AP_LeakDetector: add manual leak-pin selection

ArduPilot · Nov 12, 2022 · b876dff · b876dff
1 parent 38a9269
commit b876dff
Show file tree

Hide file tree

Showing 2 changed files with 50 additions and 16 deletions.
diff --git a/libraries/AP_LeakDetector/AP_LeakDetector.cpp b/libraries/AP_LeakDetector/AP_LeakDetector.cpp
@@ -19,6 +19,14 @@ const AP_Param::GroupInfo AP_LeakDetector::var_info[] = {
     // @User: Standard
     AP_GROUPINFO("1_LOGIC", 2, AP_LeakDetector, _default_reading[0], 0),
 
+    // @Param: 1_TYPE
+    // @DisplayName: Leak detector pin type (analog/digital)
+    // @Description: Enables leak detector 1. Use this parameter to indicate the signal type (0:analog, 1:digital) of an appropriately configured input pin, then specify its pin number using the LEAK1_PIN parameter. NOT FOR USE by default with Pixhawk, Pixhawk 4 or Navigator flight controllers.
+    // @Values: -1:Disabled,0:Analog,1:Digital
+    // @User: Advanced
+    // @RebootRequired: True
+    AP_GROUPINFO("1_TYPE", 7, AP_LeakDetector, _type[0], DISABLED), 
+
 #if LEAKDETECTOR_MAX_INSTANCES > 1
     // @Param: 2_PIN
     // @DisplayName: Pin that leak detector is connected to
@@ -34,6 +42,14 @@ const AP_Param::GroupInfo AP_LeakDetector::var_info[] = {
     // @Values: 0:Low,1:High
     // @User: Standard
     AP_GROUPINFO("2_LOGIC", 4, AP_LeakDetector, _default_reading[1], 0),
+
+    // @Param: 2_TYPE
+    // @DisplayName: Leak detector pin type (analog/digital)
+    // @Description: Enables leak detector 2. Use this parameter to indicate the signal type (0:analog, 1:digital) of an appropriately configured input pin, then specify its pin number using the LEAK2_PIN parameter. NOT FOR USE by default with Pixhawk, Pixhawk 4 or Navigator flight controllers.
+    // @Values: -1:Disabled,0:Analog,1:Digital
+    // @User: Advanced
+    // @RebootRequired: True
+    AP_GROUPINFO("2_TYPE", 8, AP_LeakDetector, _type[1], DISABLED),
 #endif
 
 #if LEAKDETECTOR_MAX_INSTANCES > 2
@@ -51,6 +67,14 @@ const AP_Param::GroupInfo AP_LeakDetector::var_info[] = {
     // @Values: 0:Low,1:High
     // @User: Standard
     AP_GROUPINFO("3_LOGIC", 6, AP_LeakDetector, _default_reading[2], 0),
+
+    // @Param: 3_TYPE
+    // @DisplayName: Leak detector pin type (analog/digital)
+    // @Description: Enables leak detector 3. Use this parameter to indicate the signal type (0:analog, 1:digital) of an appropriately configured input pin, then specify its pin number using the LEAK3_PIN parameter. NOT FOR USE by default with Pixhawk, Pixhawk 4 or Navigator flight controllers.
+    // @Values: -1:Disabled,0:Analog,1:Digital
+    // @User: Advanced
+    // @RebootRequired: True
+    AP_GROUPINFO("3_TYPE", 9, AP_LeakDetector, _type[2], DISABLED),
 #endif
 
     AP_GROUPEND
@@ -72,23 +96,28 @@ void AP_LeakDetector::init()
         switch (_pin[i]) {
 #if (CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_FMUV3 || \
      CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_FMUV5)
-        case 50 ... 55:
-            _state[i].instance = i;
-            _drivers[i] = new AP_LeakDetector_Digital(*this, _state[i]);
-            break;
-        case 13 ... 15:
-            _state[i].instance = i;
-            _drivers[i] = new AP_LeakDetector_Analog(*this, _state[i]);
-            break;
+            case 13 ... 15:
+                _type[i].set_default(ANALOG);
+                break;
+            case 50 ... 55:
+                _type[i].set_default(DIGITAL);
+                break;
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR
-        case 27:
-            _state[i].instance = i;
-            _drivers[i] = new AP_LeakDetector_Digital(*this, _state[i]);
-            break;
+            case 27:
+                _type[i].set_default(DIGITAL);
+                break;
 #endif
-        default:
-            _drivers[i] = NULL;
-            break;
+        }
+
+        switch(_type[i]) {
+            case ANALOG:
+                _state[i].instance = i;
+                _drivers[i] = new AP_LeakDetector_Analog(*this, _state[i]);
+                break;
+            case DIGITAL:
+                _state[i].instance = i;
+                _drivers[i] = new AP_LeakDetector_Digital(*this, _state[i]);
+                break;
         }
     }
 }

diff --git a/libraries/AP_LeakDetector/AP_LeakDetector.h b/libraries/AP_LeakDetector/AP_LeakDetector.h
@@ -45,7 +45,12 @@ class AP_LeakDetector {
     bool _status; // Current status, true if leak detected, false if all sensors dry
     uint32_t _last_detect_ms;
 
-    AP_Int8 _type[LEAKDETECTOR_MAX_INSTANCES]; // Analog, Digital, Mavlink
+    enum _signal_types {
+        DISABLED=-1,
+        ANALOG=0,
+        DIGITAL=1
+    };
+    AP_Int8 _type[LEAKDETECTOR_MAX_INSTANCES]; // Signal type configured at the input pin (analog, digital, disabled)
     AP_Int8 _pin[LEAKDETECTOR_MAX_INSTANCES]; // Pin that detector is connected to
     AP_Int8 _default_reading[LEAKDETECTOR_MAX_INSTANCES]; // Default reading when leak detector is dry
 };