AP_Relay: added relay output invert function

ArduPilot · Mar 21, 2024 · b060267 · b060267
1 parent aa8b48b
commit b060267
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Showing 3 changed files with 17 additions and 1 deletion.
diff --git a/libraries/AP_Relay/AP_Relay.cpp b/libraries/AP_Relay/AP_Relay.cpp
@@ -408,6 +408,10 @@ void AP_Relay::set_pin_by_instance(uint8_t instance, bool value)
 
     const bool initial_value = get_pin(pin);
 
+    if (_params[instance].reverse > 0) {
+        value = !value;
+    }
+
     if (initial_value != value) {
         set_pin(pin, value);
 #if HAL_LOGGING_ENABLED
@@ -496,6 +500,10 @@ bool AP_Relay::get(uint8_t instance) const
         return false;
     }
 
+    if (_params[instance].reverse > 0) {
+        return !get_pin(_params[instance].pin.get());
+    }
+
     return get_pin(_params[instance].pin.get());
 }
 

diff --git a/libraries/AP_Relay/AP_Relay_Params.cpp b/libraries/AP_Relay/AP_Relay_Params.cpp
@@ -60,11 +60,18 @@ const AP_Param::GroupInfo AP_Relay_Params::var_info[] = {
 
     // @Param: DEFAULT
     // @DisplayName: Relay default state
-    // @Description: Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters.
+    // @Description: Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if REVERSED is set then the default is reversed.
     // @Values: 0: Off,1:On,2:NoChange
     // @User: Standard
     AP_GROUPINFO("DEFAULT", 3, AP_Relay_Params, default_state, (float)DefaultState::OFF),
 
+    // @Param: REVERSED
+    // @DisplayName: Relay reverse output signal
+    // @Description: Should the relay output signal be reversed. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.
+    // @Values: 0: Off (normal),1:On (reversed)
+    // @User: Standard
+    AP_GROUPINFO("REVERSED", 4, AP_Relay_Params, reverse, false),
+
     AP_GROUPEND
 
 };

diff --git a/libraries/AP_Relay/AP_Relay_Params.h b/libraries/AP_Relay/AP_Relay_Params.h
@@ -70,4 +70,5 @@ class AP_Relay_Params {
     AP_Enum<FUNCTION> function;            // relay function
     AP_Int16 pin;                          // gpio pin number
     AP_Enum<DefaultState> default_state;  // default state
+    AP_Int8 reverse;                       // reverse state
 };