mirror of https://github.com/ArduPilot/ardupilot
64 lines
1.1 KiB
C++
64 lines
1.1 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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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 (5.0f/1023.0f) * read_average();
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}
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float ADCSource::voltage_latest() {
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return (5.0f/1023.0f) * read_latest();
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}
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float ADCSource::read_latest() {
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switch (_pin) {
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case ANALOG_INPUT_BOARD_VCC:
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return 1023;
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case 0:
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return _sitlState->sonar_pin_value;
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case 1:
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return _sitlState->airspeed_pin_value;
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case 12:
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return _sitlState->current_pin_value;
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case 13:
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return _sitlState->voltage_pin_value;
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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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void ADCSource::set_pin(uint8_t pin) {
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_pin = pin;
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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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