mirror of https://github.com/ArduPilot/ardupilot
45 lines
876 B
C++
45 lines
876 B
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
#pragma once
|
|
|
|
#include <inttypes.h>
|
|
#include <AP_HAL/AP_HAL.h>
|
|
#include <AP_HAL/I2CDevice.h>
|
|
|
|
#include "AP_ADC.h"
|
|
|
|
struct adc_report_s
|
|
{
|
|
uint8_t id;
|
|
float data;
|
|
};
|
|
|
|
class AP_ADC_ADS1115
|
|
{
|
|
public:
|
|
AP_ADC_ADS1115();
|
|
~AP_ADC_ADS1115();
|
|
|
|
bool init();
|
|
size_t read(adc_report_s *report, size_t length) const;
|
|
|
|
uint8_t get_channels_number() const
|
|
{
|
|
return _channels_number;
|
|
}
|
|
|
|
private:
|
|
static const uint8_t _channels_number;
|
|
|
|
AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev;
|
|
|
|
uint32_t _last_update_timestamp;
|
|
uint16_t _gain;
|
|
int _channel_to_read;
|
|
adc_report_s *_samples;
|
|
|
|
void _update();
|
|
bool _start_conversion(uint8_t channel);
|
|
|
|
float _convert_register_data_to_mv(int16_t word) const;
|
|
};
|