ardupilot/libraries/AP_ADC/AP_ADC_ADS7844.h

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef AP_ADC_ADS7844_H
#define AP_ADC_ADS7844_H

#define bit_set(p,m)   ((p) |= ( 1<<m))
#define bit_clear(p,m) ((p) &= ~(1<<m))

// We use Serial Port 2 in SPI Mode
#define ADC_DATAOUT     51    // MOSI
#define ADC_DATAIN      50    // MISO
#define ADC_SPICLOCK    52    // SCK
#define ADC_CHIP_SELECT 33    // PC4   9 // PH6  Puerto:0x08 Bit mask : 0x40

// DO NOT CHANGE FROM 8!!
#define ADC_ACCEL_FILTER_SIZE 8

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

class AP_ADC_ADS7844 : public AP_ADC
{
	public:
	AP_ADC_ADS7844();  // Constructor
	void Init( AP_PeriodicProcess * scheduler );

	// Read 1 sensor value
	float Ch(unsigned char ch_num);

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

	private:
	uint16_t 		_filter_accel[3][ADC_ACCEL_FILTER_SIZE];
	uint16_t 		_prev_gyro[3];
	uint16_t 		_prev_accel[3];
	uint8_t			_filter_index_accel;
	static void read( void );

};

#endif