mirror of https://github.com/ArduPilot/ardupilot
105 lines
3.3 KiB
C++
105 lines
3.3 KiB
C++
/*
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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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Flymaple port by Mike McCauley
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*/
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#ifndef __AP_HAL_FLYMAPLE_ANALOGIN_H__
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#define __AP_HAL_FLYMAPLE_ANALOGIN_H__
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#include "AP_HAL_FLYMAPLE.h"
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#define FLYMAPLE_INPUT_MAX_CHANNELS 12
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// This is the pin number of the pin connected to VCC
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// this is not built in to the flymaple board, so you must connect
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// this pin to the board 3.3V VCC
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#define FLYMAPLE_VCC_ANALOG_IN_PIN 15
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class AP_HAL_FLYMAPLE_NS::FLYMAPLEAnalogSource : public AP_HAL::AnalogSource {
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public:
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friend class AP_HAL_FLYMAPLE_NS::FLYMAPLEAnalogIn;
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FLYMAPLEAnalogSource(uint8_t pin);
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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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void set_stop_pin(uint8_t p);
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void set_settle_time(uint16_t settle_time_ms);
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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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/* 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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class AP_HAL_FLYMAPLE_NS::FLYMAPLEAnalogIn : public AP_HAL::AnalogIn {
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public:
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FLYMAPLEAnalogIn();
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void init();
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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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FLYMAPLEAnalogSource* _create_channel(int16_t num);
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void _register_channel(FLYMAPLEAnalogSource*);
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void _timer_event(void);
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FLYMAPLEAnalogSource* _channels[FLYMAPLE_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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// On Flymaple, VCC measurement is at pin 20. VCC (=VIN) of 5V is only present
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// if external voltage (not USB) is connected. Also there is a voltage
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// divider (25k/5k)
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FLYMAPLEAnalogSource _vcc;
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};
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#endif // __AP_HAL_FLYMAPLE_ANALOGIN_H__
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