mirror of https://github.com/ArduPilot/ardupilot
142 lines
3.5 KiB
C++
142 lines
3.5 KiB
C++
/*
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* AP_Relay.h
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*
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* Created on: Oct 2, 2011
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* Author: Amilcar Lucas
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*/
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/// @file AP_Relay.h
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/// @brief APM relay control class
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#pragma once
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#include "AP_Relay_config.h"
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#if AP_RELAY_ENABLED
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#include <AP_Param/AP_Param.h>
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#include <AP_Relay/AP_Relay_Params.h>
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#include <AP_Common/Bitmask.h>
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#ifndef AP_RELAY_NUM_RELAYS
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#define AP_RELAY_NUM_RELAYS 6
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#endif
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#if AP_RELAY_NUM_RELAYS < 1
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#error There must be at least one relay instance if using AP_Relay
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#endif
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#if AP_RELAY_DRONECAN_ENABLED
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#include <AP_DroneCAN/AP_DroneCAN.h>
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#endif
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/// @class AP_Relay
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/// @brief Class to manage the ArduPilot relay
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class AP_Relay {
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#if AP_RELAY_DRONECAN_ENABLED
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// Allow DroneCAN to directly access private DroneCAN state
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friend class AP_DroneCAN;
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#endif
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public:
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AP_Relay();
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/* Do not allow copies */
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CLASS_NO_COPY(AP_Relay);
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// setup the relay pin
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void init();
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// activate the relay
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void on(uint8_t instance) { set(instance, true); }
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// de-activate the relay
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void off(uint8_t instance) { set(instance, false); }
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// get state of relay
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bool get(uint8_t instance) const;
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// see if the relay is enabled
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bool enabled(uint8_t instance) const;
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// toggle the relay status
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void toggle(uint8_t instance);
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// check settings are valid
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bool arming_checks(size_t buflen, char *buffer) const;
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static AP_Relay *get_singleton(void) {return singleton; }
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static const struct AP_Param::GroupInfo var_info[];
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bool send_relay_status(const class GCS_MAVLINK &link) const;
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void set(AP_Relay_Params::FUNCTION function, bool value);
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// see if the relay is enabled
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bool enabled(AP_Relay_Params::FUNCTION function) const;
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private:
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static AP_Relay *singleton;
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AP_Relay_Params _params[AP_RELAY_NUM_RELAYS];
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// Return true is function is valid
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bool function_valid(AP_Relay_Params::FUNCTION function) const;
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void set(uint8_t instance, bool value);
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void set_defaults();
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void convert_params();
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void set_pin_by_instance(uint8_t instance, bool value);
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// Set relay state from pin number
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void set_pin(const int16_t pin, const bool value);
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// Get relay state from pin number
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bool get_pin(const int16_t pin) const;
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#if HAL_ENABLE_DRONECAN_DRIVERS
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// Virtual DroneCAN pins
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class DroneCAN {
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public:
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// Return true if pin number is a virtual DroneCAN pin
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bool valid_pin(int16_t pin) const;
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// Enable streaming of pin number
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void enable_pin(int16_t pin);
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// Populate message and update index with the sent command
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bool populate_next_command(uint8_t &index, uavcan_equipment_hardpoint_Command &msg) const;
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// Set DroneCAN relay state from pin number
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void set_pin(const int16_t pin, const bool value);
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// Get relay state from pin number
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bool get_pin(const int16_t pin) const;
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private:
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// Get the hardpoint index of given pin number
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uint8_t hardpoint_index(const int16_t pin) const;
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// Send DroneCAN hardpoint message for given index on all interfaces
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void send_index(const uint8_t index);
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static constexpr uint8_t num_pins = (int16_t)AP_Relay_Params::VIRTUAL_PINS::DroneCAN_15 - (int16_t)AP_Relay_Params::VIRTUAL_PINS::DroneCAN_0;
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struct {
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bool value;
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bool enabled;
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} state[num_pins];
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} dronecan;
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#endif // HAL_ENABLE_DRONECAN_DRIVERS
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};
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namespace AP {
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AP_Relay *relay();
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};
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#endif // AP_RELAY_ENABLED
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