mirror of https://github.com/ArduPilot/ardupilot
48 lines
1.1 KiB
C++
48 lines
1.1 KiB
C++
#pragma once
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#include <AP_ADC/AP_ADC.h>
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#include <AP_HAL/SPIDevice.h>
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#include "AP_HAL_Linux.h"
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#define RASPILOT_ADC_MAX_CHANNELS 8
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class AnalogSource_Raspilot: public AP_HAL::AnalogSource {
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public:
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friend class AnalogIn_Raspilot;
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AnalogSource_Raspilot(int16_t pin);
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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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void set_stop_pin(uint8_t p) { }
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void set_settle_time(uint16_t settle_time_ms) { }
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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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private:
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int16_t _pin;
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float _value;
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};
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class AnalogIn_Raspilot: public AP_HAL::AnalogIn {
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public:
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AnalogIn_Raspilot();
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void init();
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AP_HAL::AnalogSource* channel(int16_t n);
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/* Board voltage is not available */
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float board_voltage(void);
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protected:
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void _update();
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AP_HAL::AnalogSource *_vcc_pin_analog_source;
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AnalogSource_Raspilot *_channels[RASPILOT_ADC_MAX_CHANNELS];
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AP_HAL::OwnPtr<AP_HAL::SPIDevice> _dev;
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uint32_t _last_update_timestamp;
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uint8_t _channels_number;
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};
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