mirror of https://github.com/ArduPilot/ardupilot
67 lines
1.5 KiB
C++
67 lines
1.5 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
|
|
/*
|
|
* AP_ServoRelayEvent.h
|
|
*
|
|
* handle DO_SET_SERVO, DO_REPEAT_SERVO, DO_SET_RELAY and
|
|
* DO_REPEAT_RELAY commands
|
|
*/
|
|
|
|
#ifndef __AP_SERVORELAYEVENTS_H__
|
|
#define __AP_SERVORELAYEVENTS_H__
|
|
|
|
#include <AP_Param.h>
|
|
#include <AP_Relay.h>
|
|
|
|
class AP_ServoRelayEvents {
|
|
public:
|
|
AP_ServoRelayEvents(AP_Relay &_relay) :
|
|
relay(_relay),
|
|
mask(0),
|
|
type(EVENT_TYPE_RELAY),
|
|
start_time_ms(0),
|
|
delay_ms(0),
|
|
repeat(0),
|
|
channel(0),
|
|
servo_value(0)
|
|
{}
|
|
|
|
// set allowed servo channel mask
|
|
void set_channel_mask(uint16_t _mask) { mask = _mask; }
|
|
|
|
bool do_set_servo(uint8_t channel, uint16_t pwm);
|
|
bool do_set_relay(uint8_t relay_num, uint8_t state);
|
|
bool do_repeat_servo(uint8_t channel, uint16_t servo_value, int16_t repeat, uint16_t delay_time_ms);
|
|
bool do_repeat_relay(uint8_t relay_num, int16_t count, uint32_t period_ms);
|
|
void update_events(void);
|
|
|
|
private:
|
|
AP_Relay &relay;
|
|
uint16_t mask;
|
|
|
|
// event control state
|
|
enum event_type {
|
|
EVENT_TYPE_RELAY=0,
|
|
EVENT_TYPE_SERVO=1
|
|
};
|
|
|
|
enum event_type type;
|
|
|
|
// when the event was started in ms
|
|
uint32_t start_time_ms;
|
|
|
|
// how long to delay the next firing of event in millis
|
|
uint16_t delay_ms;
|
|
|
|
// how many times to cycle : -1 (or -2) = forever, 2 = do one cycle, 4 = do two cycles
|
|
int16_t repeat;
|
|
|
|
// RC channel for servos, relay number for relays
|
|
uint8_t channel;
|
|
|
|
// PWM for servos
|
|
uint16_t servo_value;
|
|
};
|
|
|
|
#endif /* AP_SERVORELAYEVENTS_H_ */
|