AP_EPM: EPM cargo gripper library

libraries/AP_EPM/AP_EPM.cpp

@@ -0,0 +1,84 @@
+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+/*
+ * AP_EPM.cpp
+ *
+ *  Created on: DEC 6, 2013
+ *      Author: Andreas Jochum
+ */
+
+#include <AP_HAL.h>
+#include "AP_EPM.h"
+
+extern const AP_HAL::HAL& hal;
+
+const AP_Param::GroupInfo AP_EPM::var_info[] PROGMEM = {
+    // @Param: ENABLE
+    // @DisplayName: EPM Enable/Disable
+    // @Description: EPM enable/disable.  Note enabling will disable the external LEDs on the APM2
+    // @User: Standard
+    // @Values: 0:Disabled, 1:Enabled
+    AP_GROUPINFO("ENABLE",  0, AP_EPM, _enabled, 0),
+
+    AP_GROUPEND
+};
+
+AP_EPM::AP_EPM(void)
+{
+    AP_Param::setup_object_defaults(this, var_info);
+}
+
+void AP_EPM::init() 
+{
+    // return immediately if not enabled
+    if (!_enabled || !EPM_SUPPORTED) {
+        return;
+    }
+
+    hal.gpio->pinMode(EPM_PIN_1, GPIO_OUTPUT);
+    hal.gpio->pinMode(EPM_PIN_2, GPIO_OUTPUT);
+
+    neutral();
+}
+
+bool AP_EPM::enabled()
+{
+     if (!EPM_SUPPORTED) {
+        return false;
+     }
+
+     return _enabled;
+}
+
+void AP_EPM::on() 
+{
+    // return immediately if not enabled
+    if (!_enabled || !EPM_SUPPORTED) {
+        return;
+    }
+
+    hal.gpio->write(EPM_PIN_1, 1);
+    hal.gpio->write(EPM_PIN_2, 0);
+}
+
+void AP_EPM::off() 
+{
+    // return immediately if not enabled
+    if (!_enabled || !EPM_SUPPORTED) {
+        return;
+    }
+
+    hal.gpio->write(EPM_PIN_1, 0);
+    hal.gpio->write(EPM_PIN_2, 1);
+}
+
+void AP_EPM::neutral() 
+{
+    // return immediately if not enabled
+    if (!_enabled || !EPM_SUPPORTED) {
+        return;
+    }
+
+    hal.gpio->write(EPM_PIN_1, 0);
+    hal.gpio->write(EPM_PIN_2, 0);
+}

libraries/AP_EPM/AP_EPM.h

@@ -0,0 +1,66 @@
+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+/*
+ * AP_EPM.h
+ *
+ *  Created on: DEC 06, 2013
+ *      Author: Andreas Jochum
+ */
+
+/// @file	AP_EPM.h
+/// @brief	AP_EPM control class
+
+#ifndef __AP_EPM_h__
+#define __AP_EPM_h__
+
+#include <inttypes.h>
+#include <AP_Common.h>
+#include <AP_Param.h>
+
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
+    #define EPM_PIN_1       61    // On pin - AN7
+    #define EPM_PIN_2       62    // Off pin - AN8
+    #define EPM_SUPPORTED   true
+#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
+    #define EPM_PIN_1       -1    // to be determine 
+    #define EPM_PIN_2       -1    // to be determine
+    #define EPM_SUPPORTED   false
+#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
+    #define EPM_PIN_1       -1    // to be determine 
+    #define EPM_PIN_2       -1    // to be determine
+    #define EPM_SUPPORTED   false
+#else
+    #define EPM_PIN_1       -1    // not supported
+    #define EPM_PIN_2       -1    // not supported
+    #define EPM_SUPPORTED   false
+#endif
+
+/// @class	AP_EPM
+/// @brief	Class to manage the EPM_CargoGripper 
+class AP_EPM {
+public:
+    AP_EPM();
+
+    // setup the epm pins
+    void        init();
+
+    // enabled - true if the epm is enabled
+    bool        enabled();
+
+    // activate the EPM
+    void        on();
+
+    // de-activate the EPM
+    void        off();
+
+    // do nothing
+    void        neutral();
+
+    static const struct AP_Param::GroupInfo        var_info[];
+
+private:
+    AP_Int8     _enabled;
+
+};
+
+#endif /* _AP_EPM_H_ */