/* * AP_Relay.cpp * * Created on: Oct 2, 2011 * Author: Amilcar Lucas */ #include #include "AP_Relay.h" #if CONFIG_HAL_BOARD == HAL_BOARD_SITL #define RELAY1_PIN_DEFAULT 13 #elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE #define RELAY1_PIN_DEFAULT 57 #define RELAY2_PIN_DEFAULT 49 #define RELAY3_PIN_DEFAULT 116 #define RELAY4_PIN_DEFAULT 113 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI #define RELAY1_PIN_DEFAULT 27 #define RELAY2_PIN_DEFAULT 65 #define RELAY3_PIN_DEFAULT 22 #define RELAY4_PIN_DEFAULT 81 #define RELAY5_PIN_DEFAULT 23 #define RELAY6_PIN_DEFAULT 26 #endif #endif #ifndef RELAY1_PIN_DEFAULT #define RELAY1_PIN_DEFAULT -1 #endif #ifndef RELAY2_PIN_DEFAULT #define RELAY2_PIN_DEFAULT -1 #endif #ifndef RELAY3_PIN_DEFAULT #define RELAY3_PIN_DEFAULT -1 #endif #ifndef RELAY4_PIN_DEFAULT #define RELAY4_PIN_DEFAULT -1 #endif #ifndef RELAY5_PIN_DEFAULT #define RELAY5_PIN_DEFAULT -1 #endif #ifndef RELAY6_PIN_DEFAULT #define RELAY6_PIN_DEFAULT -1 #endif const AP_Param::GroupInfo AP_Relay::var_info[] = { // @Param: PIN // @DisplayName: First Relay Pin // @Description: Digital pin number for first relay control. This is the pin used for camera control. // @User: Standard // @Values: -1:Disabled,49:BB Blue GP0 pin 4,50:AUXOUT1,51:AUXOUT2,52:AUXOUT3,53:AUXOUT4,54:AUXOUT5,55:AUXOUT6,57:BB Blue GP0 pin 3,113:BB Blue GP0 pin 6,116:BB Blue GP0 pin 5,27:BBBMini Pin P8.17,101:MainOut1,102:MainOut2,103:MainOut3,104:MainOut4,105:MainOut5,106:MainOut6,107:MainOut7,108:MainOut8 AP_GROUPINFO("PIN", 0, AP_Relay, _pin[0], RELAY1_PIN_DEFAULT), // @Param: PIN2 // @DisplayName: Second Relay Pin // @Description: Digital pin number for 2nd relay control. // @User: Standard // @Values: -1:Disabled,49:BB Blue GP0 pin 4,50:AUXOUT1,51:AUXOUT2,52:AUXOUT3,53:AUXOUT4,54:AUXOUT5,55:AUXOUT6,57:BB Blue GP0 pin 3,113:BB Blue GP0 pin 6,116:BB Blue GP0 pin 5,65:BBBMini Pin P8.18,101:MainOut1,102:MainOut2,103:MainOut3,104:MainOut4,105:MainOut5,106:MainOut6,107:MainOut7,108:MainOut8 AP_GROUPINFO("PIN2", 1, AP_Relay, _pin[1], RELAY2_PIN_DEFAULT), // @Param: PIN3 // @DisplayName: Third Relay Pin // @Description: Digital pin number for 3rd relay control. // @User: Standard // @Values: -1:Disabled,49:BB Blue GP0 pin 4,50:AUXOUT1,51:AUXOUT2,52:AUXOUT3,53:AUXOUT4,54:AUXOUT5,55:AUXOUT6,57:BB Blue GP0 pin 3,113:BB Blue GP0 pin 6,116:BB Blue GP0 pin 5,22:BBBMini Pin P8.19,101:MainOut1,102:MainOut2,103:MainOut3,104:MainOut4,105:MainOut5,106:MainOut6,107:MainOut7,108:MainOut8 AP_GROUPINFO("PIN3", 2, AP_Relay, _pin[2], RELAY3_PIN_DEFAULT), // @Param: PIN4 // @DisplayName: Fourth Relay Pin // @Description: Digital pin number for 4th relay control. // @User: Standard // @Values: -1:Disabled,49:BB Blue GP0 pin 4,50:AUXOUT1,51:AUXOUT2,52:AUXOUT3,53:AUXOUT4,54:AUXOUT5,55:AUXOUT6,57:BB Blue GP0 pin 