Line data    Source code

       1             : #pragma once
       2             : 
       3             : #include <inttypes.h>
       4             : 
       5             : #include "AP_HAL_Namespace.h"
       6             : #include "AP_HAL_Boards.h"
       7             : 
       8             : class AP_HAL::AnalogSource {
       9             : public:
      10             :     virtual float read_average() = 0;
      11             :     virtual float read_latest() = 0;
      12             :     virtual bool set_pin(uint8_t p) WARN_IF_UNUSED = 0;
      13             : 
      14             :     // return a voltage from 0.0 to 5.0V, scaled
      15             :     // against a reference voltage
      16             :     virtual float voltage_average() = 0;
      17             : 
      18             :     // return a voltage from 0.0 to 5.0V, scaled
      19             :     // against a reference voltage
      20             :     virtual float voltage_latest() = 0;
      21             : 
      22             :     // return a voltage from 0.0 to 5.0V, assuming a ratiometric
      23             :     // sensor
      24             :     virtual float voltage_average_ratiometric() = 0;
      25             : };
      26             : 
      27             : class AP_HAL::AnalogIn {
      28             : public:
      29             :     virtual void init() = 0;
      30             :     virtual AP_HAL::AnalogSource* channel(int16_t n) = 0;
      31             : 
      32           0 :     virtual bool valid_analog_pin(uint16_t pin) const { return false; }
      33             : 
      34             :     // board 5V rail voltage in volts
      35             :     virtual float board_voltage(void) = 0;
      36             : 
      37             :     // servo rail voltage in volts, or 0 if unknown
      38     1116845 :     virtual float servorail_voltage(void) { return 0; }
      39             : 
      40             :     // power supply status flags, see MAV_POWER_STATUS
      41     1116845 :     virtual uint16_t power_status_flags(void) { return 0; }
      42             : 
      43             :     // bitmask of all _power_flags bits ever set, so transient
      44             :     // failures can still be diagnosed
      45           0 :     virtual uint16_t accumulated_power_status_flags(void) const { return 0; }
      46             : 
      47             :     // this enum class is 1:1 with MAVLink's MAV_POWER_STATUS enumeration!
      48             :     enum class PowerStatusFlag : uint16_t {
      49             :         BRICK_VALID = 1,                  // main brick power supply valid
      50             :         SERVO_VALID = 2,                  // main servo power supply valid for FMU
      51             :         USB_CONNECTED = 4,                // USB power is connected
      52             :         PERIPH_OVERCURRENT = 8,           // peripheral supply is in over-current state
      53             :         PERIPH_HIPOWER_OVERCURRENT = 16,  // hi-power peripheral supply is in over-current state
      54             :         CHANGED = 32,                     // Power status has changed since boot
      55             :     };
      56             : 
      57             : #if HAL_WITH_MCU_MONITORING
      58             :     virtual float mcu_temperature(void) { return 0; }
      59             :     virtual float mcu_voltage(void) { return 0; }
      60             :     virtual float mcu_voltage_max(void) { return 0; }
      61             :     virtual float mcu_voltage_min(void) { return 0; }
      62             : #endif
      63             : };
      64             : 
      65             : #define ANALOG_INPUT_BOARD_VCC 254
      66             : #define ANALOG_INPUT_NONE 255