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43 lines
1.1 KiB
43 lines
1.1 KiB
/// -*- 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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