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AP_Relay: Enables relays 1-4 for Beaglebone Blue

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Enables relays 1-4 on Beaglebone Blue GP0 connector pins 3-6
This commit is contained in:
Chris Gaddis 2017-09-27 20:00:38 -05:00 committed by Francisco Ferreira
parent 930981914a
commit 35dddbd35a
1 changed files with 39 additions and 21 deletions
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60
libraries/AP_Relay/AP_Relay.cpp
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@ -9,28 +9,46 @@
#include "AP_Relay.h"
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#define RELAY1_PIN_DEFAULT 13
#define RELAY2_PIN_DEFAULT -1
#define RELAY1_PIN_DEFAULT 13
#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
#define RELAY1_PIN_DEFAULT 111
#define RELAY2_PIN_DEFAULT -1
#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
#define RELAY1_PIN_DEFAULT -1
#define RELAY2_PIN_DEFAULT -1
#else
#define RELAY1_PIN_DEFAULT 54
#define RELAY2_PIN_DEFAULT 55
#endif
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
#define RELAY1_PIN_DEFAULT 111
#elif !defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
#define RELAY1_PIN_DEFAULT 54
#define RELAY2_PIN_DEFAULT 55
#endif
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
#define RELAY1_PIN_DEFAULT 33
#define RELAY2_PIN_DEFAULT -1
#else
// no relay for this board
#define RELAY1_PIN_DEFAULT -1
#define RELAY2_PIN_DEFAULT -1
#define RELAY1_PIN_DEFAULT 33
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
#define RELAY1_PIN_DEFAULT 57
#define RELAY2_PIN_DEFAULT 49
#define RELAY3_PIN_DEFAULT 116
#define RELAY4_PIN_DEFAULT 113
#endif
#endif
#ifndef RELAY1_PIN_DEFAULT
#define RELAY1_PIN_DEFAULT -1
#endif
#ifndef RELAY2_PIN_DEFAULT
#define RELAY2_PIN_DEFAULT -1
#endif
#ifndef RELAY3_PIN_DEFAULT
#define RELAY3_PIN_DEFAULT -1
#endif
#ifndef RELAY4_PIN_DEFAULT
#define RELAY4_PIN_DEFAULT -1
#endif
const AP_Param::GroupInfo AP_Relay::var_info[] = {
// @Param: PIN
// @DisplayName: First Relay Pin
@ -51,18 +69,18 @@ const AP_Param::GroupInfo AP_Relay::var_info[] = {
// @Description: Digital pin number for 3rd relay control.
// @User: Standard
// @Values: -1:Disabled,13:APM2 A9 pin,47:APM1 relay,50:Pixhawk AUXOUT1,51:Pixhawk AUXOUT2,52:Pixhawk AUXOUT3,53:Pixhawk AUXOUT4,54:Pixhawk AUXOUT5,55:Pixhawk AUXOUT6,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2
AP_GROUPINFO("PIN3", 2, AP_Relay, _pin[2], -1),
AP_GROUPINFO("PIN3", 2, AP_Relay, _pin[2], RELAY3_PIN_DEFAULT),
// @Param: PIN4
// @DisplayName: Fourth Relay Pin
// @Description: Digital pin number for 4th relay control.
// @User: Standard
// @Values: -1:Disabled,13:APM2 A9 pin,47:APM1 relay,50:Pixhawk AUXOUT1,51:Pixhawk AUXOUT2,52:Pixhawk AUXOUT3,53:Pixhawk AUXOUT4,54:Pixhawk AUXOUT5,55:Pixhawk AUXOUT6,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2
AP_GROUPINFO("PIN4", 3, AP_Relay, _pin[3], -1),
AP_GROUPINFO("PIN4", 3, AP_Relay, _pin[3], RELAY4_PIN_DEFAULT),
// @Param: DEFAULT
// @DisplayName: Default relay state
// @Description: The state of the relay on boot.
// @Description: The state of the relay on boot.
// @User: Standard
// @Values: 0:Off,1:On,2:NoChange
AP_GROUPINFO("DEFAULT", 4, AP_Relay, _default, 0),