New Relay class and the subclasses for APM1 and APM2.

Updated AP_Camera class.

libraries/AP_Camera/AP_Camera.cpp

@@ -57,7 +57,7 @@ AP_Camera::servo_pic()
 void
 AP_Camera::relay_pic()
 {
-    relay.on();
+    _apm_relay->on();
 
     // leave a message that it should be active for this many loops (assumes 50hz loops)
     _trigger_counter = constrain(_trigger_duration*5,0,255);
@@ -136,7 +136,7 @@ AP_Camera::trigger_pic_cleanup()
                 RC_Channel_aux::set_radio(RC_Channel_aux::k_cam_trigger, _servo_off_pwm);
                 break;
             case AP_CAMERA_TRIGGER_TYPE_RELAY:
-                relay.off();
+                _apm_relay->off();
                 break;
             case AP_CAMERA_TRIGGER_TYPE_TRANSISTOR:
                 digitalWrite(AP_CAMERA_TRANSISTOR_PIN, LOW);
@@ -155,7 +155,8 @@ AP_Camera::configure_msg(mavlink_message_t* msg)
         // not for us
         return;
     }
-    // TODO do something with these values
+    // This values may or not be used by APM
+    // They are bypassed as "echo" to a external specialized board
     /*
      *  packet.aperture
      *  packet.command_id
@@ -183,7 +184,8 @@ AP_Camera::control_msg(mavlink_message_t* msg)
         // not for us
         return;
     }
-    // TODO do something with these values
+    // This values may or not be used by APM (the shot is)
+    // They are bypassed as "echo" to a external specialized board
     /*
      *  packet.command_id
      *  packet.extra_param

libraries/AP_Camera/AP_Camera.h

@@ -2,13 +2,13 @@
 
 /// @file	AP_Camera.h
 /// @brief	Photo or video camera manager, with EEPROM-backed storage of constants.
-/// @author Amilcar Lucas
 
 #ifndef AP_CAMERA_H
 #define AP_CAMERA_H
 
 #include <AP_Common.h>
 #include <GCS_MAVLink.h>
+#include <AP_Relay.h>
 
 #define AP_CAMERA_TRIGGER_TYPE_SERVO                0
 #define AP_CAMERA_TRIGGER_TYPE_RELAY                1
@@ -34,10 +34,11 @@ class AP_Camera {
 public:
     /// Constructor
     ///
-    AP_Camera() :
+    AP_Camera(Relay *obj_relay) :
         _trigger_counter(0),            // count of number of cycles shutter has been held open
         _thr_pic_counter(0)             // timer variable for throttle_pic
     {
+        _apm_relay = obj_relay;
     }
 
     // single entry point to take pictures
@@ -60,6 +61,7 @@ private:
     AP_Int16        _servo_off_pwm;     // PWM value to move servo to when shutter is deactivated
     uint8_t         _trigger_counter;   // count of number of cycles shutter has been held open
     uint8_t         _thr_pic_counter;   // timer variable for throttle_pic
+    Relay          *_apm_relay;         // pointer to relay object from the base class Relay. The subclasses could be AP_Relay_APM1 or AP_Relay_APM2
 
     void            servo_pic();        // Servo operated camera
     void            relay_pic();        // basic relay activation

libraries/AP_Relay/AP_Relay.cpp

@@ -1,49 +0,0 @@
-// -*- 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 <avr/io.h>
-#if defined(ARDUINO) && ARDUINO >= 100
- #include "Arduino.h"
-#else
- #include "wiring.h"
-#endif
-
-#include "AP_Relay.h"
-
-void AP_Relay::on()
-{
-    PORTL |= B00000100;
-}
-
-
-void AP_Relay::off()
-{
-    PORTL &= ~B00000100;
-}
-
-
-void AP_Relay::toggle()
-{
-    PORTL ^= B00000100;
-}
-
-
-void AP_Relay::set(bool status)
-{
-    if (status)
-        on();
-    else
-        off();
-}
-
-
-bool AP_Relay::get()
-{
-    return PORTL & B00000100;
-}

libraries/AP_Relay/AP_Relay.h

@@ -1,37 +1,11 @@
-// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-
-/*
- * AP_Relay.h
- *
- *  Created on: Oct 2, 2011
- *      Author: Amilcar Lucas
- */
-
-/// @file	AP_Relay.h
-/// @brief	APM relay control class
-
 #ifndef AP_RELAY_H_
 #define AP_RELAY_H_
 
