mirror of https://github.com/ArduPilot/ardupilot
77 lines
2.1 KiB
C++
77 lines
2.1 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef __AP_HAL_PX4_ANALOGIN_H__
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#define __AP_HAL_PX4_ANALOGIN_H__
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#include <AP_HAL_PX4.h>
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#include <pthread.h>
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#include <uORB/uORB.h>
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#define PX4_ANALOG_MAX_CHANNELS 16
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#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
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// these are virtual pins that read from the ORB
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#define PX4_ANALOG_ORB_BATTERY_VOLTAGE_PIN 100
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#define PX4_ANALOG_ORB_BATTERY_CURRENT_PIN 101
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#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
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#define PX4_ANALOG_VCC_5V_PIN 4
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#define PX4_ANALOG_ORB_SERVO_VOLTAGE_PIN 102
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#define PX4_ANALOG_ORB_SERVO_VRSSI_PIN 103
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#endif
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class PX4::PX4AnalogSource : public AP_HAL::AnalogSource {
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public:
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friend class PX4::PX4AnalogIn;
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PX4AnalogSource(int16_t pin, float initial_value);
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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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// stop pins not implemented on PX4 yet
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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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private:
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// what pin it is attached to
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int16_t _pin;
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// what value it has
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float _value;
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float _value_ratiometric;
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float _latest_value;
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uint8_t _sum_count;
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float _sum_value;
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float _sum_ratiometric;
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void _add_value(float v, float vcc5V);
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float _pin_scaler();
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};
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class PX4::PX4AnalogIn : public AP_HAL::AnalogIn {
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public:
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PX4AnalogIn();
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void init(void* implspecific);
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AP_HAL::AnalogSource* channel(int16_t pin);
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void _timer_tick(void);
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float board_voltage(void) { return _board_voltage; }
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float servorail_voltage(void) { return _servorail_voltage; }
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uint16_t power_status_flags(void) { return _power_flags; }
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private:
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int _adc_fd;
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int _battery_handle;
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int _servorail_handle;
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int _system_power_handle;
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uint64_t _battery_timestamp;
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uint64_t _servorail_timestamp;
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PX4::PX4AnalogSource* _channels[PX4_ANALOG_MAX_CHANNELS];
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uint32_t _last_run;
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float _board_voltage;
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float _servorail_voltage;
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uint16_t _power_flags;
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};
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#endif // __AP_HAL_PX4_ANALOGIN_H__
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