You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
155 lines
4.5 KiB
155 lines
4.5 KiB
/* |
|
* AP_Relay.cpp |
|
* |
|
* Created on: Oct 2, 2011 |
|
* Author: Amilcar Lucas |
|
*/ |
|
|
|
#include <AP_HAL/AP_HAL.h> |
|
#include "AP_Relay.h" |
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL |
|
#define RELAY1_PIN_DEFAULT 13 |
|
|
|
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX |
|
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE |
|
#define RELAY1_PIN_DEFAULT 57 |
|
#define RELAY2_PIN_DEFAULT 49 |
|
#define RELAY3_PIN_DEFAULT 116 |
|
#define RELAY4_PIN_DEFAULT 113 |
|
#endif |
|
#endif |
|
|
|
#ifndef RELAY1_PIN_DEFAULT |
|
#define RELAY1_PIN_DEFAULT -1 |
|
#endif |
|
|
|
#ifndef RELAY2_PIN_DEFAULT |
|
#define RELAY2_PIN_DEFAULT -1 |
|
#endif |
|
|
|
#ifndef RELAY3_PIN_DEFAULT |
|
#define RELAY3_PIN_DEFAULT -1 |
|
#endif |
|
|
|
#ifndef RELAY4_PIN_DEFAULT |
|
#define RELAY4_PIN_DEFAULT -1 |
|
#endif |
|
|
|
#ifndef RELAY5_PIN_DEFAULT |
|
#define RELAY5_PIN_DEFAULT -1 |
|
#endif |
|
|
|
#ifndef RELAY6_PIN_DEFAULT |
|
#define RELAY6_PIN_DEFAULT -1 |
|
#endif |
|
|
|
|
|
const AP_Param::GroupInfo AP_Relay::var_info[] = { |
|
// @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: -1:Disabled,49:BB Blue GP0 pin 4,50:AUXOUT1,51:AUXOUT2,52:AUXOUT3,53:AUXOUT4,54:AUXOUT5,55:AUXOUT6,57:BB Blue GP0 pin 3,113:BB Blue GP0 pin 6,116:BB Blue GP0 pin 5 |
|
AP_GROUPINFO("PIN", 0, AP_Relay, _pin[0], RELAY1_PIN_DEFAULT), |
|
|
|
// @Param: PIN2 |
|
// @DisplayName: Second Relay Pin |
|
// @Description: Digital pin number for 2nd relay control. |
|
// @User: Standard |
|
// @Values: -1:Disabled,49:BB Blue GP0 pin 4,50:AUXOUT1,51:AUXOUT2,52:AUXOUT3,53:AUXOUT4,54:AUXOUT5,55:AUXOUT6,57:BB Blue GP0 pin 3,113:BB Blue GP0 pin 6,116:BB Blue GP0 pin 5 |
|
AP_GROUPINFO("PIN2", 1, AP_Relay, _pin[1], RELAY2_PIN_DEFAULT), |
|
|
|
// @Param: PIN3 |
|
// @DisplayName: Third Relay Pin |
|
// @Description: Digital pin number for 3rd relay control. |
|
// @User: Standard |
|
// @Values: -1:Disabled,49:BB Blue GP0 pin 4,50:AUXOUT1,51:AUXOUT2,52:AUXOUT3,53:AUXOUT4,54:AUXOUT5,55:AUXOUT6,57:BB Blue GP0 pin 3,113:BB Blue GP0 pin 6,116:BB Blue GP0 pin 5 |
|
AP_GROUPINFO("PIN3", 2, AP_Relay, _pin[2], RELAY3_PIN_DEFAULT), |
|
|
|
// @Param: PIN4 |
|
// @DisplayName: Fourth Relay Pin |
|
// @Description: Digital pin number for 4th relay control. |
|
// @User: Standard |
|
// @Values: -1:Disabled,49:BB Blue GP0 pin 4,50:AUXOUT1,51:AUXOUT2,52:AUXOUT3,53:AUXOUT4,54:AUXOUT5,55:AUXOUT6,57:BB Blue GP0 pin 3,113:BB Blue GP0 pin 6,116:BB Blue GP0 pin 5 |
|
AP_GROUPINFO("PIN4", 3, AP_Relay, _pin[3], RELAY4_PIN_DEFAULT), |
|
|
|
// @Param: DEFAULT |
|
// @DisplayName: Default relay state |
|
// @Description: The state of the relay on boot. |
|
// @User: Standard |
|
// @Values: 0:Off,1:On,2:NoChange |
|
AP_GROUPINFO("DEFAULT", 4, AP_Relay, _default, 0), |
|
|
|
// @Param: PIN5 |
|
// @DisplayName: Fifth Relay Pin |
|
// @Description: Digital pin number for 5th relay control. |
|
// @User: Standard |
|
// @Values: -1:Disabled,49:BB Blue GP0 pin 4,50:AUXOUT1,51:AUXOUT2,52:AUXOUT3,53:AUXOUT4,54:AUXOUT5,55:AUXOUT6,57:BB Blue GP0 pin 3,113:BB Blue GP0 pin 6,116:BB Blue GP0 pin 5 |
|
AP_GROUPINFO("PIN5", 5, AP_Relay, _pin[4], RELAY5_PIN_DEFAULT), |
|
|
|
// @Param: PIN6 |
|
// @DisplayName: Sixth Relay Pin |
|
// @Description: Digital pin number for 6th relay control. |
|
// @User: Standard |
|
// @Values: -1:Disabled,49:BB Blue GP0 pin 4,50:AUXOUT1,51:AUXOUT2,52:AUXOUT3,53:AUXOUT4,54:AUXOUT5,55:AUXOUT6,57:BB Blue GP0 pin 3,113:BB Blue GP0 pin 6,116:BB Blue GP0 pin 5 |
|
AP_GROUPINFO("PIN6", 6, AP_Relay, _pin[5], RELAY6_PIN_DEFAULT), |
|
|
|
AP_GROUPEND |
|
}; |
|
|
|
AP_Relay *AP_Relay::singleton; |
|
|
|
extern const AP_HAL::HAL& hal; |
|
|
|
AP_Relay::AP_Relay(void) |
|
{ |
|
AP_Param::setup_object_defaults(this, var_info); |
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL |
|
if (singleton != nullptr) { |
|
AP_HAL::panic("AP_Relay must be singleton"); |
|
} |
|
#endif |
|
singleton = this; |
|
} |
|
|
|
|
|
void AP_Relay::init() |
|
{ |
|
if (_default != 0 && _default != 1) { |
|
return; |
|
} |
|
for (uint8_t i=0; i<AP_RELAY_NUM_RELAYS; i++) { |
|
set(i, _default); |
|
} |
|
} |
|
|
|
void AP_Relay::set(const uint8_t instance, const bool value) |
|
{ |
|
if (instance >= AP_RELAY_NUM_RELAYS) { |
|
return; |
|
} |
|
if (_pin[instance] == -1) { |
|
return; |
|
} |
|
hal.gpio->pinMode(_pin[instance], HAL_GPIO_OUTPUT); |
|
hal.gpio->write(_pin[instance], value); |
|
} |
|
|
|
void AP_Relay::toggle(uint8_t instance) |
|
{ |
|
if (instance < AP_RELAY_NUM_RELAYS && _pin[instance] != -1) { |
|
bool ison = hal.gpio->read(_pin[instance]); |
|
set(instance, !ison); |
|
} |
|
} |
|
|
|
namespace AP { |
|
|
|
AP_Relay *relay() |
|
{ |
|
return AP_Relay::get_singleton(); |
|
} |
|
|
|
}
|
|
|