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AP_Relay: tidy, reduce flash usage

This commit is contained in:
Peter Barker 2019-09-27 08:15:00 +10:00 committed by Peter Barker
parent b6efcbcf3b
commit 1c3b2f9699
2 changed files with 18 additions and 33 deletions
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43
libraries/AP_Relay/AP_Relay.cpp
View File

@ -117,48 +117,31 @@ AP_Relay::AP_Relay(void)
void AP_Relay::init()
{
if (_default != 0 && _default != 1) {
return;
}
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;
}
}
set(i, _default);
}
}
void AP_Relay::on(uint8_t relay)
void AP_Relay::set(const uint8_t relay, const bool value)
{
if (relay < AP_RELAY_NUM_RELAYS && _pin[relay] != -1) {
if (relay >= AP_RELAY_NUM_RELAYS) {
return;
}
if (_pin[relay] == -1) {
return;
}
hal.gpio->pinMode(_pin[relay], HAL_GPIO_OUTPUT);
hal.gpio->write(_pin[relay], 1);
hal.gpio->write(_pin[relay], value);
}
}
void AP_Relay::off(uint8_t relay)
{
if (relay < AP_RELAY_NUM_RELAYS && _pin[relay] != -1) {
hal.gpio->pinMode(_pin[relay], HAL_GPIO_OUTPUT);
hal.gpio->write(_pin[relay], 0);
}
}
void AP_Relay::toggle(uint8_t relay)
{
if (relay < AP_RELAY_NUM_RELAYS && _pin[relay] != -1) {
bool ison = hal.gpio->read(_pin[relay]);
if (ison)
off(relay);
else
on(relay);
set(relay, !ison);
}
}

6
libraries/AP_Relay/AP_Relay.h
View File

@ -27,10 +27,10 @@ public:
void init();
// activate the relay
void on(uint8_t relay);
void on(uint8_t relay) { set(relay, true); }
// de-activate the relay
void off(uint8_t relay);
void off(uint8_t relay) { set(relay, false); }
// see if the relay is enabled
bool enabled(uint8_t relay) { return relay < AP_RELAY_NUM_RELAYS && _pin[relay] != -1; }
@ -47,6 +47,8 @@ private:
AP_Int8 _pin[AP_RELAY_NUM_RELAYS];
AP_Int8 _default;
void set(uint8_t relay, bool value);
};
namespace AP {