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96 lines
2.4 KiB
96 lines
2.4 KiB
#ifndef AP_ADC_HIL_H |
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#define AP_ADC_HIL_H |
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/* |
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AP_ADC_HIL.h |
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Author: James Goppert |
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License: |
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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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#include <inttypes.h> |
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#include "AP_ADC.h" |
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/// |
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// A hardware in the loop model of the ADS7844 analog to digital converter |
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// @author James Goppert DIYDrones.com |
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class AP_ADC_HIL : public AP_ADC |
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{ |
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public: |
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/// |
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// Constructor |
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AP_ADC_HIL(); // Constructor |
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/// |
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// Initializes sensor, part of public AP_ADC interface |
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void Init(); |
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/// |
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// Read the sensor, part of public AP_ADC interface |
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uint16_t Ch(unsigned char ch_num); |
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/// |
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// Read 6 sensors at once |
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uint32_t Ch6(const uint8_t *channel_numbers, uint16_t *result); |
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/// |
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// Set the adc raw values given the current rotations rates, |
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// temps, accels, and pressures |
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void setHIL(int16_t p, int16_t q, int16_t r, int16_t gyroTemp, |
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int16_t aX, int16_t aY, int16_t aZ, int16_t diffPress); |
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private: |
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/// |
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// The raw adc array |
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uint16_t adcValue[8]; |
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// the time in milliseconds when we last got a HIL update |
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uint32_t last_hil_time; |
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/// |
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// sensor constants |
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// constants declared in cpp file |
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// @see AP_ADC_HIL.cpp |
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static const uint8_t sensors[6]; |
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static const float gyroBias[3]; |
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static const float gyroScale[3]; |
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static const float accelBias[3]; |
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static const float accelScale[3]; |
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static const int8_t sensorSign[6]; |
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/// |
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// gyro set function |
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// @param val the value of the gyro in milli rad/s |
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// @param index the axis for the gyro(0-x,1-y,2-z) |
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inline void setGyro(uint8_t index, int16_t val) { |
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int16_t temp = val * gyroScale[index] / 1000 + gyroBias[index]; |
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adcValue[sensors[index]] = (sensorSign[index] < 0) ? -temp : temp; |
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} |
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/// |
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// accel set function |
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// @param val the value of the accel in milli g's |
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// @param index the axis for the accelerometer(0-x,1-y,2-z) |
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inline void setAccel(uint8_t index, int16_t val) { |
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int16_t temp = val * accelScale[index] / 1000 + accelBias[index]; |
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adcValue[sensors[index+3]] = (sensors[index+3] < 0) ? -temp : temp; |
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} |
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/// |
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// Sets the differential pressure adc channel |
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// TODO: implement |
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void setPressure(int16_t val) {} |
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/// |
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// Sets the gyro temp adc channel |
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// TODO: implement |
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void setGyroTemp(int16_t val) {} |
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}; |
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#endif
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