sub20_ADC.h

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/*
 * Copyright (c) 2011, Robert Bosch LLC
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of Robert Bosch LLC nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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//\Author Nikhil Deshpande, Robert Bosch LLC

#ifndef SUB20_ADC_H_
#define SUB20_ADC_H_

#include "adc_sub20/sub20_ADC_meas.h"
#include "adc_sub20/sub20_ADC_err.h"
#include <list>
#include <libsub.h> // sub20 device
#include <map>


//Define Sub20 ADC specifics
namespace sub20_ADC_cmd {
        //-----------------------------------
        const unsigned short uSERIALNUMLENGTH   = 20;
        //-----------------------------------
        const double            dDEFAULT_VOLTREF                                = 3.3;
        const double            dDEFAULT_RATE_Hz                                = 10;
        const std::string       sDEFAULT_ADC_MUXCONFIG                          = "ADC_S0|";
        //-----------------------------------
        const unsigned short iMAXNUM_OF_CHANNELS = 16;          //Defined by the XDimax Unit's possible ADC Configurations
        //-----------------------------------
        std::map<std::string, int> adcMuxMap;

}

#define VCC_5V          5.0
#define VCC_3V3         3.3

//Define measurement output
struct OneSub20_ADC_Meas {
  bool          bMeasAvailable; //indicates true if a valid measurement is available
  unsigned int  uiADCRaw[sub20_ADC_cmd::iMAXNUM_OF_CHANNELS];
  double        fADCVolt[sub20_ADC_cmd::iMAXNUM_OF_CHANNELS];
  ros::Time     dtomeas; //time tag measurement immediately in case of other delays
  std::string   strSerial;
};

class Sub20_ADC {
public:

        Sub20_ADC(std::string, double, double);


        ~Sub20_ADC();


        void GetMeasurements( std::list<OneSub20_ADC_Meas>&, double, int *);

private:
        // structure for Sub20 ADC configuration
        struct Sub20_ADC_Config {
                int         sub20_ADC_TYPE[sub20_ADC_cmd::iMAXNUM_OF_CHANNELS]; // Type of Channel - 0=Single, 1=Differential, 2=1.1V/GND
                int         sub20_ADC_MUX[sub20_ADC_cmd::iMAXNUM_OF_CHANNELS];  // Mux Codes for ADC Channels
                int         Num_Chans;                  // Number of ADC Channels used
        };
        // structure for one Sub20 device configuration
        struct OneSub20Config {
                std::string             strSub20Serial;
                sub_handle              handle_subdev;
                sub_device              subdev;
                bool                    bSubDevConfigured;
                Sub20_ADC_Config        sub20_ADC_Config;
        };
        std::list<OneSub20Config>       Sub20Device_list;



        // internal Sub20 device data
        sub_handle        subhndl;                                              //handle for subdevice
        bool              bSubDeviceOpen;                       //initialization flag
        bool              bSubDeviceConfigured;         //verify if subdevice is configured
        std::string       strSerial;                            //Serial number of SUB20 device

        void            get_ADC_MuxCode(std::string, int *, int *, int *);
        double          adc_To_Volts(int, char, int, double);
        void            initADC_MUX_MAP();
};

#endif /* SUB20_ADC_H_ */