mirror of https://github.com/ArduPilot/ardupilot
72 lines
1.8 KiB
C++
72 lines
1.8 KiB
C++
/*
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* AP_ServoRelayEvent.h
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*
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* handle DO_SET_SERVO, DO_REPEAT_SERVO, DO_SET_RELAY and
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* DO_REPEAT_RELAY commands
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*/
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#pragma once
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#include <AP_Param/AP_Param.h>
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#include <AP_Relay/AP_Relay.h>
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class AP_ServoRelayEvents {
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public:
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static AP_ServoRelayEvents create(AP_Relay &_relay) {
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return AP_ServoRelayEvents{_relay};
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}
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constexpr AP_ServoRelayEvents(AP_ServoRelayEvents &&other) = default;
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/* Do not allow copies */
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AP_ServoRelayEvents(const AP_ServoRelayEvents &other) = delete;
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AP_ServoRelayEvents &operator=(const AP_ServoRelayEvents&) = delete;
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// set allowed servo channel mask
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void set_channel_mask(uint16_t _mask) { mask = _mask; }
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bool do_set_servo(uint8_t channel, uint16_t pwm);
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bool do_set_relay(uint8_t relay_num, uint8_t state);
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bool do_repeat_servo(uint8_t channel, uint16_t servo_value, int16_t repeat, uint16_t delay_time_ms);
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bool do_repeat_relay(uint8_t relay_num, int16_t count, uint32_t period_ms);
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void update_events(void);
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private:
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AP_ServoRelayEvents(AP_Relay &_relay)
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: relay(_relay)
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, mask(0)
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, type(EVENT_TYPE_RELAY)
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, start_time_ms(0)
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, delay_ms(0)
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, repeat(0)
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, channel(0)
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, servo_value(0)
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{
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}
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AP_Relay &relay;
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uint16_t mask;
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// event control state
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enum event_type {
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EVENT_TYPE_RELAY=0,
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EVENT_TYPE_SERVO=1
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};
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enum event_type type;
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// when the event was started in ms
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uint32_t start_time_ms;
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// how long to delay the next firing of event in millis
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uint16_t delay_ms;
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// how many times to cycle : -1 (or -2) = forever, 2 = do one cycle, 4 = do two cycles
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int16_t repeat;
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// RC channel for servos, relay number for relays
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uint8_t channel;
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// PWM for servos
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uint16_t servo_value;
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};
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