mirror of https://github.com/ArduPilot/ardupilot
134 lines
3.4 KiB
C++
134 lines
3.4 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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* AP_ServoRelayEvents - handle servo and relay MAVLink events
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*/
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Common/AP_Common.h>
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#include "AP_ServoRelayEvents.h"
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#include <RC_Channel/RC_Channel.h>
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#include <SRV_Channel/SRV_Channel.h>
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extern const AP_HAL::HAL& hal;
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bool AP_ServoRelayEvents::do_set_servo(uint8_t _channel, uint16_t pwm)
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{
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if (!(mask & 1U<<(_channel-1))) {
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// not allowed
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return false;
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}
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if (type == EVENT_TYPE_SERVO &&
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channel == _channel) {
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// cancel previous repeat
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repeat = 0;
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}
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hal.rcout->enable_ch(_channel-1);
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hal.rcout->write(_channel-1, pwm);
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return true;
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}
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bool AP_ServoRelayEvents::do_set_relay(uint8_t relay_num, uint8_t state)
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{
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if (!relay.enabled(relay_num)) {
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return false;
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}
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if (type == EVENT_TYPE_RELAY &&
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channel == relay_num) {
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// cancel previous repeat
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repeat = 0;
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}
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if (state == 1) {
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relay.on(relay_num);
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} else if (state == 0) {
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relay.off(relay_num);
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} else {
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relay.toggle(relay_num);
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}
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return true;
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}
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bool AP_ServoRelayEvents::do_repeat_servo(uint8_t _channel, uint16_t _servo_value,
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int16_t _repeat, uint16_t _delay_ms)
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{
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if (!(mask & 1U<<(_channel-1))) {
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// not allowed
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return false;
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}
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channel = _channel;
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type = EVENT_TYPE_SERVO;
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start_time_ms = 0;
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delay_ms = _delay_ms / 2;
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repeat = _repeat * 2;
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servo_value = _servo_value;
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update_events();
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return true;
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}
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bool AP_ServoRelayEvents::do_repeat_relay(uint8_t relay_num, int16_t _repeat, uint32_t _delay_ms)
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{
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if (!relay.enabled(relay_num)) {
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return false;
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}
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type = EVENT_TYPE_RELAY;
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channel = relay_num;
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start_time_ms = 0;
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delay_ms = _delay_ms/2; // half cycle time
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repeat = _repeat*2; // number of full cycles
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update_events();
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return true;
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}
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/*
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update state for MAV_CMD_DO_REPEAT_SERVO and MAV_CMD_DO_REPEAT_RELAY
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*/
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void AP_ServoRelayEvents::update_events(void)
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{
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if (repeat == 0 || (AP_HAL::millis() - start_time_ms) < delay_ms) {
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return;
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}
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if (channel > NUM_SERVO_CHANNELS || channel == 0) {
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return;
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}
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start_time_ms = AP_HAL::millis();
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switch (type) {
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case EVENT_TYPE_SERVO:
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hal.rcout->enable_ch(channel-1);
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if (repeat & 1) {
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hal.rcout->write(channel-1, SRV_Channels::srv_channel(channel-1)->get_trim());
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} else {
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hal.rcout->write(channel-1, servo_value);
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}
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break;
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case EVENT_TYPE_RELAY:
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relay.toggle(channel);
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break;
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}
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if (repeat > 0) {
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repeat--;
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} else {
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// toggle bottom bit so servos flip in value
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repeat ^= 1;
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}
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}
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