From e42ba853ec6c0e716b3fb4885edf4a3d5de37e65 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Mon, 20 Jan 2014 12:59:21 +1100
Subject: [PATCH] AP_Relay: enable up to 4 relay pins
---
libraries/AP_Relay/AP_Relay.cpp | 64 +++++++++++++++++++++++----------
libraries/AP_Relay/AP_Relay.h | 10 +++---
2 files changed, 52 insertions(+), 22 deletions(-)
diff --git a/libraries/AP_Relay/AP_Relay.cpp b/libraries/AP_Relay/AP_Relay.cpp
index 3fef02c21..f9937fbc3 100644
--- a/libraries/AP_Relay/AP_Relay.cpp
+++ b/libraries/AP_Relay/AP_Relay.cpp
@@ -15,19 +15,44 @@
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
#define RELAY_PIN 13
#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
+#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
#define RELAY_PIN 111
#else
+#define RELAY_PIN 54
+#endif
+#else
// no relay for this board
#define RELAY_PIN -1
#endif
const AP_Param::GroupInfo AP_Relay::var_info[] PROGMEM = {
// @Param: PIN
- // @DisplayName: Relay Pin
- // @Description: Digital pin number for relay control.
+ // @DisplayName: First Relay Pin
+ // @Description: Digital pin number for first relay control. This is the pin used for camera control.
+ // @User: Standard
+ // @Values: 13:APM2 A9 pin,47:APM1 relay,54:Pixhawk FMU AUX1,55:Pixhawk FMU AUX2,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2
+ AP_GROUPINFO("PIN", 0, AP_Relay, _pin[0], RELAY_PIN),
+
+ // @Param: PIN2
+ // @DisplayName: Second Relay Pin
+ // @Description: Digital pin number for 2nd relay control.
+ // @User: Standard
+ // @Values: 13:APM2 A9 pin,47:APM1 relay,54:Pixhawk FMU AUX1,55:Pixhawk FMU AUX2,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2
+ AP_GROUPINFO("PIN2", 1, AP_Relay, _pin[1], -1),
+
+ // @Param: PIN3
+ // @DisplayName: Third Relay Pin
+ // @Description: Digital pin number for 3rd relay control.
+ // @User: Standard
+ // @Values: 13:APM2 A9 pin,47:APM1 relay,54:Pixhawk FMU AUX1,55:Pixhawk FMU AUX2,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2
+ AP_GROUPINFO("PIN3", 2, AP_Relay, _pin[2], -1),
+
+ // @Param: PIN4
+ // @DisplayName: Fourth Relay Pin
+ // @Description: Digital pin number for 4th relay control.
// @User: Standard
- // @Values: 13:APM2 A9 pin,47:APM1 relay,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2
- AP_GROUPINFO("PIN", 0, AP_Relay, _pin, RELAY_PIN),
+ // @Values: 13:APM2 A9 pin,47:APM1 relay,54:Pixhawk FMU AUX1,55:Pixhawk FMU AUX2,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2
+ AP_GROUPINFO("PIN4", 3, AP_Relay, _pin[3], -1),
AP_GROUPEND
};
@@ -43,36 +68,39 @@ AP_Relay::AP_Relay(void)
void AP_Relay::init()
{
- if (_pin != -1) {
- hal.gpio->pinMode(_pin, GPIO_OUTPUT);
- off();
+ for (uint8_t i=0; i<AP_RELAY_NUM_RELAYS; i++) {
+ if (_pin[i].get() != -1) {
+ off(i);
+ }
}
}
-void AP_Relay::on()
+void AP_Relay::on(uint8_t relay)
{
- if (_pin != -1) {
- hal.gpio->write(_pin, 1);
+ if (relay < AP_RELAY_NUM_RELAYS && _pin[relay] != -1) {
+ hal.gpio->pinMode(_pin[relay], GPIO_OUTPUT);
+ hal.gpio->write(_pin[relay], 1);
}
}
-void AP_Relay::off()
+void AP_Relay::off(uint8_t relay)
{
- if (_pin != -1) {
- hal.gpio->write(_pin, 0);
+ if (relay < AP_RELAY_NUM_RELAYS && _pin[relay] != -1) {
+ hal.gpio->pinMode(_pin[relay], GPIO_OUTPUT);
+ hal.gpio->write(_pin[relay], 0);
}
}
-void AP_Relay::toggle()
+void AP_Relay::toggle(uint8_t relay)
{
- if (_pin != -1) {
- bool ison = hal.gpio->read(_pin);
+ if (relay < AP_RELAY_NUM_RELAYS && _pin[relay] != -1) {
+ bool ison = hal.gpio->read(_pin[relay]);
if (ison)
- off();
+ off(relay);
else
- on();
+ on(relay);
}
}
diff --git a/libraries/AP_Relay/AP_Relay.h b/libraries/AP_Relay/AP_Relay.h
index 3d72c1855..7fb6416ff 100644
--- a/libraries/AP_Relay/AP_Relay.h
+++ b/libraries/AP_Relay/AP_Relay.h
@@ -15,6 +15,8 @@
#include <AP_Param.h>
+#define AP_RELAY_NUM_RELAYS 4
+
/// @class AP_Relay
/// @brief Class to manage the APM relay
class AP_Relay {
@@ -25,18 +27,18 @@ public:
void init();
// activate the relay
- void on();
+ void on(uint8_t relay);
// de-activate the relay
- void off();
+ void off(uint8_t relay);
// toggle the relay status
- void toggle();
+ void toggle(uint8_t relay);
static const struct AP_Param::GroupInfo var_info[];
private:
- AP_Int8 _pin;
+ AP_Int8 _pin[AP_RELAY_NUM_RELAYS];
};
#endif /* AP_RELAY_H_ */
--
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