 B
12 years ago
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#ifndef __AP_HAL_LINUX_GPIO_H__
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#define __AP_HAL_LINUX_GPIO_H__
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#include <AP_HAL_Linux.h>
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class Linux::LinuxGPIO : public AP_HAL::GPIO {
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public:
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LinuxGPIO();
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void init();
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void pinMode(uint8_t pin, uint8_t output);
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int8_t analogPinToDigitalPin(uint8_t pin);
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uint8_t read(uint8_t pin);
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void write(uint8_t pin, uint8_t value);
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void toggle(uint8_t pin);
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/* Alternative interface: */
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AP_HAL::DigitalSource* channel(uint16_t n);
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/* Interrupt interface: */
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bool attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p,
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uint8_t mode);
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/* return true if USB cable is connected */
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bool usb_connected(void);
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};
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class Linux::LinuxDigitalSource : public AP_HAL::DigitalSource {
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public:
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LinuxDigitalSource(uint8_t v);
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void mode(uint8_t output);
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uint8_t read();
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void write(uint8_t value);
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void toggle();
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private:
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uint8_t _v;
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};
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#endif // __AP_HAL_LINUX_GPIO_H__
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