mirror of https://github.com/ArduPilot/ardupilot
64 lines
1.2 KiB
C
64 lines
1.2 KiB
C
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/*
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ADS7844 register emulation
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Code by Andrew Tridgell November 2011
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*/
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#ifndef _SITL_ADC_H
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#define _SITL_ADC_H
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// this implements the UDR2 register
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struct ADC_UDR2 {
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uint16_t value, next_value;
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uint8_t idx;
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uint16_t channels[8];
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ADC_UDR2() {
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// constructor
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for (uint8_t i=0; i<8; i++) {
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channels[i] = 0xFFFF;
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}
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value = next_value = 0;
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idx = 0;
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}
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/*
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assignment of UDR2 selects which ADC channel
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to output next
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*/
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ADC_UDR2& operator=(uint8_t cmd) {
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switch (cmd) {
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case 0x87: next_value = channels[0]; break;
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case 0xC7: next_value = channels[1]; break;
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case 0x97: next_value = channels[2]; break;
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case 0xD7: next_value = channels[3]; break;
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case 0xA7: next_value = channels[4]; break;
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case 0xE7: next_value = channels[5]; break;
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case 0xB7: next_value = channels[6]; break;
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case 0xF7: next_value = channels[7]; break;
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}
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return *this;
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}
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/*
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read from UDR2 fetches a byte from the channel
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*/
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operator int() {
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switch (idx) {
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case 0: idx++; return(value>>8);
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case 1: idx++; return(value&0xFF);
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}
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value = next_value;
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idx=0;
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return(value>>8);
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}
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/*
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interface to set a channel value from SITL
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*/
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void set(uint8_t i, uint16_t v) {
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channels[i] = v;
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}
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};
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#endif // _SITL_ADC_H
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