mirror of https://github.com/ArduPilot/ardupilot
73 lines
1.6 KiB
C++
73 lines
1.6 KiB
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_Relay_config.h"
|
|
|
|
#if AP_RELAY_ENABLED
|
|
|
|
#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 */
|
|
CLASS_NO_COPY(AP_Relay);
|
|
|
|
// setup the relay pin
|
|
void init();
|
|
|
|
// activate the relay
|
|
void on(uint8_t instance) { set(instance, true); }
|
|
|
|
// de-activate the relay
|
|
void off(uint8_t instance) { set(instance, false); }
|
|
|
|
// get state of relay
|
|
uint8_t get(uint8_t instance) const {
|
|
return instance < AP_RELAY_NUM_RELAYS ? _pin_states & (1U<<instance) : 0;
|
|
}
|
|
|
|
// see if the relay is enabled
|
|
bool enabled(uint8_t instance) { return instance < AP_RELAY_NUM_RELAYS && _pin[instance] != -1; }
|
|
|
|
// toggle the relay status
|
|
void toggle(uint8_t instance);
|
|
|
|
// check settings are valid
|
|
bool arming_checks(size_t buflen, char *buffer) const;
|
|
|
|
static AP_Relay *get_singleton(void) {return singleton; }
|
|
|
|
static const struct AP_Param::GroupInfo var_info[];
|
|
|
|
private:
|
|
static AP_Relay *singleton;
|
|
|
|
AP_Int8 _pin[AP_RELAY_NUM_RELAYS];
|
|
AP_Int8 _default;
|
|
uint8_t _pin_states;
|
|
uint8_t _last_logged_pin_states;
|
|
uint32_t _last_log_ms;
|
|
|
|
void set(uint8_t instance, bool value);
|
|
};
|
|
|
|
namespace AP {
|
|
AP_Relay *relay();
|
|
};
|
|
|
|
#endif // AP_RELAY_ENABLED
|