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AP_Relay: added RELAY_PIN parameter

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makes it easier to choose a pin
This commit is contained in:
Andrew Tridgell 2013-06-24 22:39:18 +10:00
parent d487b1170e
commit 7902d57877
2 changed files with 51 additions and 39 deletions
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79
libraries/AP_Relay/AP_Relay.cpp
View File

@ -10,8 +10,6 @@
#include <AP_HAL.h>
#include "AP_Relay.h"
extern const AP_HAL::HAL& hal;
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
#define RELAY_PIN 47
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
@ -21,46 +19,57 @@ extern const AP_HAL::HAL& hal;
#define RELAY_PIN -1
#endif
void AP_Relay::init() {
#if RELAY_PIN != -1
hal.gpio->pinMode(RELAY_PIN, GPIO_OUTPUT);
#endif
}
const AP_Param::GroupInfo AP_Relay::var_info[] PROGMEM = {
// @Param: PIN
// @DisplayName: Relay Pin
// @Description: Digital pin number for relay control. This is normally 47 for the APM1 relay and 13 for the A9 pin on APM2.
// @User: Standard
AP_GROUPINFO("PIN", 0, AP_Relay, _pin, RELAY_PIN),
void AP_Relay::on() {
#if RELAY_PIN != -1
hal.gpio->write(RELAY_PIN, 1);
#endif
AP_GROUPEND
};
extern const AP_HAL::HAL& hal;
AP_Relay::AP_Relay(void)
{
AP_Param::setup_object_defaults(this, var_info);
}
void AP_Relay::off() {
#if RELAY_PIN != -1
hal.gpio->write(RELAY_PIN, 0);
#endif
}
void AP_Relay::toggle() {
#if RELAY_PIN != -1
bool ison = hal.gpio->read(RELAY_PIN);
if (ison)
void AP_Relay::init()
{
if (_pin != -1) {
hal.gpio->pinMode(_pin, GPIO_OUTPUT);
off();
else
on();
#endif
}
}
void AP_Relay::set(bool status){
#if RELAY_PIN != -1
hal.gpio->write(RELAY_PIN, status);
#endif
void AP_Relay::on()
{
if (_pin != -1) {
hal.gpio->write(_pin, 1);
}
}
bool AP_Relay::get() {
#if RELAY_PIN != -1
return hal.gpio->read(RELAY_PIN);
#else
return false;
#endif
void AP_Relay::off()
{
if (_pin != -1) {
hal.gpio->write(_pin, 0);
}
}
void AP_Relay::toggle()
{
if (_pin != -1) {
bool ison = hal.gpio->read(_pin);
if (ison)
off();
else
on();
}
}

11
libraries/AP_Relay/AP_Relay.h
View File

@ -13,10 +13,14 @@
#ifndef __AP_RELAY_H__
#define __AP_RELAY_H__
#include <AP_Param.h>
/// @class AP_Relay
/// @brief Class to manage the APM relay
class AP_Relay {
public:
AP_Relay();
// setup the relay pin
void init();
@ -29,11 +33,10 @@ public:
// toggle the relay status
void toggle();
// set the relay status (on/off)
void set(bool status);
static const struct AP_Param::GroupInfo var_info[];
// get the relay status (on/off)
bool get();
private:
AP_Int8 _pin;
};
#endif /* AP_RELAY_H_ */