3,113:BB Blue GP0 pin 6,116:BB Blue GP0 pin 5,63:BBBMini Pin P8.34,101:MainOut1,102:MainOut2,103:MainOut3,104:MainOut4,105:MainOut5,106:MainOut6,107:MainOut7,108:MainOut8 AP_GROUPINFO("PIN4", 3, AP_Relay, _pin[3], RELAY4_PIN_DEFAULT), // @Param: DEFAULT // @DisplayName: Default relay state // @Description: The state of the relay on boot. // @User: Standard // @Values: 0:Off,1:On,2:NoChange AP_GROUPINFO("DEFAULT", 4, AP_Relay, _default, 0), // @Param: PIN5 // @DisplayName: Fifth Relay Pin // @Description: Digital pin number for 5th relay control. // @User: Standard // @Values: -1:Disabled,49:BB Blue GP0 pin 4,50:AUXOUT1,51:AUXOUT2,52:AUXOUT3,53:AUXOUT4,54:AUXOUT5,55:AUXOUT6,57:BB Blue GP0 pin 3,113:BB Blue GP0 pin 6,116:BB Blue GP0 pin 5,62:BBBMini Pin P8.13,101:MainOut1,102:MainOut2,103:MainOut3,104:MainOut4,105:MainOut5,106:MainOut6,107:MainOut7,108:MainOut8 AP_GROUPINFO("PIN5", 5, AP_Relay, _pin[4], RELAY5_PIN_DEFAULT), // @Param: PIN6 // @DisplayName: Sixth Relay Pin // @Description: Digital pin number for 6th relay control. // @User: Standard // @Values: -1:Disabled,49:BB Blue GP0 pin 4,50:AUXOUT1,51:AUXOUT2,52:AUXOUT3,53:AUXOUT4,54:AUXOUT5,55:AUXOUT6,57:BB Blue GP0 pin 3,113:BB Blue GP0 pin 6,116:BB Blue GP0 pin 5,37:BBBMini Pin P8.14,101:MainOut1,102:MainOut2,103:MainOut3,104:MainOut4,105:MainOut5,106:MainOut6,107:MainOut7,108:MainOut8 AP_GROUPINFO("PIN6", 6, AP_Relay, _pin[5], RELAY6_PIN_DEFAULT), AP_GROUPEND }; AP_Relay *AP_Relay::singleton; extern const AP_HAL::HAL& hal; AP_Relay::AP_Relay(void) { AP_Param::setup_object_defaults(this, var_info); #if CONFIG_HAL_BOARD == HAL_BOARD_SITL if (singleton != nullptr) { AP_HAL::panic("AP_Relay must be singleton"); } #endif singleton = this; } void AP_Relay::init() { if (_default != 0 && _default != 1) { return; } for (uint8_t i=0; i= AP_RELAY_NUM_RELAYS) { return; } if (_pin[instance] == -1) { return; } hal.gpio->pinMode(_pin[instance], HAL_GPIO_OUTPUT); hal.gpio->write(_pin[instance], value); } void AP_Relay::toggle(uint8_t instance) { if (instance < AP_RELAY_NUM_RELAYS && _pin[instance] != -1) { bool ison = hal.gpio->read(_pin[instance]); set(instance, !ison); } } // check settings are valid bool AP_Relay::arming_checks(size_t buflen, char *buffer) const { for (uint8_t i=0; ivalid_pin(pin)) { char param_name_buf[11] = "RELAY_PIN"; if (i > 0) { hal.util->snprintf(param_name_buf, ARRAY_SIZE(param_name_buf), "RELAY_PIN%u", unsigned(i+1)); } uint8_t servo_ch; if (hal.gpio->pin_to_servo_channel(pin, servo_ch)) { hal.util->snprintf(buffer, buflen, "%s=%d, set SERVO%u_FUNCTION=-1", param_name_buf, int(pin), unsigned(servo_ch+1)); } else { hal.util->snprintf(buffer, buflen, "%s=%d invalid", param_name_buf, int(pin)); } return false; } } return true; } namespace AP { AP_Relay *relay() { return AP_Relay::get_singleton(); } }