60 lines
1.7 KiB
C++
60 lines
1.7 KiB
C++
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#include <cstdio>
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#include "pico/stdlib.h"
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#include "servo2040.hpp"
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#include "analogmux.hpp"
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#include "analog.hpp"
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#include "button.hpp"
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/*
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Shows how to initialise and read the 6 external
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and 2 internal sensors of Servo 2040.
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Press "Boot" to exit the program.
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*/
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using namespace servo;
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// Set up the shared analog inputs
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Analog sen_adc = Analog(servo2040::SHARED_ADC);
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Analog vol_adc = Analog(servo2040::SHARED_ADC, servo2040::VOLTAGE_GAIN);
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Analog cur_adc = Analog(servo2040::SHARED_ADC, servo2040::CURRENT_GAIN,
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servo2040::SHUNT_RESISTOR, servo2040::CURRENT_OFFSET);
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// Set up the analog multiplexer, including the pin for controlling pull-up/pull-down
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AnalogMux mux = AnalogMux(servo2040::ADC_ADDR_0, servo2040::ADC_ADDR_1, servo2040::ADC_ADDR_2,
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PIN_UNUSED, servo2040::SHARED_ADC);
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// Create the user button
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Button user_sw(servo2040::USER_SW);
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int main() {
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stdio_init_all();
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// Set up the sensor addresses with pull downs
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for(auto i = 0u; i < servo2040::NUM_SENSORS; i++) {
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mux.configure_pulls(servo2040::SENSOR_1_ADDR + i, false, true);
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}
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// Read sensors until the user button is pressed
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while(!user_sw.raw()) {
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// Read each sensor in turn and print its voltage
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for(auto i = 0u; i < servo2040::NUM_SENSORS; i++) {
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mux.select(servo2040::SENSOR_1_ADDR + i);
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printf("S%d = %f, ", i + 1, sen_adc.read_voltage());
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}
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// Read the voltage sense and print the value
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mux.select(servo2040::VOLTAGE_SENSE_ADDR);
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printf("Voltage = %f, ", vol_adc.read_voltage());
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// Read the current sense and print the value
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mux.select(servo2040::CURRENT_SENSE_ADDR);
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printf("Current = %f\n", cur_adc.read_current());
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sleep_ms(500);
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}
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}
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