mirror of https://github.com/ArduPilot/ardupilot
88 lines
2.3 KiB
C++
88 lines
2.3 KiB
C++
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#include "AP_ADC_HIL.h"
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#include <AP_HAL.h>
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extern const AP_HAL::HAL& hal;
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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* AP_ADC_HIL.cpp
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* Author: James Goppert
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*
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*/
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const uint8_t AP_ADC_HIL::sensors[6] = {1,2,0,4,5,6};
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const int8_t AP_ADC_HIL::sensorSign[6] = { 1, -1, -1,-1, 1, 1};
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const float AP_ADC_HIL::gyroBias[3] = {1665,1665,1665};
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const float AP_ADC_HIL::accelBias[3] = {2025,2025,2025};
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// gyroScale = 1/[GyroGain*pi/180] GyroGains (0.4,0.41,0.41)
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const float AP_ADC_HIL::gyroScale[3] = {143.239, 139.746, 139.746};
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const float AP_ADC_HIL::accelScale[3] = {418,418,418}; // adcPerG
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uint16_t AP_ADC_HIL::_count; // number of samples captured
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AP_ADC_HIL::AP_ADC_HIL()
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{
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// gyros set to zero for calibration
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setGyro(0,0);
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setGyro(1,0);
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setGyro(2,0);
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// accels set to zero for calibration
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setAccel(0,0);
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setAccel(1,0);
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setAccel(2,0);
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// set diff press and temp to zero
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setGyroTemp(0);
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setPressure(0);
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}
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void AP_ADC_HIL::Init()
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{
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hal.scheduler->register_timer_process( AP_ADC_HIL::read );
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}
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// Read one channel value
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float AP_ADC_HIL::Ch(unsigned char ch_num)
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{
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return adcValue[ch_num];
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}
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// Read 6 channel values
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uint32_t AP_ADC_HIL::Ch6(const uint8_t *channel_numbers, float *result)
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{
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_count = 0;
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for (uint8_t i=0; i<6; i++) {
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result[i] = Ch(channel_numbers[i]);
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}
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uint32_t now = hal.scheduler->micros();
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uint32_t ret = now - _last_ch6_time;
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_last_ch6_time = now;
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return ret;
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}
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// see if new data is available
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bool AP_ADC_HIL::new_data_available(const uint8_t *channel_numbers)
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{
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return true;
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}
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// Get minimum number of samples read from the sensors
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uint16_t AP_ADC_HIL::num_samples_available(const uint8_t *channel_numbers)
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{
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return _count;
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}
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