ardupilot/libraries/AP_Relay/AP_Relay.cpp

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
* AP_Relay.cpp
*
* Created on: Oct 2, 2011
* Author: Amilcar Lucas
*/
#include <AP_HAL/AP_HAL.h>
#include "AP_Relay.h"
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#define RELAY1_PIN_DEFAULT 13
#define RELAY2_PIN_DEFAULT -1
#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
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#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
#define RELAY1_PIN_DEFAULT 111
#define RELAY2_PIN_DEFAULT -1
#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
#define RELAY1_PIN_DEFAULT -1
#define RELAY2_PIN_DEFAULT -1
#else
#define RELAY1_PIN_DEFAULT 54
#define RELAY2_PIN_DEFAULT 55
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#endif
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
#define RELAY1_PIN_DEFAULT 33
#define RELAY2_PIN_DEFAULT -1
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#else
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// no relay for this board
#define RELAY1_PIN_DEFAULT -1
#define RELAY2_PIN_DEFAULT -1
#endif
const AP_Param::GroupInfo AP_Relay::var_info[] = {
// @Param: PIN
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// @DisplayName: First Relay Pin
// @Description: Digital pin number for first relay control. This is the pin used for camera control.
// @User: Standard
// @Values: -1:Disabled,13:APM2 A9 pin,47:APM1 relay,50:Pixhawk AUXOUT1,51:Pixhawk AUXOUT2,52:Pixhawk AUXOUT3,53:Pixhawk AUXOUT4,54:Pixhawk AUXOUT5,55:Pixhawk AUXOUT6,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2
AP_GROUPINFO("PIN", 0, AP_Relay, _pin[0], RELAY1_PIN_DEFAULT),
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// @Param: PIN2
// @DisplayName: Second Relay Pin
// @Description: Digital pin number for 2nd relay control.
// @User: Standard
// @Values: -1:Disabled,13:APM2 A9 pin,47:APM1 relay,50:Pixhawk AUXOUT1,51:Pixhawk AUXOUT2,52:Pixhawk AUXOUT3,53:Pixhawk AUXOUT4,54:Pixhawk AUXOUT5,55:Pixhawk AUXOUT6,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2
AP_GROUPINFO("PIN2", 1, AP_Relay, _pin[1], RELAY2_PIN_DEFAULT),
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// @Param: PIN3
// @DisplayName: Third Relay Pin
// @Description: Digital pin number for 3rd relay control.
// @User: Standard
// @Values: -1:Disabled,13:APM2 A9 pin,47:APM1 relay,50:Pixhawk AUXOUT1,51:Pixhawk AUXOUT2,52:Pixhawk AUXOUT3,53:Pixhawk AUXOUT4,54:Pixhawk AUXOUT5,55:Pixhawk AUXOUT6,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2
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AP_GROUPINFO("PIN3", 2, AP_Relay, _pin[2], -1),
// @Param: PIN4
// @DisplayName: Fourth Relay Pin
// @Description: Digital pin number for 4th relay control.
// @User: Standard
// @Values: -1:Disabled,13:APM2 A9 pin,47:APM1 relay,50:Pixhawk AUXOUT1,51:Pixhawk AUXOUT2,52:Pixhawk AUXOUT3,53:Pixhawk AUXOUT4,54:Pixhawk AUXOUT5,55:Pixhawk AUXOUT6,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2
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AP_GROUPINFO("PIN4", 3, AP_Relay, _pin[3], -1),
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// @Param: DEFAULT
// @DisplayName: Default relay state
// @Description: The state of the relay on boot.
// @User: Standard
// @Values: 0:Off,1:On,2:NoChange
AP_GROUPINFO("DEFAULT", 4, AP_Relay, _default, 0),
AP_GROUPEND
};
extern const AP_HAL::HAL& hal;
AP_Relay::AP_Relay(void)
{
AP_Param::setup_object_defaults(this, var_info);
}
void AP_Relay::init()
{
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for (uint8_t i=0; i<AP_RELAY_NUM_RELAYS; i++) {
if (_pin[i].get() != -1) {
switch (_default) {
case 0:
off(i);
break;
case 1:
on(i);
break;
default:
break;
}
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}
}
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}
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void AP_Relay::on(uint8_t relay)
{
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if (relay < AP_RELAY_NUM_RELAYS && _pin[relay] != -1) {
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hal.gpio->pinMode(_pin[relay], HAL_GPIO_OUTPUT);
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hal.gpio->write(_pin[relay], 1);
}
}
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void AP_Relay::off(uint8_t relay)
{
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if (relay < AP_RELAY_NUM_RELAYS && _pin[relay] != -1) {
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hal.gpio->pinMode(_pin[relay], HAL_GPIO_OUTPUT);
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hal.gpio->write(_pin[relay], 0);
}
}
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void AP_Relay::toggle(uint8_t relay)
{
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if (relay < AP_RELAY_NUM_RELAYS && _pin[relay] != -1) {
bool ison = hal.gpio->read(_pin[relay]);
if (ison)
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off(relay);
else
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on(relay);
}
}