mirror of https://github.com/ArduPilot/ardupilot
117 lines
3.9 KiB
C++
117 lines
3.9 KiB
C++
#include "AP_LeakDetector.h"
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#include "AP_LeakDetector_Analog.h"
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#include "AP_LeakDetector_Digital.h"
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const AP_Param::GroupInfo AP_LeakDetector::var_info[] = {
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// @Param: 1_PIN
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// @DisplayName: Pin that leak detector is connected to
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// @Description: Pin that the leak detector is connected to
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// @Values: -1:Disabled,50:Pixhawk Aux1,51:Pixhawk Aux2,52:Pixhawk Aux3,53:Pixhawk Aux4,54:Pixhawk Aux5,55:Pixhawk Aux6,13:Pixhawk 3.3ADC1,14:Pixhawk 3.3ADC2,15:Pixhawk 6.6ADC,27:Navigator Built-In
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// @User: Standard
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// @RebootRequired: True
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AP_GROUPINFO("1_PIN", 1, AP_LeakDetector, _pin[0], -1),
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// @Param: 1_LOGIC
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// @DisplayName: Default reading of leak detector when dry
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// @Description: Default reading of leak detector when dry
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// @Values: 0:Low,1:High
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// @User: Standard
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AP_GROUPINFO("1_LOGIC", 2, AP_LeakDetector, _default_reading[0], 0),
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#if LEAKDETECTOR_MAX_INSTANCES > 1
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// @Param: 2_PIN
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// @DisplayName: Pin that leak detector is connected to
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// @Description: Pin that the leak detector is connected to
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// @Values: -1:Disabled,50:Pixhawk Aux1,51:Pixhawk Aux2,52:Pixhawk Aux3,53:Pixhawk Aux4,54:Pixhawk Aux5,55:Pixhawk Aux6,13:Pixhawk 3.3ADC1,14:Pixhawk 3.3ADC2,15:Pixhawk 6.6ADC,11:Navigator Leak1
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// @User: Standard
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// @RebootRequired: True
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AP_GROUPINFO("2_PIN", 3, AP_LeakDetector, _pin[1], -1),
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// @Param: 2_LOGIC
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// @DisplayName: Default reading of leak detector when dry
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// @Description: Default reading of leak detector when dry
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// @Values: 0:Low,1:High
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// @User: Standard
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AP_GROUPINFO("2_LOGIC", 4, AP_LeakDetector, _default_reading[1], 0),
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#endif
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#if LEAKDETECTOR_MAX_INSTANCES > 2
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// @Param: 3_PIN
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// @DisplayName: Pin that leak detector is connected to
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// @Description: Pin that the leak detector is connected to
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// @Values: -1:Disabled,50:Pixhawk Aux1,51:Pixhawk Aux2,52:Pixhawk Aux3,53:Pixhawk Aux4,54:Pixhawk Aux5,55:Pixhawk Aux6,13:Pixhawk 3.3ADC1,14:Pixhawk 3.3ADC2,15:Pixhawk 6.6ADC,11:Navigator Leak1
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// @User: Standard
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// @RebootRequired: True
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AP_GROUPINFO("3_PIN", 5, AP_LeakDetector, _pin[2], -1),
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// @Param: 3_LOGIC
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// @DisplayName: Default reading of leak detector when dry
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// @Description: Default reading of leak detector when dry
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// @Values: 0:Low,1:High
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// @User: Standard
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AP_GROUPINFO("3_LOGIC", 6, AP_LeakDetector, _default_reading[2], 0),
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#endif
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AP_GROUPEND
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};
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AP_LeakDetector::AP_LeakDetector() :
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_status(false),
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_last_detect_ms(0)
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{
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AP_Param::setup_object_defaults(this, var_info);
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memset(_state,0,sizeof(_state));
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memset(_drivers,0,sizeof(_drivers));
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};
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void AP_LeakDetector::init()
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{
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for (int i = 0; i < LEAKDETECTOR_MAX_INSTANCES; i++) {
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switch (_pin[i]) {
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_FMUV3
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case 50 ... 55:
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_state[i].instance = i;
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_drivers[i] = new AP_LeakDetector_Digital(*this, _state[i]);
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break;
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case 13 ... 15:
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_state[i].instance = i;
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_drivers[i] = new AP_LeakDetector_Analog(*this, _state[i]);
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break;
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR
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case 27:
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_state[i].instance = i;
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_drivers[i] = new AP_LeakDetector_Digital(*this, _state[i]);
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break;
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#endif
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default:
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_drivers[i] = NULL;
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break;
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}
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}
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}
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bool AP_LeakDetector::update()
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{
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uint32_t tnow = AP_HAL::millis();
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for (int i = 0; i < LEAKDETECTOR_MAX_INSTANCES; i++) {
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if (_drivers[i] != NULL) {
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_drivers[i]->read();
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if (_state[i].status) {
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_last_detect_ms = tnow;
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}
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}
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}
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_status = tnow < _last_detect_ms + LEAKDETECTOR_COOLDOWN_MS;
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return _status;
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}
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void AP_LeakDetector::set_detect()
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{
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_last_detect_ms = AP_HAL::millis();
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}
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