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AP_HAL_AVR: implement changes to AnalogIn

This commit is contained in:
Pat Hickey 2012-12-04 14:51:17 -08:00 committed by Andrew Tridgell
parent 7049934a69
commit 04d7b5ffe4
3 changed files with 24 additions and 10 deletions
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8
libraries/AP_HAL_AVR/AnalogIn.h
View File

@ -16,6 +16,7 @@ public:
/* implement AnalogSource virtual api: */
float read();
void set_pin(uint8_t p);
/* implementation specific interface: */
@ -37,7 +38,7 @@ private:
volatile uint16_t _sum;
/* _pin designates the ADC input mux for the sample */
const uint8_t _pin;
uint8_t _pin;
/* prescale scales the raw measurments for read()*/
const float _prescale;
};
@ -49,10 +50,11 @@ public:
AVRAnalogIn();
void init(void* ap_hal_scheduler);
AP_HAL::AnalogSource* channel(int n);
AP_HAL::AnalogSource* channel(int n, float prescale);
protected:
static ADCSource* _find_or_create_channel(int num);
static ADCSource* _create_channel(int num);
static ADCSource* _find_or_create_channel(int num, float scale);
static ADCSource* _create_channel(int num, float scale);
static void _register_channel(ADCSource*);
static void _timer_event(uint32_t);
static ADCSource* _channels[AVR_INPUT_MAX_CHANNELS];

10
libraries/AP_HAL_AVR/AnalogIn_ADC.cpp
View File

@ -16,6 +16,10 @@ float ADCSource::read() {
return _prescale * read_average();
}
void ADCSource::set_pin(uint8_t pin) {
_pin = pin;
}
/* read_average is called from the normal thread (not an interrupt). */
float ADCSource::read_average() {
uint16_t sum;
@ -28,12 +32,16 @@ float ADCSource::read_average() {
while( _sum_count == 0 );
/* Read and clear in a critical section */
uint8_t sreg = SREG;
cli();
sum = _sum;
sum_count = _sum_count;
_sum = 0;
_sum_count = 0;
sei();
SREG = sreg;
float avg = sum / (float) sum_count;
return avg;

16
libraries/AP_HAL_AVR/AnalogIn_Common.cpp
View File

@ -29,17 +29,17 @@ void AVRAnalogIn::init(void* machtnichts) {
_register_channel(&_vcc);
}
ADCSource* AVRAnalogIn::_find_or_create_channel(int pin) {
ADCSource* AVRAnalogIn::_find_or_create_channel(int pin, float scale) {
for(int i = 0; i < _num_channels; i++) {
if (_channels[i]->_pin == pin) {
return _channels[i];
}
}
return _create_channel(pin);
return _create_channel(pin, scale);
}
ADCSource* AVRAnalogIn::_create_channel(int chnum) {
ADCSource *ch = new ADCSource(chnum);
ADCSource* AVRAnalogIn::_create_channel(int chnum, float scale) {
ADCSource *ch = new ADCSource(chnum, scale);
_register_channel(ch);
return ch;
}
@ -55,9 +55,10 @@ void AVRAnalogIn::_register_channel(ADCSource* ch) {
_channels[_num_channels] = ch;
/* Need to lock to increment _num_channels as it is used
* by the interrupt to access _channels */
uint8_t sreg = SREG;
cli();
_num_channels++;
sei();
SREG = sreg;
if (_num_channels == 1) {
/* After registering the first channel, we can enable the ADC */
@ -111,10 +112,13 @@ next_channel:
AP_HAL::AnalogSource* AVRAnalogIn::channel(int ch) {
return this->channel(ch, 1.0);
}
AP_HAL::AnalogSource* AVRAnalogIn::channel(int ch, float scale) {
if (ch == ANALOG_INPUT_BOARD_VCC) {
return &_vcc;
} else {
return _find_or_create_channel(ch);
return _find_or_create_channel(ch, scale);
}
}