ardupilot/libraries/AP_ADC/AP_ADC_HIL.h

97 lines
2.4 KiB
C++

#ifndef AP_ADC_HIL_H
#define AP_ADC_HIL_H
/*
AP_ADC_HIL.h
Author: James Goppert
License:
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
*/
#include <inttypes.h>
#include "AP_ADC.h"
///
// A hardware in the loop model of the ADS7844 analog to digital converter
// @author James Goppert DIYDrones.com
class AP_ADC_HIL : public AP_ADC
{
public:
///
// Constructor
AP_ADC_HIL(); // Constructor
///
// Initializes sensor, part of public AP_ADC interface
void Init(AP_PeriodicProcess*);
///
// Read the sensor, part of public AP_ADC interface
float Ch(unsigned char ch_num);
///
// Read 6 sensors at once
uint32_t Ch6(const uint8_t *channel_numbers, uint16_t *result);
///
// Set the adc raw values given the current rotations rates,
// temps, accels, and pressures
void setHIL(int16_t p, int16_t q, int16_t r, int16_t gyroTemp,
int16_t aX, int16_t aY, int16_t aZ, int16_t diffPress);
private:
///
// The raw adc array
uint16_t adcValue[8];
// the time in milliseconds when we last got a HIL update
uint32_t last_hil_time;
///
// sensor constants
// constants declared in cpp file
// @see AP_ADC_HIL.cpp
static const uint8_t sensors[6];
static const float gyroBias[3];
static const float gyroScale[3];
static const float accelBias[3];
static const float accelScale[3];
static const int8_t sensorSign[6];
///
// gyro set function
// @param val the value of the gyro in milli rad/s
// @param index the axis for the gyro(0-x,1-y,2-z)
inline void setGyro(uint8_t index, int16_t val) {
int16_t temp = val * gyroScale[index] / 1000 + gyroBias[index];
adcValue[sensors[index]] = (sensorSign[index] < 0) ? -temp : temp;
}
///
// accel set function
// @param val the value of the accel in milli g's
// @param index the axis for the accelerometer(0-x,1-y,2-z)
inline void setAccel(uint8_t index, int16_t val) {
int16_t temp = val * accelScale[index] / 1000 + accelBias[index];
adcValue[sensors[index+3]] = (sensorSign[index+3] < 0) ? -temp : temp;
}
///
// Sets the differential pressure adc channel
// TODO: implement
void setPressure(int16_t val) {}
///
// Sets the gyro temp adc channel
// TODO: implement
void setGyroTemp(int16_t val) {}
};
#endif