mirror of https://github.com/ArduPilot/ardupilot
84 lines
2.5 KiB
C++
84 lines
2.5 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#pragma once
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#include "AP_HAL_VRBRAIN.h"
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#include <pthread.h>
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#include <uORB/uORB.h>
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#define VRBRAIN_ANALOG_MAX_CHANNELS 16
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#if defined(CONFIG_ARCH_BOARD_VRBRAIN_V45) || defined(CONFIG_ARCH_BOARD_VRBRAIN_V51) || defined(CONFIG_ARCH_BOARD_VRBRAIN_V52) || defined(CONFIG_ARCH_BOARD_VRCORE_V10) || defined(CONFIG_ARCH_BOARD_VRBRAIN_V54)
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#define VRBRAIN_ANALOG_ORB_BATTERY_VOLTAGE_PIN 10
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#define VRBRAIN_ANALOG_ORB_BATTERY_CURRENT_PIN 11
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#elif defined(CONFIG_ARCH_BOARD_VRUBRAIN_V51)
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#define VRBRAIN_ANALOG_ORB_BATTERY_VOLTAGE_PIN 10
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#define VRBRAIN_ANALOG_ORB_BATTERY_CURRENT_PIN -1
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#elif defined(CONFIG_ARCH_BOARD_VRUBRAIN_V52)
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#define VRBRAIN_ANALOG_ORB_BATTERY_VOLTAGE_PIN 10
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#define VRBRAIN_ANALOG_ORB_BATTERY_CURRENT_PIN 1
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#endif
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class VRBRAIN::VRBRAINAnalogSource : public AP_HAL::AnalogSource {
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public:
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friend class VRBRAIN::VRBRAINAnalogIn;
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VRBRAINAnalogSource(int16_t pin, float initial_value);
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float read_average();
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float read_latest();
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void set_pin(uint8_t p);
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float voltage_average();
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float voltage_latest();
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float voltage_average_ratiometric();
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// implement stop pins
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void set_stop_pin(uint8_t p);
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void set_settle_time(uint16_t settle_time_ms) { _settle_time_ms = settle_time_ms; }
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private:
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// what pin it is attached to
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int16_t _pin;
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int16_t _stop_pin;
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uint16_t _settle_time_ms;
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// what value it has
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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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};
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class VRBRAIN::VRBRAINAnalogIn : public AP_HAL::AnalogIn {
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public:
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VRBRAINAnalogIn();
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void init();
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AP_HAL::AnalogSource* channel(int16_t pin);
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void _timer_tick(void);
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float board_voltage(void) { return _board_voltage; }
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float servorail_voltage(void) { return _servorail_voltage; }
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uint16_t power_status_flags(void) { return _power_flags; }
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private:
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int _adc_fd;
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int _battery_handle;
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int _servorail_handle;
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int _system_power_handle;
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uint64_t _battery_timestamp;
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uint64_t _servorail_timestamp;
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VRBRAIN::VRBRAINAnalogSource* _channels[VRBRAIN_ANALOG_MAX_CHANNELS];
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// what pin is currently held low to stop a sonar from reading
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uint8_t _current_stop_pin_i;
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uint32_t _stop_pin_change_time;
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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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uint16_t _power_flags;
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void next_stop_pin(void);
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};
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