mirror of https://github.com/ArduPilot/ardupilot
115 lines
3.2 KiB
C++
115 lines
3.2 KiB
C++
#ifndef AP_ADC_HIL_H
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#define AP_ADC_HIL_H
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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.h
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* Author: James Goppert
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*
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*/
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#include <inttypes.h>
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#include "AP_ADC.h"
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///
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// A hardware in the loop model of the ADS7844 analog to digital converter
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// @author James Goppert DIYDrones.com
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class AP_ADC_HIL : public AP_ADC
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{
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public:
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///
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// Constructor
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AP_ADC_HIL(); // Constructor
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///
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// Initializes sensor, part of public AP_ADC interface
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void Init();
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///
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// Read the sensor, part of public AP_ADC interface
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float Ch(unsigned char ch_num);
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///
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// Read 6 sensors at once
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uint32_t Ch6(const uint8_t *channel_numbers, float *result);
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// see if Ch6 would block
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bool new_data_available(const uint8_t *channel_numbers);
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// Get minimum number of samples read from the sensors
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uint16_t num_samples_available(const uint8_t *channel_numbers);
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private:
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///
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// The raw adc array
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uint16_t adcValue[8];
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// the time in microseconds when Ch6 was last requested
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uint32_t _last_ch6_time;
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///
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// sensor constants
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// constants declared in cpp file
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// @see AP_ADC_HIL.cpp
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static const uint8_t sensors[6];
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static const float gyroBias[3];
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static const float gyroScale[3];
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static const float accelBias[3];
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static const float accelScale[3];
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static const int8_t sensorSign[6];
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///
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// gyro set function
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// @param val the value of the gyro in milli rad/s
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// @param index the axis for the gyro(0-x,1-y,2-z)
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inline void setGyro(uint8_t index, int16_t val) {
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int16_t temp = val * gyroScale[index] / 1000 + gyroBias[index];
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adcValue[sensors[index]] = (sensorSign[index] < 0) ? -temp : temp;
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}
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///
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// accel set function
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// @param val the value of the accel in milli g's
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// @param index the axis for the accelerometer(0-x,1-y,2-z)
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inline void setAccel(uint8_t index, int16_t val) {
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int16_t temp = val * accelScale[index] / 1000 + accelBias[index];
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adcValue[sensors[index+3]] = (sensorSign[index+3] < 0) ? -temp : temp;
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}
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///
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// Sets the differential pressure adc channel
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// TODO: implement
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void setPressure(int16_t val) {
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}
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///
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// Sets the gyro temp adc channel
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// TODO: implement
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void setGyroTemp(int16_t val) {
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}
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// read function that pretends to capture new data
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void read(void) {
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_count++;
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}
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uint16_t _count; // number of samples captured
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};
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#endif
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