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40 lines
1.1 KiB
40 lines
1.1 KiB
#pragma once |
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#include "AP_HAL_Linux.h" |
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#include <fcntl.h> |
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#define NAVIO_ADC_MAX_CHANNELS 6 |
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class AnalogSource_Navio2: public AP_HAL::AnalogSource { |
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public: |
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friend class AnalogIn_Navio2; |
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AnalogSource_Navio2(uint8_t pin); |
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float read_average() override; |
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float read_latest() override; |
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void set_pin(uint8_t p) override; |
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float voltage_average() override; |
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float voltage_latest() override; |
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float voltage_average_ratiometric() override; |
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private: |
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void set_channel(uint8_t pin); |
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uint8_t _pin; |
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int _fd = -1; |
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float _value = 0.0f; |
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}; |
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class AnalogIn_Navio2: public AP_HAL::AnalogIn { |
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public: |
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AnalogIn_Navio2(); |
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void init() override; |
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AP_HAL::AnalogSource *channel(int16_t n) override; |
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float board_voltage(void) override; |
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float servorail_voltage(void) override; |
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private: |
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AnalogSource_Navio2 *_channels[NAVIO_ADC_MAX_CHANNELS]; |
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uint8_t _channels_number = NAVIO_ADC_MAX_CHANNELS; |
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AP_HAL::AnalogSource *_board_voltage_pin = nullptr; |
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AP_HAL::AnalogSource *_servorail_pin = nullptr; |
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HAL_Semaphore _semaphore; |
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};
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