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AP_ADC_ADS1115: use I2CDevice interface

This commit is contained in:
Luiz Ywata 2016-04-18 13:02:52 -03:00 committed by Lucas De Marchi
parent de5025a46f
commit 038389f583
2 changed files with 22 additions and 24 deletions
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40
libraries/AP_ADC/AP_ADC_ADS1115.cpp
View File

@ -1,4 +1,5 @@
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#include <AP_HAL/utility/sparse-endian.h>
#include "AP_ADC_ADS1115.h" #include "AP_ADC_ADS1115.h"
@ -106,7 +107,7 @@ static const uint16_t mux_table[ADS1115_CHANNELS_COUNT] = {
AP_ADC_ADS1115::AP_ADC_ADS1115(): AP_ADC_ADS1115::AP_ADC_ADS1115():
_i2c_sem(NULL), _dev(hal.i2c_mgr->get_device(0, ADS1115_DEFAULT_ADDRESS)),
_channel_to_read(0) _channel_to_read(0)
{ {
_samples = new adc_report_s[_channels_number]; _samples = new adc_report_s[_channels_number];
@ -117,7 +118,6 @@ bool AP_ADC_ADS1115::init()
hal.scheduler->suspend_timer_procs(); hal.scheduler->suspend_timer_procs();
_gain = ADS1115_PGA_4P096; _gain = ADS1115_PGA_4P096;
_i2c_sem = hal.i2c->get_semaphore();
hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&AP_ADC_ADS1115::_update, void)); hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&AP_ADC_ADS1115::_update, void));
hal.scheduler->resume_timer_procs(); hal.scheduler->resume_timer_procs();
@ -127,17 +127,18 @@ bool AP_ADC_ADS1115::init()
bool AP_ADC_ADS1115::_start_conversion(uint8_t channel) bool AP_ADC_ADS1115::_start_conversion(uint8_t channel)
{ {
union { struct {
uint8_t reg;
uint16_t w; uint16_t w;
uint8_t b[2];
} config; } config;
config.w = ADS1115_OS_ACTIVE | _gain | mux_table[channel] | config.w = ADS1115_OS_ACTIVE | _gain | mux_table[channel] |
ADS1115_MODE_SINGLESHOT | ADS1115_COMP_QUE_DISABLE | ADS1115_RATE_250; ADS1115_MODE_SINGLESHOT | ADS1115_COMP_QUE_DISABLE | ADS1115_RATE_250;
config.w = config.b[0] << 8 | config.b[1]; config.reg = ADS1115_RA_CONFIG;
config.w = htobe16(config.w);
if (hal.i2c->writeRegisters((uint8_t)ADS1115_ADDRESS_ADDR_GND, ADS1115_RA_CONFIG, 2, (uint8_t *) &config) != 0) { if (_dev->transfer((uint8_t *)&config, sizeof(config), nullptr, 0)) {
return false; return false;
} }
@ -201,35 +202,32 @@ void AP_ADC_ADS1115::_update()
return; return;
} }
union { uint16_t word, config;
uint8_t b[2];
int16_t w;
} word, config;
if (!_i2c_sem->take_nonblocking()) { if (!_dev->get_semaphore()->take_nonblocking()) {
return; return;
} }
if ( hal.i2c->readRegisters(ADS1115_ADDRESS_ADDR_GND, ADS1115_RA_CONFIG, 2, config.b) != 0 ) { if (!_dev->read_registers(ADS1115_RA_CONFIG, (uint8_t *)&config, sizeof(config))) {
error("i2c->readRegisters failed in ADS1115"); error("i2c->read_registers failed in ADS1115");
_i2c_sem->give(); _dev->get_semaphore()->give();
return; return;
} }
/* check rdy bit */ /* check rdy bit */
if ((config.b[1] & 0x80) != 0x80 ) { if ((config & 0x80) != 0x80 ) {
_i2c_sem->give(); _dev->get_semaphore()->give();
return; return;
} }
if ( hal.i2c->readRegisters(ADS1115_ADDRESS_ADDR_GND, ADS1115_RA_CONVERSION, 2, word.b) != 0 ) { if (!_dev->read_registers(ADS1115_RA_CONVERSION, (uint8_t *)&word, sizeof(word))) {
_i2c_sem->give(); _dev->get_semaphore()->give();
return; return;
} }
word.w = word.b[0] << 8 | word.b[1]; /* Exchange MSB and LSB */ word = htobe16(word);
float sample = _convert_register_data_to_mv(word.w); float sample = _convert_register_data_to_mv(word);
_samples[_channel_to_read].data = sample; _samples[_channel_to_read].data = sample;
_samples[_channel_to_read].id = _channel_to_read; _samples[_channel_to_read].id = _channel_to_read;
@ -238,7 +236,7 @@ void AP_ADC_ADS1115::_update()
_channel_to_read = (_channel_to_read + 1) % _channels_number; _channel_to_read = (_channel_to_read + 1) % _channels_number;
_start_conversion(_channel_to_read); _start_conversion(_channel_to_read);
_i2c_sem->give(); _dev->get_semaphore()->give();
_last_update_timestamp = AP_HAL::micros(); _last_update_timestamp = AP_HAL::micros();
} }

6
libraries/AP_ADC/AP_ADC_ADS1115.h
View File

@ -2,9 +2,10 @@
#pragma once #pragma once
#include <inttypes.h> #include <inttypes.h>
#include "AP_ADC.h"
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#include <AP_HAL/I2CDevice.h>
#include "AP_ADC.h"
struct adc_report_s struct adc_report_s
{ {
@ -28,13 +29,12 @@ public:
private: private:
static const uint8_t _channels_number; static const uint8_t _channels_number;
AP_HAL::Semaphore* _i2c_sem;
uint32_t _last_update_timestamp; uint32_t _last_update_timestamp;
uint16_t _gain; uint16_t _gain;
int _channel_to_read; int _channel_to_read;
adc_report_s *_samples; adc_report_s *_samples;
AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev;
void _update(); void _update();
bool _start_conversion(uint8_t channel); bool _start_conversion(uint8_t channel);