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AP_Relay: allow for no relay pin

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This commit is contained in:
Andrew Tridgell 2013-01-02 12:51:56 +11:00
parent 3a762f891e
commit 5923808526
1 changed files with 16 additions and 1 deletions
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17
libraries/AP_Relay/AP_Relay.cpp
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@ -17,35 +17,50 @@ extern const AP_HAL::HAL& hal;
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL #elif CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
#define RELAY_PIN 26 #define RELAY_PIN 26
#else #else
#error "no RELAY_PIN defined for this board" // no relay for this board
#define RELAY_PIN -1
#endif #endif
void AP_Relay::init() { void AP_Relay::init() {
#if RELAY_PIN != -1
hal.gpio->pinMode(RELAY_PIN, GPIO_OUTPUT); hal.gpio->pinMode(RELAY_PIN, GPIO_OUTPUT);
#endif
} }
void AP_Relay::on() { void AP_Relay::on() {
#if RELAY_PIN != -1
hal.gpio->write(RELAY_PIN, 1); hal.gpio->write(RELAY_PIN, 1);
#endif
} }
void AP_Relay::off() { void AP_Relay::off() {
#if RELAY_PIN != -1
hal.gpio->write(RELAY_PIN, 0); hal.gpio->write(RELAY_PIN, 0);
#endif
} }
void AP_Relay::toggle() { void AP_Relay::toggle() {
#if RELAY_PIN != -1
bool ison = hal.gpio->read(RELAY_PIN); bool ison = hal.gpio->read(RELAY_PIN);
if (ison) if (ison)
off(); off();
else else
on(); on();
#endif
} }
void AP_Relay::set(bool status){ void AP_Relay::set(bool status){
#if RELAY_PIN != -1
hal.gpio->write(RELAY_PIN, status); hal.gpio->write(RELAY_PIN, status);
#endif
} }
bool AP_Relay::get() { bool AP_Relay::get() {
#if RELAY_PIN != -1
return hal.gpio->read(RELAY_PIN); return hal.gpio->read(RELAY_PIN);
#else
return false;
#endif
} }