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.
84 lines
1.6 KiB
84 lines
1.6 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
|
|
|
/* |
|
* AP_EPM.cpp |
|
* |
|
* Created on: DEC 6, 2013 |
|
* Author: Andreas Jochum |
|
*/ |
|
|
|
#include <AP_HAL.h> |
|
#include "AP_EPM.h" |
|
|
|
extern const AP_HAL::HAL& hal; |
|
|
|
const AP_Param::GroupInfo AP_EPM::var_info[] PROGMEM = { |
|
// @Param: ENABLE |
|
// @DisplayName: EPM Enable/Disable |
|
// @Description: EPM enable/disable. Note enabling will disable the external LEDs on the APM2 |
|
// @User: Standard |
|
// @Values: 0:Disabled, 1:Enabled |
|
AP_GROUPINFO("ENABLE", 0, AP_EPM, _enabled, 0), |
|
|
|
AP_GROUPEND |
|
}; |
|
|
|
AP_EPM::AP_EPM(void) |
|
{ |
|
AP_Param::setup_object_defaults(this, var_info); |
|
} |
|
|
|
void AP_EPM::init() |
|
{ |
|
// return immediately if not enabled |
|
if (!_enabled || !EPM_SUPPORTED) { |
|
return; |
|
} |
|
|
|
hal.gpio->pinMode(EPM_PIN_1, HAL_GPIO_OUTPUT); |
|
hal.gpio->pinMode(EPM_PIN_2, HAL_GPIO_OUTPUT); |
|
|
|
neutral(); |
|
} |
|
|
|
bool AP_EPM::enabled() |
|
{ |
|
if (!EPM_SUPPORTED) { |
|
return false; |
|
} |
|
|
|
return _enabled; |
|
} |
|
|
|
void AP_EPM::on() |
|
{ |
|
// return immediately if not enabled |
|
if (!_enabled || !EPM_SUPPORTED) { |
|
return; |
|
} |
|
|
|
hal.gpio->write(EPM_PIN_1, 1); |
|
hal.gpio->write(EPM_PIN_2, 0); |
|
} |
|
|
|
void AP_EPM::off() |
|
{ |
|
// return immediately if not enabled |
|
if (!_enabled || !EPM_SUPPORTED) { |
|
return; |
|
} |
|
|
|
hal.gpio->write(EPM_PIN_1, 0); |
|
hal.gpio->write(EPM_PIN_2, 1); |
|
} |
|
|
|
void AP_EPM::neutral() |
|
{ |
|
// return immediately if not enabled |
|
if (!_enabled || !EPM_SUPPORTED) { |
|
return; |
|
} |
|
|
|
hal.gpio->write(EPM_PIN_1, 0); |
|
hal.gpio->write(EPM_PIN_2, 0); |
|
}
|
|
|