mirror of https://github.com/ArduPilot/ardupilot
60 lines
1.9 KiB
C++
60 lines
1.9 KiB
C++
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#ifndef __AP_HAL_ANALOG_IN_H__
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#define __AP_HAL_ANALOG_IN_H__
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#include "AP_HAL_Namespace.h"
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class AP_HAL::AnalogSource {
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public:
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virtual float read_average() = 0;
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virtual float read_latest() = 0;
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virtual void set_pin(uint8_t p) = 0;
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// optionally allow setting of a pin that stops the device from
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// reading. This is needed for sonar devices where you have more
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// than one sonar, and you want to stop them interfering with each
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// other. It assumes that if held low the device is stopped, if
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// held high the device starts reading.
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virtual void set_stop_pin(uint8_t p) = 0;
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// optionally allow a settle period in milliseconds. This is only
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// used if a stop pin is set. If the settle period is non-zero
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// then the analog input code will wait to get a reading for that
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// number of milliseconds. Note that this will slow down the
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// reading of analog inputs.
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virtual void set_settle_time(uint16_t settle_time_ms) = 0;
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// return a voltage from 0.0 to 5.0V, scaled
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// against a reference voltage
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virtual float voltage_average() = 0;
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// return a voltage from 0.0 to 5.0V, scaled
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// against a reference voltage
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virtual float voltage_latest() = 0;
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// return a voltage from 0.0 to 5.0V, assuming a ratiometric
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// sensor
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virtual float voltage_average_ratiometric() = 0;
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};
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class AP_HAL::AnalogIn {
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public:
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virtual void init(void* implspecific) = 0;
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virtual AP_HAL::AnalogSource* channel(int16_t n) = 0;
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// board 5V rail voltage in volts
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virtual float board_voltage(void) = 0;
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// servo rail voltage in volts, or 0 if unknown
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virtual float servorail_voltage(void) { return 0; }
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// power supply status flags, see MAV_POWER_STATUS
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virtual uint16_t power_status_flags(void) { return 0; }
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};
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#define ANALOG_INPUT_BOARD_VCC 254
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#define ANALOG_INPUT_NONE 255
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#endif // __AP_HAL_ANALOG_IN_H__
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