mirror of https://github.com/ArduPilot/ardupilot
133 lines
4.0 KiB
C++
133 lines
4.0 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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Flymaple port by Mike McCauley
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*/
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#pragma once
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#include <AP_HAL/AP_HAL.h>
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#include "AP_HAL_F4Light.h"
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#include "c++.h"
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extern void setupADC(void);
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#define F4Light_INPUT_MAX_CHANNELS 12
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/* Generic memory-mapped I/O accessor functions */
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#define MMIO8(addr) (*(volatile uint8_t *)(addr))
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#define MMIO16(addr) (*(volatile uint16_t *)(addr))
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#define MMIO32(addr) (*(volatile uint32_t *)(addr))
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#define MMIO64(addr) (*(volatile uint64_t *)(addr))
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// from libopencm3/include/libopencm3/stm32/f4/memorymap.h
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/* ST provided factory calibration values @ 3.3V - this is WRONG! BusFault on this addresses */
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#define ST_VREFINT_CAL MMIO16(0x1FFF7A2A)
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#define ST_TSENSE_CAL1_30C MMIO16(0x1FFF7A2C)
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#define ST_TSENSE_CAL2_110 MMIO16(0x1FFF7A2E)
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class F4Light::AnalogSource : public AP_HAL::AnalogSource {
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public:
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friend class F4Light::AnalogIn;
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AnalogSource(uint8_t pin);
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float read_average() { return _read_average(); }
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inline float read_latest() { return _latest; }
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void set_pin(uint8_t p);
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inline void set_stop_pin(uint8_t pin) { _stop_pin = pin; }
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inline void set_settle_time(uint16_t settle_time_ms) { _settle_time_ms = 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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/* implementation specific interface: */
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/* new_sample(): called with value of ADC measurments, from interrput */
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void new_sample(uint16_t);
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/* setup_read(): called to setup ADC registers for next measurment, from interrupt */
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void setup_read();
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/* stop_read(): called to stop device measurement */
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void stop_read();
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/* reading_settled(): called to check if we have read for long enough */
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bool reading_settled();
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/* read_average: called to calculate and clear the internal average.
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* implements read_average(), unscaled. */
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float _read_average();
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inline int16_t get_pin() { return _pin; };
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protected:
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const inline adc_dev* _find_device() const { return _ADC1; }
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inline bool initialized() { return _init_done;}
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private:
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/* following three are used from both an interrupt and normal thread */
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volatile uint32_t _sum_count;
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volatile uint32_t _sum;
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volatile uint16_t _latest;
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float _last_average;
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/* _pin designates the ADC input mux for the sample */
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uint8_t _pin;
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/* _stop_pin designates a digital pin to use for enabling/disabling the analog device */
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uint8_t _stop_pin;
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uint16_t _settle_time_ms;
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uint32_t _read_start_time_ms;
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bool _init_done;
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};
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class F4Light::AnalogIn : public AP_HAL::AnalogIn {
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public:
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AnalogIn();
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void init();
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AP_HAL::AnalogSource* channel(int16_t n);
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inline float board_voltage(void) {
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return ( 1.2 * 4096 / _vcc.read_average()) * 5.0/3.3; /*_board_voltage;*/
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}
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inline float servorail_voltage(void) { return 0; }
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inline uint16_t power_status_flags(void) { return 0; }
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protected:
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AnalogSource* _create_channel(uint8_t num);
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void _register_channel(AnalogSource*);
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void _timer_event(void);
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static AnalogSource* _channels[F4Light_INPUT_MAX_CHANNELS];
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int16_t _num_channels;
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int16_t _active_channel;
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uint16_t _channel_repeat_count;
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private:
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static AnalogSource _vcc;
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bool cnv_started;
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};
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#define ANALOG_INPUT_F4Light_VCC 253
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