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66 lines
1.8 KiB
66 lines
1.8 KiB
#pragma once |
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#include "AP_HAL_PX4.h" |
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#define PX4_GPIO_PIEZO_PIN 110 |
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#define PX4_GPIO_EXT_FMU_RELAY1_PIN 111 |
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#define PX4_GPIO_EXT_FMU_RELAY2_PIN 112 |
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#define PX4_GPIO_EXT_IO_RELAY1_PIN 113 |
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#define PX4_GPIO_EXT_IO_RELAY2_PIN 114 |
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#define PX4_GPIO_EXT_IO_ACC1_PIN 115 |
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#define PX4_GPIO_EXT_IO_ACC2_PIN 116 |
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/* |
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start servo channels used as GPIO at 50. Pin 50 is |
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the first FMU servo pin |
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*/ |
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#define PX4_GPIO_FMU_SERVO_PIN(n) (n+50) |
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 |
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# define HAL_GPIO_A_LED_PIN 27 |
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# define HAL_GPIO_B_LED_PIN 26 |
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# define HAL_GPIO_C_LED_PIN 25 |
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# define HAL_GPIO_LED_ON LOW |
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# define HAL_GPIO_LED_OFF HIGH |
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#endif |
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class PX4::PX4GPIO : public AP_HAL::GPIO { |
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public: |
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PX4GPIO(); |
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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, 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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// used by UART code to avoid a hw bug in the AUAV-X2 |
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void set_usb_connected(void) { _usb_connected = true; } |
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private: |
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int _led_fd = -1; |
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int _tone_alarm_fd = -1; |
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int _gpio_fmu_fd = -1; |
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int _gpio_io_fd = -1; |
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bool _usb_connected = false; |
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}; |
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class PX4::PX4DigitalSource : public AP_HAL::DigitalSource { |
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public: |
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PX4DigitalSource(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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