From fad8ee838469d385bf5dac8e5942f94012cf9fa2 Mon Sep 17 00:00:00 2001 From: juvinski Date: Fri, 3 Apr 2020 15:21:04 -0300 Subject: [PATCH] AP_Relay: Added support to Relay pins on BBBMini This request add support for Relay Pins on BBBMini: Pin: P8_17: Relay Pin 1 P8_18: Relay Pin 2 P8_19: Relay Pin 3 P8_34: Relay Pin 4 P8_13: Relay Pin 5 P8_14: Relay Pin 6 --- libraries/AP_Relay/AP_Relay.cpp | 19 +++++++++++++------ 1 file changed, 13 insertions(+), 6 deletions(-) diff --git a/libraries/AP_Relay/AP_Relay.cpp b/libraries/AP_Relay/AP_Relay.cpp index 47c7349a34..d83dd6121f 100644 --- a/libraries/AP_Relay/AP_Relay.cpp +++ b/libraries/AP_Relay/AP_Relay.cpp @@ -17,6 +17,13 @@ #define RELAY2_PIN_DEFAULT 49 #define RELAY3_PIN_DEFAULT 116 #define RELAY4_PIN_DEFAULT 113 + #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI + #define RELAY1_PIN_DEFAULT 27 + #define RELAY2_PIN_DEFAULT 65 + #define RELAY3_PIN_DEFAULT 22 + #define RELAY4_PIN_DEFAULT 81 + #define RELAY5_PIN_DEFAULT 23 + #define RELAY6_PIN_DEFAULT 26 #endif #endif @@ -50,28 +57,28 @@ const AP_Param::GroupInfo AP_Relay::var_info[] = { // @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 + // @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 5,27:BBBMini Pin P8.17 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 + // @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 5,65:BBBMini Pin P8.18 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 + // @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 5,22:BBBMini Pin P8.19 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 + // @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 5,63:BBBMini Pin P8.34 AP_GROUPINFO("PIN4", 3, AP_Relay, _pin[3], RELAY4_PIN_DEFAULT), // @Param: DEFAULT @@ -85,14 +92,14 @@ const AP_Param::GroupInfo AP_Relay::var_info[] = { // @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 + // @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 5,62:BBBMini Pin P8.13 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 + // @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 5,37:BBBMini Pin P8.14 AP_GROUPINFO("PIN6", 6, AP_Relay, _pin[5], RELAY6_PIN_DEFAULT), AP_GROUPEND