mirror of https://github.com/ArduPilot/ardupilot
76 lines
1.5 KiB
C++
76 lines
1.5 KiB
C++
#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#include "AP_HAL_SITL.h"
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#include "AnalogIn.h"
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#include <stdint.h>
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#define VOLTAGE_TO_PIN_VALUE(_v) (constrain_float(_v * (SITL_ADC_MAX_PIN_VALUE/SITL_ADC_FULL_SCALE_VOLTAGE), 0, SITL_ADC_MAX_PIN_VALUE))
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using namespace HALSITL;
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extern const AP_HAL::HAL& hal;
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ADCSource::ADCSource(SITL_State *sitlState, int16_t pin) :
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_sitlState(sitlState),
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_pin(pin)
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{}
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float ADCSource::read_average() {
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return read_latest();
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}
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float ADCSource::voltage_average() {
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return voltage_latest();
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}
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float ADCSource::voltage_latest() {
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switch (_pin) {
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case ANALOG_INPUT_BOARD_VCC:
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return SITL_ADC_MAX_PIN_VALUE;
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case 0:
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return _sitlState->sonar_pin_voltage;
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case 1:
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return _sitlState->airspeed_pin_voltage[0];
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case 2:
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return _sitlState->airspeed_pin_voltage[1];
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case 12:
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return _sitlState->current_pin_voltage;
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case 13:
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return _sitlState->voltage_pin_voltage;
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case 14:
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return _sitlState->current2_pin_voltage;
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case 15:
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return _sitlState->voltage2_pin_voltage;
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case ANALOG_INPUT_NONE:
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default:
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return 0.0f;
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}
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}
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float ADCSource::read_latest() {
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return VOLTAGE_TO_PIN_VALUE(voltage_latest());
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}
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bool ADCSource::set_pin(uint8_t pin) {
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_pin = pin;
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return true;
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}
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void AnalogIn::init() {
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}
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AP_HAL::AnalogSource* AnalogIn::channel(int16_t pin) {
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return new ADCSource(_sitlState, pin);
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}
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#endif
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