mirror of https://github.com/ArduPilot/ardupilot
42 lines
1.1 KiB
C++
42 lines
1.1 KiB
C++
#pragma once
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#include "AP_HAL_Linux.h"
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#include <fcntl.h>
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#define NAVIO_ADC_MAX_CHANNELS 6
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class AnalogSource_Navio2: public AP_HAL::AnalogSource {
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public:
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friend class AnalogIn_Navio2;
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AnalogSource_Navio2(uint8_t pin);
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float read_average() override;
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float read_latest() override;
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void set_pin(uint8_t p) override;
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void set_stop_pin(uint8_t p) override{}
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void set_settle_time(uint16_t settle_time_ms) override{}
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float voltage_average() override;
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float voltage_latest() override;
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float voltage_average_ratiometric() override;
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private:
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void set_channel(uint8_t pin);
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uint8_t _pin;
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int _fd = -1;
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float _value = 0.0f;
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};
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class AnalogIn_Navio2: public AP_HAL::AnalogIn {
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public:
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AnalogIn_Navio2();
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void init() override;
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AP_HAL::AnalogSource *channel(int16_t n) override;
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float board_voltage(void) override;
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float servorail_voltage(void) override;
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private:
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AnalogSource_Navio2 *_channels[NAVIO_ADC_MAX_CHANNELS];
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uint8_t _channels_number = NAVIO_ADC_MAX_CHANNELS;
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AP_HAL::AnalogSource *_board_voltage_pin = nullptr;
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AP_HAL::AnalogSource *_servorail_pin = nullptr;
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};
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