mirror of https://github.com/ArduPilot/ardupilot
67 lines
1.1 KiB
C++
67 lines
1.1 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
|
|
/*
|
|
* AP_Relay.cpp
|
|
*
|
|
* Created on: Oct 2, 2011
|
|
* Author: Amilcar Lucas
|
|
*/
|
|
|
|
#include <AP_HAL.h>
|
|
#include "AP_Relay.h"
|
|
|
|
extern const AP_HAL::HAL& hal;
|
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
|
|
#define RELAY_PIN 47
|
|
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
|
|
#define RELAY_PIN 13
|
|
#else
|
|
// no relay for this board
|
|
#define RELAY_PIN -1
|
|
#endif
|
|
|
|
void AP_Relay::init() {
|
|
#if RELAY_PIN != -1
|
|
hal.gpio->pinMode(RELAY_PIN, GPIO_OUTPUT);
|
|
#endif
|
|
}
|
|
|
|
void AP_Relay::on() {
|
|
#if RELAY_PIN != -1
|
|
hal.gpio->write(RELAY_PIN, 1);
|
|
#endif
|
|
}
|
|
|
|
|
|
void AP_Relay::off() {
|
|
#if RELAY_PIN != -1
|
|
hal.gpio->write(RELAY_PIN, 0);
|
|
#endif
|
|
}
|
|
|
|
|
|
void AP_Relay::toggle() {
|
|
#if RELAY_PIN != -1
|
|
bool ison = hal.gpio->read(RELAY_PIN);
|
|
if (ison)
|
|
off();
|
|
else
|
|
on();
|
|
#endif
|
|
}
|
|
|
|
void AP_Relay::set(bool status){
|
|
#if RELAY_PIN != -1
|
|
hal.gpio->write(RELAY_PIN, status);
|
|
#endif
|
|
}
|
|
|
|
bool AP_Relay::get() {
|
|
#if RELAY_PIN != -1
|
|
return hal.gpio->read(RELAY_PIN);
|
|
#else
|
|
return false;
|
|
#endif
|
|
}
|