mirror of https://github.com/ArduPilot/ardupilot
109 lines
3.4 KiB
C++
109 lines
3.4 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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* AP_Relay.cpp
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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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#include <AP_HAL.h>
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#include "AP_Relay.h"
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
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#define RELAY_PIN 47
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#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
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#define RELAY_PIN 13
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#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
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#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
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#define RELAY_PIN 111
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#else
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#define RELAY_PIN 54
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#endif
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#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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#define RELAY_PIN -1
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#else
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// no relay for this board
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#define RELAY_PIN -1
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#endif
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const AP_Param::GroupInfo AP_Relay::var_info[] PROGMEM = {
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// @Param: PIN
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// @DisplayName: First Relay Pin
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// @Description: Digital pin number for first relay control. This is the pin used for camera control.
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// @User: Standard
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// @Values: 13:APM2 A9 pin,47:APM1 relay,50:Pixhawk FMU AUX1,51:Pixhawk FMU AUX2,52:Pixhawk FMU AUX3,53:Pixhawk FMU AUX4,54:Pixhawk FMU AUX5,55:Pixhawk FMU AUX6,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2
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AP_GROUPINFO("PIN", 0, AP_Relay, _pin[0], RELAY_PIN),
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// @Param: PIN2
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// @DisplayName: Second Relay Pin
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// @Description: Digital pin number for 2nd relay control.
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// @User: Standard
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// @Values: 13:APM2 A9 pin,47:APM1 relay,50:Pixhawk FMU AUX1,51:Pixhawk FMU AUX2,52:Pixhawk FMU AUX3,53:Pixhawk FMU AUX4,54:Pixhawk FMU AUX5,55:Pixhawk FMU AUX6,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2
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AP_GROUPINFO("PIN2", 1, AP_Relay, _pin[1], -1),
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// @Param: PIN3
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// @DisplayName: Third Relay Pin
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// @Description: Digital pin number for 3rd relay control.
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// @User: Standard
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// @Values: 13:APM2 A9 pin,47:APM1 relay,50:Pixhawk FMU AUX1,51:Pixhawk FMU AUX2,52:Pixhawk FMU AUX3,53:Pixhawk FMU AUX4,54:Pixhawk FMU AUX5,55:Pixhawk FMU AUX6,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2
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AP_GROUPINFO("PIN3", 2, AP_Relay, _pin[2], -1),
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// @Param: PIN4
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// @DisplayName: Fourth Relay Pin
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// @Description: Digital pin number for 4th relay control.
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// @User: Standard
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// @Values: 13:APM2 A9 pin,47:APM1 relay,50:Pixhawk FMU AUX1,51:Pixhawk FMU AUX2,52:Pixhawk FMU AUX3,53:Pixhawk FMU AUX4,54:Pixhawk FMU AUX5,55:Pixhawk FMU AUX6,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2
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AP_GROUPINFO("PIN4", 3, AP_Relay, _pin[3], -1),
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AP_GROUPEND
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};
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extern const AP_HAL::HAL& hal;
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AP_Relay::AP_Relay(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_Relay::init()
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{
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for (uint8_t i=0; i<AP_RELAY_NUM_RELAYS; i++) {
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if (_pin[i].get() != -1) {
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off(i);
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}
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}
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}
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void AP_Relay::on(uint8_t relay)
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{
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if (relay < AP_RELAY_NUM_RELAYS && _pin[relay] != -1) {
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hal.gpio->pinMode(_pin[relay], GPIO_OUTPUT);
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hal.gpio->write(_pin[relay], 1);
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}
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}
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void AP_Relay::off(uint8_t relay)
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{
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if (relay < AP_RELAY_NUM_RELAYS && _pin[relay] != -1) {
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hal.gpio->pinMode(_pin[relay], GPIO_OUTPUT);
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hal.gpio->write(_pin[relay], 0);
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}
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}
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void AP_Relay::toggle(uint8_t relay)
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{
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if (relay < AP_RELAY_NUM_RELAYS && _pin[relay] != -1) {
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bool ison = hal.gpio->read(_pin[relay]);
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if (ison)
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off(relay);
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else
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on(relay);
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}
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}
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