ardupilot/libraries/AP_EPM/AP_EPM.cpp

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
* AP_EPM.cpp
*
* Created on: DEC 6, 2013
* Author: Andreas Jochum
*/
#include <AP_HAL.h>
#include "AP_EPM.h"
extern const AP_HAL::HAL& hal;
const AP_Param::GroupInfo AP_EPM::var_info[] PROGMEM = {
// @Param: ENABLE
// @DisplayName: EPM Enable/Disable
// @Description: EPM enable/disable. Note enabling will disable the external LEDs on the APM2
// @User: Standard
// @Values: 0:Disabled, 1:Enabled
AP_GROUPINFO("ENABLE", 0, AP_EPM, _enabled, 0),
AP_GROUPEND
};
AP_EPM::AP_EPM(void)
{
AP_Param::setup_object_defaults(this, var_info);
}
void AP_EPM::init()
{
// return immediately if not enabled
if (!_enabled || !EPM_SUPPORTED) {
return;
}
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hal.gpio->pinMode(EPM_PIN_1, HAL_GPIO_OUTPUT);
hal.gpio->pinMode(EPM_PIN_2, HAL_GPIO_OUTPUT);
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neutral();
}
bool AP_EPM::enabled()
{
if (!EPM_SUPPORTED) {
return false;
}
return _enabled;
}
void AP_EPM::on()
{
// return immediately if not enabled
if (!_enabled || !EPM_SUPPORTED) {
return;
}
hal.gpio->write(EPM_PIN_1, 1);
hal.gpio->write(EPM_PIN_2, 0);
}
void AP_EPM::off()
{
// return immediately if not enabled
if (!_enabled || !EPM_SUPPORTED) {
return;
}
hal.gpio->write(EPM_PIN_1, 0);
hal.gpio->write(EPM_PIN_2, 1);
}
void AP_EPM::neutral()
{
// return immediately if not enabled
if (!_enabled || !EPM_SUPPORTED) {
return;
}
hal.gpio->write(EPM_PIN_1, 0);
hal.gpio->write(EPM_PIN_2, 0);
}