mirror of https://github.com/ArduPilot/ardupilot
105 lines
2.7 KiB
C
105 lines
2.7 KiB
C
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/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* Code by Charles Villard
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*/
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#pragma once
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#include "AP_HAL_ESP32.h"
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#if HAL_USE_ADC == TRUE && !defined(HAL_DISABLE_ADC_DRIVER)
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#define ANALOG_MAX_CHANNELS 8
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namespace ESP32
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{
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class AnalogSource : public AP_HAL::AnalogSource
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{
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public:
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friend class AnalogIn;
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AnalogSource(int16_t ardupin,int16_t pin,float scaler, float initial_value, uint8_t unit);
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float read_average() override;
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float read_latest() override;
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bool set_pin(uint8_t p) override;
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float voltage_average() override;
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float voltage_latest() override;
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float voltage_average_ratiometric() override;
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void set_stop_pin(uint8_t p) {}
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void set_settle_time(uint16_t settle_time_ms) {}
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private:
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//ADC number (1 or 2). ADC2 is unavailable when WIFI on
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uint8_t _unit;
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//adc Pin number (1-8)
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// gpio-adc lower level pin name
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int16_t _pin;
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//human readable Pin number used in ardu params
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int16_t _ardupin;
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//scaling from ADC count to Volts
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int16_t _scaler;
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// gpio pin number on esp32:
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gpio_num_t _gpio;
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//Current computed value (average)
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float _value;
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//Latest fetched raw value from the sensor
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float _latest_value;
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//Number of fetched value since average
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uint8_t _sum_count;
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//Sum of fetched values
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float _sum_value;
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void _add_value();
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HAL_Semaphore _semaphore;
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};
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class AnalogIn : public AP_HAL::AnalogIn
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{
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public:
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friend class AnalogSource;
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void init() override;
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AP_HAL::AnalogSource* channel(int16_t pin) override;
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void _timer_tick();
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float board_voltage() override
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{
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return _board_voltage;
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}
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static int8_t find_pinconfig(int16_t ardupin);
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private:
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ESP32::AnalogSource* _channels[ANALOG_MAX_CHANNELS]; // list of pointers to active individual AnalogSource objects or nullptr
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uint32_t _last_run;
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float _board_voltage;
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struct pin_info {
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uint8_t channel; // adc1 pin offset
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float scaling;
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uint8_t ardupin; // eg 3 , as typed into an ardupilot parameter
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uint8_t gpio; // eg 32 for D32 esp pin number/s
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};
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static const pin_info pin_config[];
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};
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}
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#endif // HAL_USE_ADC
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