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66 lines
1.6 KiB
66 lines
1.6 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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/* |
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* AP_ServoRelayEvent.h |
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* |
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* handle DO_SET_SERVO, DO_REPEAT_SERVO, DO_SET_RELAY and |
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* DO_REPEAT_RELAY commands |
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*/ |
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#ifndef __AP_SERVORELAYEVENTS_H__ |
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#define __AP_SERVORELAYEVENTS_H__ |
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#include <AP_Param/AP_Param.h> |
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#include <AP_Relay/AP_Relay.h> |
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class AP_ServoRelayEvents { |
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public: |
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AP_ServoRelayEvents(AP_Relay &_relay) : |
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relay(_relay), |
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mask(0), |
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type(EVENT_TYPE_RELAY), |
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start_time_ms(0), |
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delay_ms(0), |
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repeat(0), |
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channel(0), |
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servo_value(0) |
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{} |
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// set allowed servo channel mask |
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void set_channel_mask(uint16_t _mask) { mask = _mask; } |
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bool do_set_servo(uint8_t channel, uint16_t pwm); |
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bool do_set_relay(uint8_t relay_num, uint8_t state); |
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bool do_repeat_servo(uint8_t channel, uint16_t servo_value, int16_t repeat, uint16_t delay_time_ms); |
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bool do_repeat_relay(uint8_t relay_num, int16_t count, uint32_t period_ms); |
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void update_events(void); |
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private: |
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AP_Relay &relay; |
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uint16_t mask; |
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// event control state |
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enum event_type { |
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EVENT_TYPE_RELAY=0, |
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EVENT_TYPE_SERVO=1 |
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}; |
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enum event_type type; |
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// when the event was started in ms |
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uint32_t start_time_ms; |
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// how long to delay the next firing of event in millis |
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uint16_t delay_ms; |
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// how many times to cycle : -1 (or -2) = forever, 2 = do one cycle, 4 = do two cycles |
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int16_t repeat; |
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// RC channel for servos, relay number for relays |
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uint8_t channel; |
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// PWM for servos |
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uint16_t servo_value; |
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}; |
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#endif /* AP_SERVORELAYEVENTS_H_ */
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