-/// @class	AP_Relay
-/// @brief	Class to manage the APM relay
-class AP_Relay {
-public:
-    // activate the relay
-    void        on();
+/// @class      AP_Relay
+/// @brief      Catch-all header that defines the Relay for all APM hardwares
 
-    // de-activate the relay
-    void        off();
+#include "Relay.h"
+#include "AP_Relay_APM1.h"
+#include "AP_Relay_APM2.h"
 
-    // toggle the relay status
-    void        toggle();
-
-    // set the relay status (on/off)
-    void        set(bool status);
-
-    // get the relay status (on/off)
-    bool        get();
-};
-
-
-#endif /* AP_RELAY_H_ */
+#endif /* AP_RELAY_H_ */

libraries/AP_Relay/AP_Relay_APM1.cpp

@@ -0,0 +1,36 @@
+#include <avr/io.h>
+#if defined(ARDUINO) && ARDUINO >= 100
+	#include "Arduino.h"
+#else
+	#include "wiring.h"
+#endif
+
+#include "AP_Relay_APM1.h"
+
+void AP_Relay_APM1::on()
+{
+	PORTL |= B00000100;
+}
+
+void AP_Relay_APM1::off()
+{
+	PORTL &= ~B00000100;
+}
+
+void AP_Relay_APM1::toggle()
+{
+	PORTL ^= B00000100;
+}
+
+void AP_Relay_APM1::set(bool status)
+{
+	if (status)
+		on();
+	else
+		off();
+}
+
+bool AP_Relay_APM1::get()
+{
+	return PORTL & B00000100;
+}

libraries/AP_Relay/AP_Relay_APM1.h

@@ -0,0 +1,29 @@
+#ifndef AP_RELAY_APM1_H_
+#define AP_RELAY_APM1_H_
+
+#include "Relay.h"
+
+/// @class	AP_Relay_APM1
+/// @brief	SubClass from Relay to manage the APM1 onboard relay
+
+
+class AP_Relay_APM1: public Relay{
+  public:
+  
+	// activate the relay
+	void on();
+
+	// de-activate the relay
+	void off();
+
+	// toggle the relay status
+	void toggle();
+
+	// set the relay status (on/off)
+	void set(bool status);
+
+	// get the relay status (on/off)
+	bool get();  
+};
+
+#endif /* AP_RELAY_APM1_H_ */

libraries/AP_Relay/AP_Relay_APM2.cpp

@@ -0,0 +1,36 @@
+#include <avr/io.h>
+#if defined(ARDUINO) && ARDUINO >= 100
+	#include "Arduino.h"
+#else
+	#include "wiring.h"
+#endif
+
+#include "AP_Relay_APM2.h"
+
+void AP_Relay_APM2::on()
+{
+	PORTB |= B10000000;
+}
+
+void AP_Relay_APM2::off()
+{
+	PORTB &= ~B10000000;
+}
+
+void AP_Relay_APM2::toggle()
+{
+	PORTB ^= B10000000;
+}
+
+void AP_Relay_APM2::set(bool status)
+{
+	if (status)
+		on();
+	else
+		off();
+}
+
+bool AP_Relay_APM2::get()
+{
+	return PORTB & B10000000;
+}

libraries/AP_Relay/AP_Relay_APM2.h

@@ -0,0 +1,29 @@
+#ifndef AP_RELAY_APM2_H_
+#define AP_RELAY_APM2_H_
+
+#include "Relay.h"
+
+/// @class	AP_Relay_APM2
+/// @brief	SubClass from Relay to manage the APM2 A9 pin as external relay port
+
+
+class AP_Relay_APM2: public Relay{
+  public:
+  
+	// activate the relay
+	void on();
+
+	// de-activate the relay
+	void off();
+
+	// toggle the relay status
+	void toggle();
+
+	// set the relay status (on/off)
+	void set(bool status);
+
+	// get the relay status (on/off)
+	bool get();
+};
+
+#endif /* AP_RELAY_APM2_H_ */

libraries/AP_Relay/Relay.h

@@ -0,0 +1,27 @@
+#ifndef RELAY_H_
+#define RELAY_H_
+
+/// @class	Relay
+/// @brief	Abstract base class for Relays on all APM hardwares
+
+class Relay
+{
+  public:
+  
+	// activate the relay
+	virtual void on() = 0;
+
+	// de-activate the relay
+	virtual void off() = 0;
+
+	// toggle the relay status
+	virtual void toggle() = 0;
+
+	// set the relay status (on/off)
+	virtual void set(bool status) = 0;
+
+	// get the relay status (on/off)
+	virtual bool get() = 0;  
+};
+
+#endif /* RELAY_H_ */