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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/Tools/AP_Periph/relay.cpp
Views: 1798
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#include "AP_Periph.h"

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#ifdef HAL_PERIPH_ENABLE_RELAY

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#include <dronecan_msgs.h>

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void AP_Periph_FW::handle_hardpoint_command(CanardInstance* canard_instance, CanardRxTransfer* transfer)

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{

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    uavcan_equipment_hardpoint_Command cmd {};

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    if (uavcan_equipment_hardpoint_Command_decode(transfer, &cmd)) {

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        // Failed to decode

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        return;

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    }

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    // Command must be 0 or 1, other values may be supported in the future

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    // rejecting them now ensures no change in behaviour

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    if ((cmd.command != 0) && (cmd.command != 1)) {

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        return;

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    }

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    // Translate hardpoint ID to relay function

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    AP_Relay_Params::FUNCTION fun;

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    switch (cmd.hardpoint_id) {

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        case 0 ... 15:

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            // 0 to 15 are continuous

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            fun = AP_Relay_Params::FUNCTION(cmd.hardpoint_id + (uint8_t)AP_Relay_Params::FUNCTION::DroneCAN_HARDPOINT_0);

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            break;

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        default:

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            // ID not supported

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            return;

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    }

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    // Set relay

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    relay.set(fun, cmd.command);

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}

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#endif

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