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AP_Relay: add function_valid helper and only pre-arm enabled relays

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This commit is contained in:
Iampete1 2024-01-01 14:23:00 +00:00 committed by Andrew Tridgell
parent 462eb46c8b
commit 3b99a3ac26
2 changed files with 24 additions and 4 deletions
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25
libraries/AP_Relay/AP_Relay.cpp
View File

@ -313,6 +313,12 @@ void AP_Relay::set_defaults() {
}
}
// Return true is function is valid
bool AP_Relay::function_valid(AP_Relay_Params::FUNCTION function) const
{
return (function > AP_Relay_Params::FUNCTION::NONE) && (function < AP_Relay_Params::FUNCTION::NUM_FUNCTIONS);
}
void AP_Relay::init()
{
set_defaults();
@ -328,7 +334,7 @@ void AP_Relay::init()
}
const AP_Relay_Params::FUNCTION function = _params[instance].function;
if (function <= AP_Relay_Params::FUNCTION::NONE || function >= AP_Relay_Params::FUNCTION::NUM_FUNCTIONS) {
if (!function_valid(function)) {
// invalid function, skip it
continue;
}
@ -350,7 +356,7 @@ void AP_Relay::init()
}
void AP_Relay::set(const AP_Relay_Params::FUNCTION function, const bool value) {
if (function <= AP_Relay_Params::FUNCTION::NONE && function >= AP_Relay_Params::FUNCTION::NUM_FUNCTIONS) {
if (!function_valid(function)) {
// invalid function
return;
}
@ -416,8 +422,19 @@ void AP_Relay::toggle(uint8_t instance)
bool AP_Relay::arming_checks(size_t buflen, char *buffer) const
{
for (uint8_t i=0; i<ARRAY_SIZE(_params); i++) {
const int8_t pin = _params[i].pin.get();
if (pin != -1 && !hal.gpio->valid_pin(pin)) {
if (!function_valid(_params[i].function)) {
// Relay disabled
continue;
}
const int16_t pin = _params[i].pin.get();
if (pin == -1) {
// Pin disabled, may want to pre-arm this in the future as function enabled with invalid pin
// User should set function to none to disable
continue;
}
if (!hal.gpio->valid_pin(pin)) {
// Check GPIO pin is valid
char param_name_buf[14];
hal.util->snprintf(param_name_buf, ARRAY_SIZE(param_name_buf), "RELAY%u_PIN", unsigned(i+1));
uint8_t servo_ch;

3
libraries/AP_Relay/AP_Relay.h
View File

@ -71,6 +71,9 @@ private:
AP_Relay_Params _params[AP_RELAY_NUM_RELAYS];
// Return true is function is valid
bool function_valid(AP_Relay_Params::FUNCTION function) const;
void set(uint8_t instance, bool value);
void set_defaults();