mirror of https://github.com/ArduPilot/ardupilot
153 lines
3.9 KiB
C++
153 lines
3.9 KiB
C++
/*
|
|
This program is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
This program is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
/*
|
|
* AP_ServoRelayEvents - handle servo and relay MAVLink events
|
|
*/
|
|
|
|
|
|
#include <AP_HAL/AP_HAL.h>
|
|
#include <AP_Common/AP_Common.h>
|
|
#include "AP_ServoRelayEvents.h"
|
|
#include <RC_Channel/RC_Channel.h>
|
|
#include <SRV_Channel/SRV_Channel.h>
|
|
#include <GCS_MAVLink/GCS.h>
|
|
|
|
extern const AP_HAL::HAL& hal;
|
|
|
|
bool AP_ServoRelayEvents::do_set_servo(uint8_t _channel, uint16_t pwm)
|
|
{
|
|
SRV_Channel *c = SRV_Channels::srv_channel(_channel-1);
|
|
if (c == nullptr) {
|
|
return false;
|
|
}
|
|
if (c->get_function() != SRV_Channel::k_none) {
|
|
gcs().send_text(MAV_SEVERITY_INFO, "ServoRelayEvent: Channel %d is already in use", _channel);
|
|
return false;
|
|
}
|
|
if (type == EVENT_TYPE_SERVO &&
|
|
channel == _channel) {
|
|
// cancel previous repeat
|
|
repeat = 0;
|
|
}
|
|
c->set_output_pwm(pwm);
|
|
return true;
|
|
}
|
|
|
|
bool AP_ServoRelayEvents::do_set_relay(uint8_t relay_num, uint8_t state)
|
|
{
|
|
if (!relay.enabled(relay_num)) {
|
|
return false;
|
|
}
|
|
if (type == EVENT_TYPE_RELAY &&
|
|
channel == relay_num) {
|
|
// cancel previous repeat
|
|
repeat = 0;
|
|
}
|
|
if (state == 1) {
|
|
relay.on(relay_num);
|
|
} else if (state == 0) {
|
|
relay.off(relay_num);
|
|
} else {
|
|
relay.toggle(relay_num);
|
|
}
|
|
return true;
|
|
}
|
|
|
|
bool AP_ServoRelayEvents::do_repeat_servo(uint8_t _channel, uint16_t _servo_value,
|
|
int16_t _repeat, uint16_t _delay_ms)
|
|
{
|
|
SRV_Channel *c = SRV_Channels::srv_channel(_channel-1);
|
|
if (c == nullptr) {
|
|
return false;
|
|
}
|
|
if (c->get_function() != SRV_Channel::k_none) {
|
|
gcs().send_text(MAV_SEVERITY_INFO, "ServoRelayEvent: Channel %d is already in use", _channel);
|
|
return false;
|
|
}
|
|
channel = _channel;
|
|
type = EVENT_TYPE_SERVO;
|
|
|
|
start_time_ms = 0;
|
|
delay_ms = _delay_ms / 2;
|
|
repeat = _repeat * 2;
|
|
servo_value = _servo_value;
|
|
update_events();
|
|
return true;
|
|
}
|
|
|
|
bool AP_ServoRelayEvents::do_repeat_relay(uint8_t relay_num, int16_t _repeat, uint32_t _delay_ms)
|
|
{
|
|
if (!relay.enabled(relay_num)) {
|
|
return false;
|
|
}
|
|
type = EVENT_TYPE_RELAY;
|
|
channel = relay_num;
|
|
start_time_ms = 0;
|
|
delay_ms = _delay_ms/2; // half cycle time
|
|
repeat = _repeat*2; // number of full cycles
|
|
update_events();
|
|
return true;
|
|
}
|
|
|
|
|
|
/*
|
|
update state for MAV_CMD_DO_REPEAT_SERVO and MAV_CMD_DO_REPEAT_RELAY
|
|
*/
|
|
void AP_ServoRelayEvents::update_events(void)
|
|
{
|
|
if (repeat == 0 || (AP_HAL::millis() - start_time_ms) < delay_ms) {
|
|
return;
|
|
}
|
|
|
|
start_time_ms = AP_HAL::millis();
|
|
|
|
switch (type) {
|
|
case EVENT_TYPE_SERVO: {
|
|
SRV_Channel *c = SRV_Channels::srv_channel(channel-1);
|
|
if (c != nullptr) {
|
|
if (repeat & 1) {
|
|
c->set_output_pwm(c->get_trim());
|
|
} else {
|
|
c->set_output_pwm(servo_value);
|
|
}
|
|
}
|
|
break;
|
|
}
|
|
|
|
case EVENT_TYPE_RELAY:
|
|
relay.toggle(channel);
|
|
break;
|
|
}
|
|
|
|
if (repeat > 0) {
|
|
repeat--;
|
|
} else {
|
|
// toggle bottom bit so servos flip in value
|
|
repeat ^= 1;
|
|
}
|
|
}
|
|
|
|
// singleton instance
|
|
AP_ServoRelayEvents *AP_ServoRelayEvents::_singleton;
|
|
|
|
namespace AP {
|
|
|
|
AP_ServoRelayEvents *servorelayevents()
|
|
{
|
|
return AP_ServoRelayEvents::get_singleton();
|
|
}
|
|
|
|
}
|