ardupilot/libraries/AP_ADC/AP_ADC_HIL.h

#ifndef AP_ADC_HIL_H
#define AP_ADC_HIL_H

/*
	AP_ADC_HIL.h
	Author: James Goppert

	License:
	This library is free software; you can redistribute it and/or
	modify it under the terms of the GNU Lesser General Public
	License as published by the Free Software Foundation; either
	version 2.1 of the License, or (at your option) any later version.
*/

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

///
// A hardware in the loop model of the ADS7844 analog to digital converter
// @author James Goppert DIYDrones.com
class AP_ADC_HIL : public AP_ADC
{
  public:

	///
	// Constructor
	AP_ADC_HIL();  // Constructor

	///
	// Initializes sensor, part of public AP_ADC interface
	void Init(AP_PeriodicProcess*);

	///
	// Read the sensor, part of public AP_ADC interface
	float Ch(unsigned char ch_num);

	///
	// Read 6 sensors at once
	uint32_t Ch6(const uint8_t *channel_numbers, uint16_t *result);

	// see if Ch6 would block
	bool new_data_available(const uint8_t *channel_numbers);

	///
	// Set the adc raw values given the current rotations rates,
	// temps, accels, and pressures
	void setHIL(int16_t p, int16_t q, int16_t r, int16_t gyroTemp,
	int16_t aX, int16_t aY, int16_t aZ, int16_t diffPress);

  private:

	///
	// The raw adc array
	uint16_t adcValue[8];

	// the time in milliseconds when we last got a HIL update
	uint32_t last_hil_time;

	///
	// sensor constants
	// constants declared in cpp file
	// @see AP_ADC_HIL.cpp
	static const uint8_t sensors[6];
	static const float gyroBias[3];
	static const float gyroScale[3];
	static const float accelBias[3];
	static const float accelScale[3];
	static const int8_t sensorSign[6];

	///
	// gyro set function
	// @param val the value of the gyro in milli rad/s
	// @param index the axis for the gyro(0-x,1-y,2-z)
	inline void setGyro(uint8_t index, int16_t val) {
		int16_t temp = val * gyroScale[index] / 1000 + gyroBias[index];
		adcValue[sensors[index]] = (sensorSign[index] < 0) ? -temp : temp;
	}

	///
	// accel set function
	// @param val the value of the accel in milli g's
	// @param index the axis for the accelerometer(0-x,1-y,2-z)
	inline void setAccel(uint8_t index, int16_t val) {
		int16_t temp = val * accelScale[index] / 1000 + accelBias[index];
		adcValue[sensors[index+3]] = (sensorSign[index+3] < 0) ? -temp : temp;
	}

	///
	// Sets the differential pressure adc channel
	// TODO: implement
	void setPressure(int16_t val) {}

	///
	// Sets the gyro temp adc channel
	// TODO: implement
	void setGyroTemp(int16_t val) {}
};

#endif