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94 lines
2.8 KiB
94 lines
2.8 KiB
/* |
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* This file is free software: you can redistribute it and/or modify it |
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* under the terms of the GNU General Public License as published by the |
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* Free Software Foundation, either version 3 of the License, or |
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* (at your option) any later version. |
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* |
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* This file is distributed in the hope that it will be useful, but |
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* WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. |
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* See the GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License along |
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* with this program. If not, see <http://www.gnu.org/licenses/>. |
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* |
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* Code by Andrew Tridgell and Siddharth Bharat Purohit |
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*/ |
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#pragma once |
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#include "AP_HAL_ChibiOS.h" |
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#define ANALOG_MAX_CHANNELS 16 |
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// number of samples on each channel to gather on each DMA callback |
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#define ADC_DMA_BUF_DEPTH 8 |
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#if HAL_USE_ADC == TRUE && !defined(HAL_DISABLE_ADC_DRIVER) |
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class ChibiOS::AnalogSource : public AP_HAL::AnalogSource { |
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public: |
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friend class ChibiOS::AnalogIn; |
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AnalogSource(int16_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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// what value it has |
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int16_t _pin; |
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float _value; |
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float _value_ratiometric; |
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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 _sum_ratiometric; |
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void _add_value(float v, float vcc5V); |
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float _pin_scaler(); |
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HAL_Semaphore _semaphore; |
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}; |
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class ChibiOS::AnalogIn : public AP_HAL::AnalogIn { |
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public: |
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friend class AnalogSource; |
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void init() override; |
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AP_HAL::AnalogSource* channel(int16_t pin) override; |
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void _timer_tick(void); |
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float board_voltage(void) override { return _board_voltage; } |
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float servorail_voltage(void) override { return _servorail_voltage; } |
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uint16_t power_status_flags(void) override { return _power_flags; } |
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uint16_t accumulated_power_status_flags(void) const override { return _accumulated_power_flags; } |
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static void adccallback(ADCDriver *adcp); |
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private: |
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void read_adc(uint32_t *val); |
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void update_power_flags(void); |
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ChibiOS::AnalogSource* _channels[ANALOG_MAX_CHANNELS]; |
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uint32_t _last_run; |
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float _board_voltage; |
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float _servorail_voltage; |
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float _rssi_voltage; |
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uint16_t _power_flags; |
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uint16_t _accumulated_power_flags; // bitmask of all _power_flags ever set |
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ADCConversionGroup adcgrpcfg; |
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struct pin_info { |
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uint8_t channel; |
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float scaling; |
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}; |
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static const pin_info pin_config[]; |
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static adcsample_t *samples; |
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static uint32_t sample_sum[]; |
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static uint32_t sample_count; |
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HAL_Semaphore _semaphore; |
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}; |
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#endif // HAL_USE_ADC
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