gpio.h

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/**
 * @file relay.h
 *
 * Interface with cameras via FMU auxiliary pins.
 *
 */
#pragma once

#ifdef __PX4_NUTTX

#include <board_config.h>

#include "camera_interface.h"

class CameraInterfaceGPIO : public CameraInterface
{
public:
    CameraInterfaceGPIO();
    virtual ~CameraInterfaceGPIO() = default;

    void trigger(bool trigger_on_true);

    void info();
#if defined(GPIO_GPIO5_OUTPUT)
    static const int ngpios = 6;
#else
    static const int ngpios = 5;
#endif

private:

    void setup();

    param_t _p_polarity;

    bool _trigger_invert;

    static constexpr uint32_t _gpios[ngpios] = {
        GPIO_GPIO0_OUTPUT,
        GPIO_GPIO1_OUTPUT,
        GPIO_GPIO2_OUTPUT,
        GPIO_GPIO3_OUTPUT,
        GPIO_GPIO4_OUTPUT,
#if defined(GPIO_GPIO5_OUTPUT)
        GPIO_GPIO5_OUTPUT
#endif
    };

    uint32_t _triggers[arraySize(_gpios)];
};

#endif /* ifdef __PX4_NUTTX */