mirror of https://github.com/ArduPilot/ardupilot
146 lines
4.5 KiB
C++
146 lines
4.5 KiB
C++
/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* Code by Andrew Tridgell and Siddharth Bharat Purohit
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*/
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#pragma once
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#include "AP_HAL_ChibiOS.h"
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// available ADC channels for allocation
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#define ANALOG_MAX_CHANNELS 16
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// physical ADC channels per ADC HAL driver
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// This is MCU dependent, currently STM32H7 has the highest number of ADC_INs i.e. 20
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#define HAL_MAX_ANALOG_IN_CHANNELS 20
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#ifndef HAL_NUM_ANALOG_INPUTS
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#if defined(HAL_ANALOG3_PINS) || HAL_WITH_MCU_MONITORING
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#define HAL_NUM_ANALOG_INPUTS 3
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#elif defined(HAL_ANALOG2_PINS)
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#define HAL_NUM_ANALOG_INPUTS 2
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#else
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#define HAL_NUM_ANALOG_INPUTS 1
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#endif
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#endif
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// number of samples on each channel to gather on each DMA callback
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#define ADC_DMA_BUF_DEPTH 8
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#if HAL_USE_ADC == TRUE && !defined(HAL_DISABLE_ADC_DRIVER)
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class ChibiOS::AnalogSource : public AP_HAL::AnalogSource {
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public:
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friend class ChibiOS::AnalogIn;
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AnalogSource(int16_t pin);
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float read_average() override;
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float read_latest() override;
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bool set_pin(uint8_t p) override WARN_IF_UNUSED;
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float voltage_average() override;
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float voltage_latest() override;
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float voltage_average_ratiometric() override;
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private:
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// what value it has
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int16_t _pin;
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float _value;
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float _value_ratiometric;
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float _latest_value;
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uint8_t _sum_count;
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float _sum_value;
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float _sum_ratiometric;
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void _add_value(float v, float vcc5V);
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float _pin_scaler();
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HAL_Semaphore _semaphore;
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};
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class ChibiOS::AnalogIn : public AP_HAL::AnalogIn {
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public:
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friend class AnalogSource;
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void init() override;
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AP_HAL::AnalogSource* channel(int16_t pin) override;
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void _timer_tick(void);
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void timer_tick_adc(uint8_t index);
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float board_voltage(void) override { return _board_voltage; }
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float servorail_voltage(void) override { return _servorail_voltage; }
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uint16_t power_status_flags(void) override { return _power_flags; }
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uint16_t accumulated_power_status_flags(void) const override { return _accumulated_power_flags; }
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#if HAL_WITH_MCU_MONITORING
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float mcu_temperature(void) override { return _mcu_temperature; }
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float mcu_voltage(void) override { return _mcu_voltage; }
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float mcu_voltage_max(void) override { return _mcu_voltage_max; }
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float mcu_voltage_min(void) override { return _mcu_voltage_min; }
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#endif
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private:
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void read_adc(uint8_t index, uint32_t *val);
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void update_power_flags(void);
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void setup_adc(uint8_t index);
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static void adccallback(ADCDriver *adcp);
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ChibiOS::AnalogSource* _channels[ANALOG_MAX_CHANNELS];
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uint32_t _last_run;
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float _board_voltage;
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float _servorail_voltage;
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float _rssi_voltage;
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uint16_t _power_flags;
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uint16_t _accumulated_power_flags; // bitmask of all _power_flags ever set
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ADCConversionGroup adcgrpcfg[HAL_NUM_ANALOG_INPUTS];
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static uint8_t get_num_grp_channels(uint8_t index);
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static uint8_t get_pin_channel(uint8_t adc_index, uint8_t pin_index);
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static uint8_t get_analog_pin(uint8_t adc_index, uint8_t pin_index);
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static float get_pin_scaling(uint8_t adc_index, uint8_t pin_index);
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static uint8_t get_adc_index(ADCDriver* adcp);
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struct pin_info {
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uint8_t channel;
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uint8_t analog_pin;
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float scaling;
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};
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static const pin_info pin_config[];
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#ifdef HAL_ANALOG2_PINS
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static const pin_info pin_config_2[];
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#endif
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#if defined(HAL_ANALOG3_PINS) || HAL_WITH_MCU_MONITORING
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static const pin_info pin_config_3[];
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#endif
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static adcsample_t *samples[HAL_NUM_ANALOG_INPUTS];
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static uint32_t *sample_sum[HAL_NUM_ANALOG_INPUTS];
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static uint32_t sample_count[HAL_NUM_ANALOG_INPUTS];
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HAL_Semaphore _semaphore;
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#if HAL_WITH_MCU_MONITORING
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uint16_t _mcu_monitor_sample_count;
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uint32_t _mcu_monitor_temperature_accum;
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uint32_t _mcu_monitor_voltage_accum;
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uint16_t _mcu_vrefint_min;
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uint16_t _mcu_vrefint_max;
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float _mcu_temperature;
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float _mcu_voltage;
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float _mcu_voltage_min;
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float _mcu_voltage_max;
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#endif
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};
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#endif // HAL_USE_ADC
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