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