ardupilot/libraries/AP_ADC/AP_ADC_ADS1115.h

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef __AP_ADC_ADS1115_H__
#define __AP_ADC_ADS1115_H__


#include <inttypes.h>
#include "AP_ADC.h"
#include <AP_HAL.h>


struct adc_report_s 
{
    uint8_t id;
    float data;
};

class AP_ADC_ADS1115
{
public:
    AP_ADC_ADS1115();

    bool init();
    size_t read(adc_report_s *report, size_t length) const;

    uint8_t get_channels_number() const 
    {
        return _channels_number;
    }

private:
    static const uint8_t _channels_number;

    AP_HAL::Semaphore*  _i2c_sem;

    uint32_t            _last_update_timestamp;
    uint16_t            _gain;
    int                 _channel_to_read;
    adc_report_s        *_samples;


    void _update();
    bool _start_conversion(uint8_t channel);

    float _convert_register_data_to_mv(int16_t word) const;
};

#endif