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54 lines
1.6 KiB
54 lines
1.6 KiB
#ifndef AP_ADC_H |
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#define AP_ADC_H |
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#include <stdint.h> |
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#include <stdlib.h> |
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/* |
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* AP_ADC.cpp - Analog Digital Converter Base Class for Ardupilot Mega |
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* Code by James Goppert. DIYDrones.com |
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* |
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* This library is free software; you can redistribute it and/or |
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* modify it under the terms of the GNU Lesser General Public |
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* License as published by the Free Software Foundation; either |
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* version 2.1 of the License, or (at your option) any later version. |
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* |
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* Methods: |
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* Init() : Initialization of ADC. (interrupts etc) |
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* Ch(ch_num) : Return the ADC channel value |
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* Ch6(channel_numbers, result) : Return 6 ADC channel values |
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*/ |
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class AP_ADC |
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{ |
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public: |
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AP_ADC() { |
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}; // Constructor |
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virtual void Init() = 0; |
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/* read one channel value */ |
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virtual float Ch(uint8_t ch_num) = 0; |
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/* read 6 channels values as a set, used by IMU for 3 gyros |
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* and 3 accelerometeres. |
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* |
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* Pass in an array of 6 channel numbers and results are |
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* returned in result[] |
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* |
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* The function returns the amount of time (in microseconds) |
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* since the last call to Ch6(). |
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*/ |
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virtual uint32_t Ch6(const uint8_t *channel_numbers, float *result) = 0; |
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// check if Ch6() can return new data |
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virtual bool new_data_available(const uint8_t *channel_numbers) = 0; |
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virtual uint16_t num_samples_available(const uint8_t *channel_numbers) = 0; |
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private: |
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}; |
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#include "AP_ADC_ADS7844.h" |
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#include "AP_ADC_HIL.h" |
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#endif
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