ardupilot/libraries/AP_Relay/AP_Relay.cpp

// -*- 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.h>
#include "AP_Relay.h"

#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
#define RELAY_PIN 47
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
#define RELAY_PIN 13
#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
#define RELAY_PIN 111
#else
// no relay for this board
#define RELAY_PIN -1
#endif

const AP_Param::GroupInfo AP_Relay::var_info[] PROGMEM = {
    // @Param: PIN
    // @DisplayName: Relay Pin
    // @Description: Digital pin number for relay control. This is normally 47 for the APM1 relay, 13 for the A9 pin on APM2 and 111 for the high power relay pin on the PX4.
    // @User: Standard
    AP_GROUPINFO("PIN",  0, AP_Relay, _pin, RELAY_PIN),

    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() 
{
    if (_pin != -1) {
        hal.gpio->pinMode(_pin, GPIO_OUTPUT);
        off();
    }
}

void AP_Relay::on() 
{    
    if (_pin != -1) {
        hal.gpio->write(_pin, 1);
    }
}


void AP_Relay::off() 
{
    if (_pin != -1) {
        hal.gpio->write(_pin, 0);
    }
}


void AP_Relay::toggle() 
{
    if (_pin != -1) {
        bool ison = hal.gpio->read(_pin);
        if (ison)
            off();
        else
            on();
    }
}