mirror of https://github.com/ArduPilot/ardupilot
87 lines
2.4 KiB
C++
87 lines
2.4 KiB
C++
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#ifndef __AP_HAL_AVR_ANALOG_IN_H__
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#define __AP_HAL_AVR_ANALOG_IN_H__
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#include <AP_HAL/AP_HAL.h>
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#include "AP_HAL_AVR_Namespace.h"
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#define AVR_INPUT_MAX_CHANNELS 12
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class AP_HAL_AVR::ADCSource : public AP_HAL::AnalogSource {
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public:
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friend class AP_HAL_AVR::AVRAnalogIn;
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/* pin designates the ADC input number, or when == AVR_ANALOG_PIN_VCC,
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* board vcc */
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ADCSource(uint8_t pin);
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/* implement AnalogSource virtual api: */
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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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/* implementation specific interface: */
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/* new_sample(): called with value of ADC measurments, from interrput */
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void new_sample(uint16_t);
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/* setup_read(): called to setup ADC registers for next measurment,
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* from interrupt */
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void setup_read();
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/* stop_read(): called to stop device measurement */
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void stop_read();
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/* reading_settled(): called to check if we have read for long enough */
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bool reading_settled();
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/* read_average: called to calculate and clear the internal average.
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* implements read_average(), unscaled. */
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float _read_average();
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int16_t get_pin() { return _pin; };
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private:
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/* following three are used from both an interrupt and normal thread */
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volatile uint8_t _sum_count;
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volatile uint16_t _sum;
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volatile uint16_t _latest;
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float _last_average;
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/* _pin designates the ADC input mux for the sample */
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uint8_t _pin;
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/* _stop_pin designates a digital pin to use for
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enabling/disabling the analog device */
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uint8_t _stop_pin;
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uint16_t _settle_time_ms;
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uint32_t _read_start_time_ms;
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};
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/* AVRAnalogIn : a concrete class providing the implementations of the
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* timer event and the AP_HAL::AnalogIn interface */
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class AP_HAL_AVR::AVRAnalogIn : public AP_HAL::AnalogIn {
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public:
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AVRAnalogIn();
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void init(void* ap_hal_scheduler);
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AP_HAL::AnalogSource* channel(int16_t n);
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float board_voltage(void);
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protected:
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ADCSource* _create_channel(int16_t num);
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void _register_channel(ADCSource*);
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void _timer_event(void);
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ADCSource* _channels[AVR_INPUT_MAX_CHANNELS];
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int16_t _num_channels;
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int16_t _active_channel;
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uint16_t _channel_repeat_count;
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private:
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ADCSource _vcc;
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};
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#endif // __AP_HAL_AVR_ANALOG_IN_H__
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