output channelization

flight/src/hardware/channelization.rs

@@ -1,2 +1,52 @@
-pub const MCP23017_A_LED: u8 = 7;
-pub const MCP23017_B_LED: u8 = 7;
+#![allow(dead_code)]
+
+use crate::hardware::mcp23017::{Mcp23017, Mcp23017OutputPin};
+use anyhow::Result;
+
+pub const RCS5: PinoutChannel = PinoutChannel::ExtA(0);
+pub const RCS6: PinoutChannel = PinoutChannel::ExtA(1);
+pub const RCS7: PinoutChannel = PinoutChannel::ExtA(2);
+pub const RCS8: PinoutChannel = PinoutChannel::ExtA(3);
+pub const RCS9: PinoutChannel = PinoutChannel::ExtA(4);
+pub const MOTOR0_A: PinoutChannel = PinoutChannel::ExtA(5);
+pub const MOTOR0_B: PinoutChannel = PinoutChannel::ExtA(6);
+pub const LED_A: PinoutChannel = PinoutChannel::ExtA(7);
+pub const RCS0: PinoutChannel = PinoutChannel::ExtA(8);
+pub const RCS1: PinoutChannel = PinoutChannel::ExtA(9);
+pub const DRIVE0_BRAKE: PinoutChannel = PinoutChannel::ExtA(10);
+pub const DRIVE0_DIR: PinoutChannel = PinoutChannel::ExtA(11);
+pub const DRIVE0_DRIVEOFF: PinoutChannel = PinoutChannel::ExtA(12);
+pub const RCS2: PinoutChannel = PinoutChannel::ExtA(13);
+pub const RCS3: PinoutChannel = PinoutChannel::ExtA(14);
+pub const RCS4: PinoutChannel = PinoutChannel::ExtA(15);
+pub const MOTOR1_A: PinoutChannel = PinoutChannel::ExtB(8);
+pub const MOTOR1_B: PinoutChannel = PinoutChannel::ExtB(9);
+pub const MOTOR2_A: PinoutChannel = PinoutChannel::ExtB(10);
+pub const MOTOR2_B: PinoutChannel = PinoutChannel::ExtB(11);
+pub const MOTOR3_A: PinoutChannel = PinoutChannel::ExtB(12);
+pub const MOTOR3_B: PinoutChannel = PinoutChannel::ExtB(13);
+pub const OUT1: PinoutChannel = PinoutChannel::ExtB(14);
+pub const OUT2: PinoutChannel = PinoutChannel::ExtB(15);
+pub const OUT3: PinoutChannel = PinoutChannel::ExtB(0);
+pub const OUT4: PinoutChannel = PinoutChannel::ExtB(1);
+pub const OUT5: PinoutChannel = PinoutChannel::ExtB(2);
+pub const OUT6: PinoutChannel = PinoutChannel::ExtB(3);
+pub const OUT7: PinoutChannel = PinoutChannel::ExtB(4);
+pub const OUT8: PinoutChannel = PinoutChannel::ExtB(5);
+pub const OUT9: PinoutChannel = PinoutChannel::ExtB(6);
+pub const LED_B: PinoutChannel = PinoutChannel::ExtB(7);
+
+#[derive(Copy, Clone, Debug)]
+pub enum PinoutChannel {
+    ExtA(u8),
+    ExtB(u8),
+}
+
+impl PinoutChannel {
+    pub fn new_output_pin<'a, MCP: Mcp23017>(self, ext_a: &'a MCP, ext_b: &'a MCP) -> Result<impl Mcp23017OutputPin + 'a> {
+        match self {
+            PinoutChannel::ExtA(pin) => ext_a.new_output_pin(pin),
+            PinoutChannel::ExtB(pin) => ext_b.new_output_pin(pin),
+        }
+    }
+}