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
*/
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#include <AP_HAL.h>
#include "AP_Relay.h"
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
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#define RELAY_PIN 47
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#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
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#define RELAY_PIN 111
#else
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// 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.
// @User: Standard
// @Values: 13:APM2 A9 pin,47:APM1 relay,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, RELAY_PIN),
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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();
}
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}
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();
}
}