mirror of https://github.com/ArduPilot/ardupilot
147 lines
4.5 KiB
C++
147 lines
4.5 KiB
C++
/*
|
|
* AP_Relay.cpp
|
|
*
|
|
* Created on: Oct 2, 2011
|
|
* Author: Amilcar Lucas
|
|
*/
|
|
|
|
#include <AP_HAL/AP_HAL.h>
|
|
#include "AP_Relay.h"
|
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
|
|
#define RELAY1_PIN_DEFAULT 13
|
|
|
|
#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
|
|
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
|
|
#define RELAY1_PIN_DEFAULT 111
|
|
|
|
#elif !defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
|
|
#define RELAY1_PIN_DEFAULT 54
|
|
#define RELAY2_PIN_DEFAULT 55
|
|
#endif
|
|
|
|
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
|
|
#define RELAY1_PIN_DEFAULT 33
|
|
|
|
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
|
|
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
|
|
#define RELAY1_PIN_DEFAULT 57
|
|
#define RELAY2_PIN_DEFAULT 49
|
|
#define RELAY3_PIN_DEFAULT 116
|
|
#define RELAY4_PIN_DEFAULT 113
|
|
#endif
|
|
#endif
|
|
|
|
#ifndef RELAY1_PIN_DEFAULT
|
|
#define RELAY1_PIN_DEFAULT -1
|
|
#endif
|
|
|
|
#ifndef RELAY2_PIN_DEFAULT
|
|
#define RELAY2_PIN_DEFAULT -1
|
|
#endif
|
|
|
|
#ifndef RELAY3_PIN_DEFAULT
|
|
#define RELAY3_PIN_DEFAULT -1
|
|
#endif
|
|
|
|
#ifndef RELAY4_PIN_DEFAULT
|
|
#define RELAY4_PIN_DEFAULT -1
|
|
#endif
|
|
|
|
|
|
const AP_Param::GroupInfo AP_Relay::var_info[] = {
|
|
// @Param: PIN
|
|
// @DisplayName: First Relay Pin
|
|
// @Description: Digital pin number for first relay control. This is the pin used for camera control.
|
|
// @User: Standard
|
|
// @Values: -1:Disabled,49:BB Blue GP0 pin 4,50:Pixhawk AUXOUT1,51:Pixhawk AUXOUT2,52:Pixhawk AUXOUT3,53:Pixhawk AUXOUT4,54:Pixhawk AUXOUT5,55:Pixhawk AUXOUT6,57:BB Blue GP0 pin 3,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1/BB Blue GP0 pin 6,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2/BB Blue GP0 pin 5
|
|
AP_GROUPINFO("PIN", 0, AP_Relay, _pin[0], RELAY1_PIN_DEFAULT),
|
|
|
|
// @Param: PIN2
|
|
// @DisplayName: Second Relay Pin
|
|
// @Description: Digital pin number for 2nd relay control.
|
|
// @User: Standard
|
|
// @Values: -1:Disabled,49:BB Blue GP0 pin 4,50:Pixhawk AUXOUT1,51:Pixhawk AUXOUT2,52:Pixhawk AUXOUT3,53:Pixhawk AUXOUT4,54:Pixhawk AUXOUT5,55:Pixhawk AUXOUT6,57:BB Blue GP0 pin 3,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1/BB Blue GP0 pin 6,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2/BB Blue GP0 pin 5
|
|
AP_GROUPINFO("PIN2", 1, AP_Relay, _pin[1], RELAY2_PIN_DEFAULT),
|
|
|
|
// @Param: PIN3
|
|
// @DisplayName: Third Relay Pin
|
|
// @Description: Digital pin number for 3rd relay control.
|
|
// @User: Standard
|
|
// @Values: -1:Disabled,49:BB Blue GP0 pin 4,50:Pixhawk AUXOUT1,51:Pixhawk AUXOUT2,52:Pixhawk AUXOUT3,53:Pixhawk AUXOUT4,54:Pixhawk AUXOUT5,55:Pixhawk AUXOUT6,57:BB Blue GP0 pin 3,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1/BB Blue GP0 pin 6,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2/BB Blue GP0 pin 5
|
|
AP_GROUPINFO("PIN3", 2, AP_Relay, _pin[2], RELAY3_PIN_DEFAULT),
|
|
|
|
// @Param: PIN4
|
|
// @DisplayName: Fourth Relay Pin
|
|
// @Description: Digital pin number for 4th relay control.
|
|
// @User: Standard
|
|
// @Values: -1:Disabled,49:BB Blue GP0 pin 4,50:Pixhawk AUXOUT1,51:Pixhawk AUXOUT2,52:Pixhawk AUXOUT3,53:Pixhawk AUXOUT4,54:Pixhawk AUXOUT5,55:Pixhawk AUXOUT6,57:BB Blue GP0 pin 3,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1/BB Blue GP0 pin 6,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2/BB Blue GP0 pin 5
|
|
AP_GROUPINFO("PIN4", 3, AP_Relay, _pin[3], RELAY4_PIN_DEFAULT),
|
|
|
|
// @Param: DEFAULT
|
|
// @DisplayName: Default relay state
|
|
// @Description: The state of the relay on boot.
|
|
// @User: Standard
|
|
// @Values: 0:Off,1:On,2:NoChange
|
|
AP_GROUPINFO("DEFAULT", 4, AP_Relay, _default, 0),
|
|
|
|
AP_GROUPEND
|
|
};
|
|
|
|
|
|
extern const AP_HAL::HAL& hal;
|
|
|
|
AP_Relay::AP_Relay(void)
|
|
{
|
|
AP_Param::setup_object_defaults(this, var_info);
|
|
}
|
|
|
|
|
|
void AP_Relay::init()
|
|
{
|
|
for (uint8_t i=0; i<AP_RELAY_NUM_RELAYS; i++) {
|
|
if (_pin[i].get() != -1) {
|
|
switch (_default) {
|
|
case 0:
|
|
off(i);
|
|
break;
|
|
case 1:
|
|
on(i);
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
void AP_Relay::on(uint8_t relay)
|
|
{
|
|
if (relay < AP_RELAY_NUM_RELAYS && _pin[relay] != -1) {
|
|
hal.gpio->pinMode(_pin[relay], HAL_GPIO_OUTPUT);
|
|
hal.gpio->write(_pin[relay], 1);
|
|
}
|
|
}
|
|
|
|
|
|
void AP_Relay::off(uint8_t relay)
|
|
{
|
|
if (relay < AP_RELAY_NUM_RELAYS && _pin[relay] != -1) {
|
|
hal.gpio->pinMode(_pin[relay], HAL_GPIO_OUTPUT);
|
|
hal.gpio->write(_pin[relay], 0);
|
|
}
|
|
}
|
|
|
|
|
|
void AP_Relay::toggle(uint8_t relay)
|
|
{
|
|
if (relay < AP_RELAY_NUM_RELAYS && _pin[relay] != -1) {
|
|
bool ison = hal.gpio->read(_pin[relay]);
|
|
if (ison)
|
|
off(relay);
|
|
else
|
|
on(relay);
|
|
}
|
|
}
|
|
|