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130 lines
4.1 KiB
130 lines
4.1 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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/* |
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* AP_Relay.cpp |
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* |
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* Created on: Oct 2, 2011 |
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* Author: Amilcar Lucas |
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*/ |
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#include <AP_HAL/AP_HAL.h> |
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#include "AP_Relay.h" |
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 |
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#define RELAY1_PIN_DEFAULT 47 |
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#define RELAY2_PIN_DEFAULT -1 |
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#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_SITL |
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#define RELAY1_PIN_DEFAULT 13 |
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#define RELAY2_PIN_DEFAULT -1 |
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#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4 |
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#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1 |
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#define RELAY1_PIN_DEFAULT 111 |
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#define RELAY2_PIN_DEFAULT -1 |
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#else |
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#define RELAY1_PIN_DEFAULT 54 |
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#define RELAY2_PIN_DEFAULT 55 |
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#endif |
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#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN |
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#define RELAY1_PIN_DEFAULT 33 |
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#define RELAY2_PIN_DEFAULT -1 |
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#else |
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// no relay for this board |
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#define RELAY1_PIN_DEFAULT -1 |
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#define RELAY2_PIN_DEFAULT -1 |
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#endif |
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const AP_Param::GroupInfo AP_Relay::var_info[] = { |
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// @Param: PIN |
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// @DisplayName: First Relay Pin |
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// @Description: Digital pin number for first relay control. This is the pin used for camera control. |
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// @User: Standard |
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// @Values: -1:Disabled,13:APM2 A9 pin,47:APM1 relay,50:Pixhawk AUXOUT1,51:Pixhawk AUXOUT2,52:Pixhawk AUXOUT3,53:Pixhawk AUXOUT4,54:Pixhawk AUXOUT5,55:Pixhawk AUXOUT6,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2 |
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AP_GROUPINFO("PIN", 0, AP_Relay, _pin[0], RELAY1_PIN_DEFAULT), |
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// @Param: PIN2 |
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// @DisplayName: Second Relay Pin |
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// @Description: Digital pin number for 2nd relay control. |
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// @User: Standard |
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// @Values: -1:Disabled,13:APM2 A9 pin,47:APM1 relay,50:Pixhawk AUXOUT1,51:Pixhawk AUXOUT2,52:Pixhawk AUXOUT3,53:Pixhawk AUXOUT4,54:Pixhawk AUXOUT5,55:Pixhawk AUXOUT6,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2 |
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AP_GROUPINFO("PIN2", 1, AP_Relay, _pin[1], RELAY2_PIN_DEFAULT), |
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// @Param: PIN3 |
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// @DisplayName: Third Relay Pin |
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// @Description: Digital pin number for 3rd relay control. |
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// @User: Standard |
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// @Values: -1:Disabled,13:APM2 A9 pin,47:APM1 relay,50:Pixhawk AUXOUT1,51:Pixhawk AUXOUT2,52:Pixhawk AUXOUT3,53:Pixhawk AUXOUT4,54:Pixhawk AUXOUT5,55:Pixhawk AUXOUT6,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2 |
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AP_GROUPINFO("PIN3", 2, AP_Relay, _pin[2], -1), |
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// @Param: PIN4 |
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// @DisplayName: Fourth Relay Pin |
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// @Description: Digital pin number for 4th relay control. |
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// @User: Standard |
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// @Values: -1:Disabled,13:APM2 A9 pin,47:APM1 relay,50:Pixhawk AUXOUT1,51:Pixhawk AUXOUT2,52:Pixhawk AUXOUT3,53:Pixhawk AUXOUT4,54:Pixhawk AUXOUT5,55:Pixhawk AUXOUT6,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2 |
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AP_GROUPINFO("PIN4", 3, AP_Relay, _pin[3], -1), |
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// @Param: DEFAULT |
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// @DisplayName: Default relay state |
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// @Description: The state of the relay on boot. |
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// @User: Standard |
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// @Values: 0:Off,1:On,2:NoChange |
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AP_GROUPINFO("DEFAULT", 4, AP_Relay, _default, 0), |
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AP_GROUPEND |
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}; |
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extern const AP_HAL::HAL& hal; |
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AP_Relay::AP_Relay(void) |
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{ |
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AP_Param::setup_object_defaults(this, var_info); |
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} |
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void AP_Relay::init() |
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{ |
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for (uint8_t i=0; i<AP_RELAY_NUM_RELAYS; i++) { |
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if (_pin[i].get() != -1) { |
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switch (_default) { |
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case 0: |
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off(i); |
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break; |
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case 1: |
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on(i); |
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break; |
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default: |
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break; |
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} |
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} |
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} |
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} |
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void AP_Relay::on(uint8_t relay) |
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{ |
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if (relay < AP_RELAY_NUM_RELAYS && _pin[relay] != -1) { |
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hal.gpio->pinMode(_pin[relay], HAL_GPIO_OUTPUT); |
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hal.gpio->write(_pin[relay], 1); |
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} |
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} |
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void AP_Relay::off(uint8_t relay) |
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{ |
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if (relay < AP_RELAY_NUM_RELAYS && _pin[relay] != -1) { |
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hal.gpio->pinMode(_pin[relay], HAL_GPIO_OUTPUT); |
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hal.gpio->write(_pin[relay], 0); |
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} |
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} |
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void AP_Relay::toggle(uint8_t relay) |
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{ |
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if (relay < AP_RELAY_NUM_RELAYS && _pin[relay] != -1) { |
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bool ison = hal.gpio->read(_pin[relay]); |
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if (ison) |
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off(relay); |
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else |
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on(relay); |
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} |
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} |
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