mirror of https://github.com/ArduPilot/ardupilot
106 lines
2.9 KiB
C++
106 lines
2.9 KiB
C++
#ifndef AP_ADC_HIL_H
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#define AP_ADC_HIL_H
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/*
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* AP_ADC_HIL.h
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* Author: James Goppert
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*
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* License:
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* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 2.1 of the License, or (at your option) any later version.
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*/
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#include <inttypes.h>
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#include "AP_ADC.h"
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///
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// A hardware in the loop model of the ADS7844 analog to digital converter
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// @author James Goppert DIYDrones.com
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class AP_ADC_HIL : public AP_ADC
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{
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public:
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///
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// Constructor
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AP_ADC_HIL(); // Constructor
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///
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// Initializes sensor, part of public AP_ADC interface
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void Init();
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///
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// Read the sensor, part of public AP_ADC interface
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float Ch(unsigned char ch_num);
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///
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// Read 6 sensors at once
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uint32_t Ch6(const uint8_t *channel_numbers, float *result);
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// see if Ch6 would block
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bool new_data_available(const uint8_t *channel_numbers);
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// Get minimum number of samples read from the sensors
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uint16_t num_samples_available(const uint8_t *channel_numbers);
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private:
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///
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// The raw adc array
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uint16_t adcValue[8];
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// the time in microseconds when Ch6 was last requested
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uint32_t _last_ch6_time;
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///
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// sensor constants
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// constants declared in cpp file
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// @see AP_ADC_HIL.cpp
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static const uint8_t sensors[6];
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static const float gyroBias[3];
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static const float gyroScale[3];
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static const float accelBias[3];
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static const float accelScale[3];
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static const int8_t sensorSign[6];
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///
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// gyro set function
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// @param val the value of the gyro in milli rad/s
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// @param index the axis for the gyro(0-x,1-y,2-z)
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inline void setGyro(uint8_t index, int16_t val) {
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int16_t temp = val * gyroScale[index] / 1000 + gyroBias[index];
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adcValue[sensors[index]] = (sensorSign[index] < 0) ? -temp : temp;
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}
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///
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// accel set function
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// @param val the value of the accel in milli g's
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// @param index the axis for the accelerometer(0-x,1-y,2-z)
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inline void setAccel(uint8_t index, int16_t val) {
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int16_t temp = val * accelScale[index] / 1000 + accelBias[index];
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adcValue[sensors[index+3]] = (sensorSign[index+3] < 0) ? -temp : temp;
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}
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///
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// Sets the differential pressure adc channel
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// TODO: implement
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void setPressure(int16_t val) {
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}
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///
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// Sets the gyro temp adc channel
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// TODO: implement
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void setGyroTemp(int16_t val) {
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}
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// read function that pretends to capture new data
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static void read(uint32_t tnow) {
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_count++;
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}
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static uint16_t _count; // number of samples captured
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};
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#endif
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