mirror of https://github.com/ArduPilot/ardupilot
45 lines
1.2 KiB
C++
45 lines
1.2 KiB
C++
#pragma once
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#include <AP_HAL/AP_HAL.h>
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#include "AP_HAL_SITL_Namespace.h"
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#define SITL_INPUT_MAX_CHANNELS 12
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class HALSITL::ADCSource : public AP_HAL::AnalogSource {
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public:
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friend class HALSITL::AnalogIn;
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/* pin designates the ADC input number */
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ADCSource(SITL_State *sitlState, int16_t pin);
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/* implement AnalogSource virtual api: */
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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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float voltage_average();
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float voltage_latest();
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float voltage_average_ratiometric() {
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return voltage_average();
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}
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void set_stop_pin(uint8_t pin) {}
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void set_settle_time(uint16_t settle_time_ms) {}
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private:
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SITL_State *_sitlState;
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int16_t _pin;
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};
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/* AnalogIn : a concrete class providing the implementations of the
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* timer event and the AP_HAL::AnalogIn interface */
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class HALSITL::AnalogIn : public AP_HAL::AnalogIn {
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public:
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explicit AnalogIn(SITL_State *sitlState): _sitlState(sitlState) {}
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void init();
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AP_HAL::AnalogSource* channel(int16_t n);
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float board_voltage(void) {
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return 5.0f;
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}
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private:
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static ADCSource* _channels[SITL_INPUT_MAX_CHANNELS];
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SITL_State *_sitlState;
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};
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