mirror of https://github.com/ArduPilot/ardupilot
56 lines
1.4 KiB
C
56 lines
1.4 KiB
C
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#ifndef __AP_HAL_PXF_ANALOGIN_H__
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#define __AP_HAL_PXF_ANALOGIN_H__
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#include "AP_HAL_Linux.h"
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#include <stdio.h>
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <fcntl.h>
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#include <unistd.h>
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#include <stdlib.h>
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#define PXF_ANALOG_IN_COUNT 8
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// Note that echo BB-ADC cape should be loaded
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#define PXF_ANALOG_IN_DIR "/sys/bus/iio/devices/iio:device0/"
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#define BBB_VOLTAGE_SCALING 0.00142602816
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class PXFAnalogSource : public AP_HAL::AnalogSource {
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public:
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friend class PXFAnalogIn;
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PXFAnalogSource(int16_t pin, float v);
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float read_average();
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float read_latest();
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void set_pin(uint8_t p);
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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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float voltage_average();
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float voltage_latest();
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float voltage_average_ratiometric() { return voltage_average(); }
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private:
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float _value;
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float _latest;
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float _sum_value;
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// float _value_ratiometric;
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uint8_t _sum_count;
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int16_t _pin;
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int _pin_fd;
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void reopen_pin(void);
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static const char *analog_sources[PXF_ANALOG_IN_COUNT];
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};
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class PXFAnalogIn : public AP_HAL::AnalogIn {
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public:
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PXFAnalogIn();
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void init(void* implspecific);
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AP_HAL::AnalogSource* channel(int16_t n);
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// we don't yet know how to get the board voltage
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float board_voltage(void) { return 0.0f; }
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};
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#endif // __AP_HAL_PXF_ANALOGIN_H__
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