mirror of https://github.com/ArduPilot/ardupilot
60 lines
1.7 KiB
C++
60 lines
1.7 KiB
C++
#pragma once
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#include "AP_HAL_Linux.h"
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#include <fcntl.h>
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#include <unistd.h>
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#define IIO_ANALOG_IN_COUNT 8
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#define IIO_ANALOG_IN_DIR "/sys/bus/iio/devices/iio:device0/"
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF
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// Note that echo BB-ADC cape should be loaded
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#define IIO_VOLTAGE_SCALING 0.00142602816
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
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#define IIO_VOLTAGE_SCALING 3.0*1.8/4095.0
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
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#define IIO_VOLTAGE_SCALING 1.8/4095.0
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET
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#define IIO_VOLTAGE_SCALING 3.0*1.8/4095.0
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#else
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#define IIO_VOLTAGE_SCALING 1.0
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#endif
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class AnalogSource_IIO : public AP_HAL::AnalogSource {
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public:
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friend class AnalogIn_IIO;
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AnalogSource_IIO(int16_t pin, float initial_value, float voltage_scaling);
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float read_average() override;
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float read_latest() override;
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bool set_pin(uint8_t p) override;
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float voltage_average() override;
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float voltage_latest() override;
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float voltage_average_ratiometric() override { return voltage_average(); }
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private:
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float _value;
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float _latest;
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float _sum_value;
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float _voltage_scaling;
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uint8_t _sum_count;
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int16_t _pin;
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int _pin_fd;
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int fd_analog_sources[IIO_ANALOG_IN_COUNT];
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HAL_Semaphore _semaphore;
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void init_pins(void);
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void select_pin(void);
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static const char *analog_sources[];
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};
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class AnalogIn_IIO : public AP_HAL::AnalogIn {
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public:
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AnalogIn_IIO();
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void init() override;
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AP_HAL::AnalogSource* channel(int16_t n) override;
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// we don't yet know how to get the board voltage
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float board_voltage(void) override { return 5.0f; }
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};
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