New Relay class and the subclasses for APM1 and APM2.

Updated AP_Camera class.

libraries/AP_Camera/AP_Camera.cpp

@@ -60,9 +60,7 @@ AP_Camera::servo_pic()
 void
 AP_Camera::relay_pic()
 {
-#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
-    relay.on();
-#endif
+    _apm_relay->on();
 
     // leave a message that it should be active for this many loops (assumes 50hz loops)
     _trigger_counter = constrain_int16(_trigger_duration*5,0,255);
@@ -142,7 +140,7 @@ AP_Camera::trigger_pic_cleanup()
                 break;
 #if CONFIG_HAL_BOARD == HAL_BOARD_APM1
             case AP_CAMERA_TRIGGER_TYPE_RELAY:
-                relay.off();
+                _apm_relay->off();
                 break;
 #endif
             case AP_CAMERA_TRIGGER_TYPE_TRANSISTOR:
@@ -162,7 +160,8 @@ AP_Camera::configure_msg(mavlink_message_t* msg)
         // not for us
         return;
     }
-    // TODO do something with these values
+    // This values may or not be used by APM
+    // They are bypassed as "echo" to a external specialized board
     /*
      *  packet.aperture
      *  packet.command_id
@@ -190,7 +189,8 @@ AP_Camera::control_msg(mavlink_message_t* msg)
         // not for us
         return;
     }
-    // TODO do something with these values
+    // This values may or not be used by APM (the shot is)
+    // They are bypassed as "echo" to a external specialized board
     /*
      *  packet.command_id
      *  packet.extra_param

libraries/AP_Camera/AP_Camera.h

@@ -2,7 +2,6 @@
 
 /// @file	AP_Camera.h
 /// @brief	Photo or video camera manager, with EEPROM-backed storage of constants.
-/// @author Amilcar Lucas
 
 #ifndef AP_CAMERA_H
 #define AP_CAMERA_H
@@ -10,6 +9,7 @@
 #include <AP_Param.h>
 #include <AP_Common.h>
 #include <GCS_MAVLink.h>
+#include <AP_Relay.h>
 
 #define AP_CAMERA_TRIGGER_TYPE_SERVO                0
 #define AP_CAMERA_TRIGGER_TYPE_RELAY                1
@@ -35,11 +35,12 @@ class AP_Camera {
 public:
     /// Constructor
     ///
-    AP_Camera() :
+    AP_Camera(AP_Relay *obj_relay) :
         _trigger_counter(0),            // count of number of cycles shutter has been held open
         _thr_pic_counter(0)             // timer variable for throttle_pic
     {
 		AP_Param::setup_object_defaults(this, var_info);
+        _apm_relay = obj_relay;
     }
 
     // single entry point to take pictures
@@ -62,6 +63,7 @@ private:
     AP_Int16        _servo_off_pwm;     // PWM value to move servo to when shutter is deactivated
     uint8_t         _trigger_counter;   // count of number of cycles shutter has been held open
     uint8_t         _thr_pic_counter;   // timer variable for throttle_pic
+    AP_Relay       *_apm_relay;         // pointer to relay object from the base class Relay. The subclasses could be AP_Relay_APM1 or AP_Relay_APM2
 
     void            servo_pic();        // Servo operated camera
     void            relay_pic();        // basic relay activation

libraries/AP_Relay/AP_Relay.cpp

@@ -12,7 +12,13 @@
 
 extern const AP_HAL::HAL& hal;
 
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
 #define RELAY_PIN 47
+#else CONFIG_HAL_BOARD == HAL_BOARD_APM2
+#define RELAY_PIN 26
+#else
+#error "no RELAY_PIN defined for this board"
+#endif
 
 void AP_Relay::init() {
     hal.gpio->pinMode(RELAY_PIN, GPIO_OUTPUT);

libraries/AP_Relay/AP_Relay.h

@@ -36,5 +36,4 @@ public:
     bool        get();
 };
 
-
 #endif /* AP_RELAY_H_ */