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AP_Relay:Prevent operation for sim-on-hardware,add logs 

Co-authored-by: Iampete1 <iampete@hotmail.co.uk>
This commit is contained in:
Henry Wurzburg 2022-04-24 07:12:03 -05:00 committed by Peter Barker
parent 5b3a01ecb3
commit c6fbdc0cb8
2 changed files with 16 additions and 0 deletions
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13
libraries/AP_Relay/AP_Relay.cpp
View File

@ -7,6 +7,7 @@
#include <AP_HAL/AP_HAL.h>
#include "AP_Relay.h"
#include <AP_Logger/AP_Logger.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#define RELAY1_PIN_DEFAULT 13
@ -140,6 +141,18 @@ void AP_Relay::set(const uint8_t instance, const bool value)
if (_pin[instance] == -1) {
return;
}
const uint32_t now = AP_HAL::millis();
_pin_states = value ? _pin_states | (1U<<instance) : _pin_states & ~(1U<<instance);
if ((_pin_states != _last_logged_pin_states) && (now - _last_log_ms > 10)) {
AP::logger().Write("RELY", "TimeUS,State", "s-", "F-", "QB",
AP_HAL::micros64(),
_pin_states);
_last_log_ms = now;
_last_logged_pin_states = _pin_states;
}
#if AP_SIM_ENABLED && (CONFIG_HAL_BOARD != HAL_BOARD_SITL)
return;
#endif
hal.gpio->pinMode(_pin[instance], HAL_GPIO_OUTPUT);
hal.gpio->write(_pin[instance], value);
}

3
libraries/AP_Relay/AP_Relay.h
View File

@ -50,6 +50,9 @@ private:
AP_Int8 _pin[AP_RELAY_NUM_RELAYS];
AP_Int8 _default;
uint8_t _pin_states;
uint8_t _last_logged_pin_states;
uint32_t _last_log_ms;
void set(uint8_t instance, bool value);
};