mirror of
https://github.com/wpilibsuite/allwpilib
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53 lines
1.9 KiB
C++
53 lines
1.9 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include "HAL/HAL.hpp"
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#include "Module.h"
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/**
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* Analog Module class.
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* Each module can independently sample its channels at a configurable rate.
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* There is a 64-bit hardware accumulator associated with channel 1 on each module.
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* The accumulator is attached to the output of the oversample and average engine so that the center
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* value can be specified in higher resolution resulting in less error.
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*/
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class AnalogModule : public Module
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{
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friend class Module;
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public:
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static const long kTimebase = 40000000; ///< 40 MHz clock
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static const long kDefaultOversampleBits = 0;
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static const long kDefaultAverageBits = 7;
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static const uint32_t kAnalogInputs = 8;
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static constexpr float kDefaultSampleRate = 50000.0;
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void SetSampleRate(float samplesPerSecond);
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float GetSampleRate();
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void SetAverageBits(uint32_t channel, uint32_t bits);
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uint32_t GetAverageBits(uint32_t channel);
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void SetOversampleBits(uint32_t channel, uint32_t bits);
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uint32_t GetOversampleBits(uint32_t channel);
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int16_t GetValue(uint32_t channel);
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int32_t GetAverageValue(uint32_t channel);
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float GetAverageVoltage(uint32_t channel);
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float GetVoltage(uint32_t channel);
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uint32_t GetLSBWeight(uint32_t channel);
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int32_t GetOffset(uint32_t channel);
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int32_t VoltsToValue(int32_t channel, float voltage);
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static AnalogModule* GetInstance(uint8_t moduleNumber);
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protected:
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explicit AnalogModule(uint8_t moduleNumber);
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virtual ~AnalogModule();
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private:
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uint8_t m_moduleNumber;
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void* m_ports[kAnalogInputs];
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};
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