mirror of https://github.com/ArduPilot/ardupilot
98 lines
2.8 KiB
C++
98 lines
2.8 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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#define ANALOG_MAX_CHANNELS 16
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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
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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, 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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void set_stop_pin(uint8_t p) {}
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void set_settle_time(uint16_t settle_time_ms) {}
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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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AP_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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AnalogIn();
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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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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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static void adccallback(ADCDriver *adcp, adcsample_t *buffer, size_t n);
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private:
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void read_adc(uint32_t *val);
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void update_power_flags(void);
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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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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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uint16_t _power_flags;
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ADCConversionGroup adcgrpcfg;
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struct pin_info {
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uint8_t channel;
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float scaling;
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};
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static const pin_info pin_config[];
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static adcsample_t *samples;
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static uint32_t sample_sum[];
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static uint32_t sample_count;
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};
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#endif // HAL_USE_ADC
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