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66 lines
1.5 KiB
66 lines
1.5 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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/* |
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* AP_EPM.h |
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* |
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* Created on: DEC 06, 2013 |
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* Author: Andreas Jochum |
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*/ |
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/// @file AP_EPM.h |
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/// @brief AP_EPM control class |
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#ifndef __AP_EPM_h__ |
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#define __AP_EPM_h__ |
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#include <inttypes.h> |
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#include <AP_Common.h> |
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#include <AP_Param.h> |
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM2 |
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#define EPM_PIN_1 61 // On pin - AN7 |
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#define EPM_PIN_2 62 // Off pin - AN8 |
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#define EPM_SUPPORTED true |
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#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1 |
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#define EPM_PIN_1 -1 // to be determine |
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#define EPM_PIN_2 -1 // to be determine |
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#define EPM_SUPPORTED false |
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#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4 |
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#define EPM_PIN_1 -1 // to be determine |
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#define EPM_PIN_2 -1 // to be determine |
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#define EPM_SUPPORTED false |
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#else |
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#define EPM_PIN_1 -1 // not supported |
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#define EPM_PIN_2 -1 // not supported |
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#define EPM_SUPPORTED false |
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#endif |
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/// @class AP_EPM |
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/// @brief Class to manage the EPM_CargoGripper |
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class AP_EPM { |
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public: |
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AP_EPM(); |
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// setup the epm pins |
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void init(); |
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// enabled - true if the epm is enabled |
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bool enabled(); |
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// activate the EPM |
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void on(); |
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// de-activate the EPM |
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void off(); |
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// do nothing |
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void neutral(); |
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static const struct AP_Param::GroupInfo var_info[]; |
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private: |
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AP_Int8 _enabled; |
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}; |
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#endif /* _AP_EPM_H_ */
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