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44 lines
1.1 KiB
44 lines
1.1 KiB
12 years ago
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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef __AP_HAL_PX4_ANALOGIN_H__
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#define __AP_HAL_PX4_ANALOGIN_H__
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#include <AP_HAL_PX4.h>
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#include <pthread.h>
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#define PX4_ANALOG_MAX_CHANNELS 8
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class PX4::PX4AnalogSource : public AP_HAL::AnalogSource {
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public:
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friend class PX4::PX4AnalogIn;
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PX4AnalogSource(int16_t pin, float initial_value, float scale);
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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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private:
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// what pin it is attached to
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int16_t _pin;
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// what value it has
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float _value;
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float _latest_value;
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uint8_t _sum_count;
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float _sum_value;
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float _scale;
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};
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class PX4::PX4AnalogIn : public AP_HAL::AnalogIn {
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public:
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PX4AnalogIn();
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void init(void* implspecific);
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AP_HAL::AnalogSource* channel(int16_t pin);
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AP_HAL::AnalogSource* channel(int16_t pin, float scale);
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private:
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static int _adc_fd;
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static PX4::PX4AnalogSource* _channels[PX4_ANALOG_MAX_CHANNELS];
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static void _analogin_timer(uint32_t now);
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static uint32_t _last_run;
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};
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#endif // __AP_HAL_PX4_ANALOGIN_H__
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