ardupilot/libraries/AP_HAL_SITL/AnalogIn.h

45 lines
1.2 KiB
C++

#pragma once
#include <AP_HAL/AP_HAL.h>
#include "AP_HAL_SITL_Namespace.h"
#define SITL_INPUT_MAX_CHANNELS 12
class HALSITL::ADCSource : public AP_HAL::AnalogSource {
public:
friend class HALSITL::AnalogIn;
/* pin designates the ADC input number */
ADCSource(SITL_State *sitlState, int16_t pin);
/* implement AnalogSource virtual api: */
float read_average();
float read_latest();
void set_pin(uint8_t p);
float voltage_average();
float voltage_latest();
float voltage_average_ratiometric() {
return voltage_average();
}
void set_stop_pin(uint8_t pin) {}
void set_settle_time(uint16_t settle_time_ms) {}
private:
SITL_State *_sitlState;
int16_t _pin;
};
/* AnalogIn : a concrete class providing the implementations of the
* timer event and the AP_HAL::AnalogIn interface */
class HALSITL::AnalogIn : public AP_HAL::AnalogIn {
public:
explicit AnalogIn(SITL_State *sitlState): _sitlState(sitlState) {}
void init();
AP_HAL::AnalogSource* channel(int16_t n);
float board_voltage(void) {
return 5.0f;
}
private:
static ADCSource* _channels[SITL_INPUT_MAX_CHANNELS];
SITL_State *_sitlState;
};