mirror of https://github.com/ArduPilot/ardupilot
47 lines
977 B
C++
47 lines
977 B
C++
/*
|
|
* AP_Relay.h
|
|
*
|
|
* Created on: Oct 2, 2011
|
|
* Author: Amilcar Lucas
|
|
*/
|
|
|
|
/// @file AP_Relay.h
|
|
/// @brief APM relay control class
|
|
#pragma once
|
|
|
|
#include <AP_Param/AP_Param.h>
|
|
|
|
#define AP_RELAY_NUM_RELAYS 6
|
|
|
|
/// @class AP_Relay
|
|
/// @brief Class to manage the ArduPilot relay
|
|
class AP_Relay {
|
|
public:
|
|
AP_Relay();
|
|
|
|
/* Do not allow copies */
|
|
AP_Relay(const AP_Relay &other) = delete;
|
|
AP_Relay &operator=(const AP_Relay&) = delete;
|
|
|
|
// setup the relay pin
|
|
void init();
|
|
|
|
// activate the relay
|
|
void on(uint8_t relay);
|
|
|
|
// de-activate the relay
|
|
void off(uint8_t relay);
|
|
|
|
// see if the relay is enabled
|
|
bool enabled(uint8_t relay) { return relay < AP_RELAY_NUM_RELAYS && _pin[relay] != -1; }
|
|
|
|
// toggle the relay status
|
|
void toggle(uint8_t relay);
|
|
|
|
static const struct AP_Param::GroupInfo var_info[];
|
|
|
|
private:
|
|
AP_Int8 _pin[AP_RELAY_NUM_RELAYS];
|
|
AP_Int8 _default;
|
|
};
|