mirror of https://github.com/ArduPilot/ardupilot
147 lines
4.7 KiB
C++
147 lines
4.7 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_PX4
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#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
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#define RELAY1_PIN_DEFAULT 111
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#elif !defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
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#define RELAY1_PIN_DEFAULT 54
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#define RELAY2_PIN_DEFAULT 55
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#endif
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#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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#define RELAY1_PIN_DEFAULT 33
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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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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,13:APM2 A9 pin,47:APM1 relay,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
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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,13:APM2 A9 pin,47:APM1 relay,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
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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,13:APM2 A9 pin,47:APM1 relay,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
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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,13:APM2 A9 pin,47:APM1 relay,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
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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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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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