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57 lines
1.6 KiB
57 lines
1.6 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#pragma once |
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#include "AP_HAL_Linux.h" |
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#include <AP_ADC/AP_ADC.h> |
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#include <fcntl.h> |
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#include <unistd.h> |
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#define IIO_ANALOG_IN_COUNT 8 |
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#define IIO_ANALOG_IN_DIR "/sys/bus/iio/devices/iio:device0/" |
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF |
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// Note that echo BB-ADC cape should be loaded |
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#define IIO_VOLTAGE_SCALING 0.00142602816 |
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI |
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#define IIO_VOLTAGE_SCALING 3.0*1.8/4095.0 |
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#else |
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#define IIO_VOLTAGE_SCALING 1.0 |
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#endif |
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class AnalogSource_IIO : public AP_HAL::AnalogSource { |
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public: |
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friend class AnalogIn_IIO; |
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AnalogSource_IIO(int16_t pin, float initial_value, float voltage_scaling); |
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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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void set_stop_pin(uint8_t p); |
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void set_settle_time(uint16_t settle_time_ms); |
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float voltage_average(); |
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float voltage_latest(); |
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float voltage_average_ratiometric() { return voltage_average(); } |
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private: |
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float _value; |
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float _latest; |
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float _sum_value; |
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float _voltage_scaling; |
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uint8_t _sum_count; |
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int16_t _pin; |
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int _pin_fd; |
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int fd_analog_sources[IIO_ANALOG_IN_COUNT]; |
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void init_pins(void); |
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void select_pin(void); |
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static const char *analog_sources[]; |
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}; |
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class AnalogIn_IIO : public AP_HAL::AnalogIn { |
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public: |
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AnalogIn_IIO(); |
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void init(); |
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AP_HAL::AnalogSource* channel(int16_t n); |
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// we don't yet know how to get the board voltage |
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float board_voltage(void) { return 5.0f; } |
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};
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