mirror of https://github.com/ArduPilot/ardupilot
157 lines
4.6 KiB
C++
157 lines
4.6 KiB
C++
/*
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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/AP_HAL.h>
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#include "AP_Relay.h"
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#define RELAY1_PIN_DEFAULT 13
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#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
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#define RELAY1_PIN_DEFAULT 57
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#define RELAY2_PIN_DEFAULT 49
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#define RELAY3_PIN_DEFAULT 116
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#define RELAY4_PIN_DEFAULT 113
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#endif
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#endif
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#ifndef RELAY1_PIN_DEFAULT
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#define RELAY1_PIN_DEFAULT -1
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#endif
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#ifndef RELAY2_PIN_DEFAULT
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#define RELAY2_PIN_DEFAULT -1
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#endif
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#ifndef RELAY3_PIN_DEFAULT
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#define RELAY3_PIN_DEFAULT -1
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#endif
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#ifndef RELAY4_PIN_DEFAULT
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#define RELAY4_PIN_DEFAULT -1
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#endif
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#ifndef RELAY5_PIN_DEFAULT
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#define RELAY5_PIN_DEFAULT -1
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#endif
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#ifndef RELAY6_PIN_DEFAULT
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#define RELAY6_PIN_DEFAULT -1
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#endif
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const AP_Param::GroupInfo AP_Relay::var_info[] = {
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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: -1:Disabled,49:BB Blue GP0 pin 4,50:AUXOUT1,51:AUXOUT2,52:AUXOUT3,53:AUXOUT4,54:AUXOUT5,55:AUXOUT6,57:BB Blue GP0 pin 3,113:BB Blue GP0 pin 6,116:BB Blue GP0 pin 5
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AP_GROUPINFO("PIN", 0, AP_Relay, _pin[0], RELAY1_PIN_DEFAULT),
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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: -1:Disabled,49:BB Blue GP0 pin 4,50:AUXOUT1,51:AUXOUT2,52:AUXOUT3,53:AUXOUT4,54:AUXOUT5,55:AUXOUT6,57:BB Blue GP0 pin 3,113:BB Blue GP0 pin 6,116:BB Blue GP0 pin 5
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AP_GROUPINFO("PIN2", 1, AP_Relay, _pin[1], RELAY2_PIN_DEFAULT),
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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: -1:Disabled,49:BB Blue GP0 pin 4,50:AUXOUT1,51:AUXOUT2,52:AUXOUT3,53:AUXOUT4,54:AUXOUT5,55:AUXOUT6,57:BB Blue GP0 pin 3,113:BB Blue GP0 pin 6,116:BB Blue GP0 pin 5
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AP_GROUPINFO("PIN3", 2, AP_Relay, _pin[2], RELAY3_PIN_DEFAULT),
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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: -1:Disabled,49:BB Blue GP0 pin 4,50:AUXOUT1,51:AUXOUT2,52:AUXOUT3,53:AUXOUT4,54:AUXOUT5,55:AUXOUT6,57:BB Blue GP0 pin 3,113:BB Blue GP0 pin 6,116:BB Blue GP0 pin 5
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AP_GROUPINFO("PIN4", 3, AP_Relay, _pin[3], RELAY4_PIN_DEFAULT),
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// @Param: DEFAULT
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// @DisplayName: Default relay state
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// @Description: The state of the relay on boot.
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// @User: Standard
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// @Values: 0:Off,1:On,2:NoChange
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AP_GROUPINFO("DEFAULT", 4, AP_Relay, _default, 0),
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// @Param: PIN5
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// @DisplayName: Fifth Relay Pin
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// @Description: Digital pin number for 5th relay control.
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// @User: Standard
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// @Values: -1:Disabled,49:BB Blue GP0 pin 4,50:AUXOUT1,51:AUXOUT2,52:AUXOUT3,53:AUXOUT4,54:AUXOUT5,55:AUXOUT6,57:BB Blue GP0 pin 3,113:BB Blue GP0 pin 6,116:BB Blue GP0 pin 5
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AP_GROUPINFO("PIN5", 5, AP_Relay, _pin[4], RELAY5_PIN_DEFAULT),
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// @Param: PIN6
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// @DisplayName: Sixth Relay Pin
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// @Description: Digital pin number for 6th relay control.
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// @User: Standard
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// @Values: -1:Disabled,49:BB Blue GP0 pin 4,50:AUXOUT1,51:AUXOUT2,52:AUXOUT3,53:AUXOUT4,54:AUXOUT5,55:AUXOUT6,57:BB Blue GP0 pin 3,113:BB Blue GP0 pin 6,116:BB Blue GP0 pin 5
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AP_GROUPINFO("PIN6", 6, AP_Relay, _pin[5], RELAY6_PIN_DEFAULT),
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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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switch (_default) {
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case 0:
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off(i);
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break;
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case 1:
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on(i);
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break;
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default:
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break;
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}
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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], HAL_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], HAL_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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