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39 lines
971 B
39 lines
971 B
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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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