ardupilot/libraries/AP_Relay/AP_Relay.cpp

107 lines
3.1 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"
#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
#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
#define RELAY_PIN 111
#else
#define RELAY_PIN 54
#endif
#else
// no relay for this board
#define RELAY_PIN -1
#endif
const AP_Param::GroupInfo AP_Relay::var_info[] PROGMEM = {
// @Param: PIN
// @DisplayName: First Relay Pin
// @Description: Digital pin number for first relay control. This is the pin used for camera control.
// @User: Standard
// @Values: 13:APM2 A9 pin,47:APM1 relay,54:Pixhawk FMU AUX1,55:Pixhawk FMU AUX2,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2
AP_GROUPINFO("PIN", 0, AP_Relay, _pin[0], RELAY_PIN),
// @Param: PIN2
// @DisplayName: Second Relay Pin
// @Description: Digital pin number for 2nd relay control.
// @User: Standard
// @Values: 13:APM2 A9 pin,47:APM1 relay,54:Pixhawk FMU AUX1,55:Pixhawk FMU AUX2,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2
AP_GROUPINFO("PIN2", 1, AP_Relay, _pin[1], -1),
// @Param: PIN3
// @DisplayName: Third Relay Pin
// @Description: Digital pin number for 3rd relay control.
// @User: Standard
// @Values: 13:APM2 A9 pin,47:APM1 relay,54:Pixhawk FMU AUX1,55:Pixhawk FMU AUX2,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2
AP_GROUPINFO("PIN3", 2, AP_Relay, _pin[2], -1),
// @Param: PIN4
// @DisplayName: Fourth Relay Pin
// @Description: Digital pin number for 4th relay control.
// @User: Standard
// @Values: 13:APM2 A9 pin,47:APM1 relay,54:Pixhawk FMU AUX1,55:Pixhawk FMU AUX2,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2
AP_GROUPINFO("PIN4", 3, AP_Relay, _pin[3], -1),
AP_GROUPEND
};
extern const AP_HAL::HAL& hal;
AP_Relay::AP_Relay(void)
{
AP_Param::setup_object_defaults(this, var_info);
}
void AP_Relay::init()
{
for (uint8_t i=0; i<AP_RELAY_NUM_RELAYS; i++) {
if (_pin[i].get() != -1) {
off(i);
}
}
}
void AP_Relay::on(uint8_t relay)
{
if (relay < AP_RELAY_NUM_RELAYS && _pin[relay] != -1) {
hal.gpio->pinMode(_pin[relay], GPIO_OUTPUT);
hal.gpio->write(_pin[relay], 1);
}
}
void AP_Relay::off(uint8_t relay)
{
if (relay < AP_RELAY_NUM_RELAYS && _pin[relay] != -1) {
hal.gpio->pinMode(_pin[relay], GPIO_OUTPUT);
hal.gpio->write(_pin[relay], 0);
}
}
void AP_Relay::toggle(uint8_t relay)
{
if (relay < AP_RELAY_NUM_RELAYS && _pin[relay] != -1) {
bool ison = hal.gpio->read(_pin[relay]);
if (ison)
off(relay);
else
on(relay);
}
}