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AP_Rangefinder_analog: implement settle time and stop_pin

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This commit is contained in:
Andrew Tridgell 2013-04-26 14:53:15 +10:00
parent 5d80a5619d
commit 09ca9d4283
2 changed files with 18 additions and 8 deletions
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21
libraries/AP_RangeFinder/AP_RangeFinder_analog.cpp
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@ -69,6 +69,16 @@ const AP_Param::GroupInfo AP_RangeFinder_analog::var_info[] PROGMEM = {
// @Values: 0:Disabled,1:Enabled
AP_GROUPINFO("ENABLE", 6, AP_RangeFinder_analog, _enabled, 0),
// @Param: STOP_PIN
// @DisplayName: Sonar stop pin
// @Description: Digital pin that enables/disables sonar measurement. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the sonar and set to 0 to disable it. This can be used to ensure that multiple sonars don't interfere with each other.
AP_GROUPINFO("STOP_PIN", 7, AP_RangeFinder_analog, _stop_pin, -1),
// @Param: SETTLE_MS
// @DisplayName: Sonar settle time
// @Description: The time in milliseconds that the sonar reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the sonar to give a reading after we set the STOP_PIN high. For a sonar with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again.
AP_GROUPINFO("SETTLE_MS", 8, AP_RangeFinder_analog, _settle_time_ms, 0),
AP_GROUPEND
};
@ -96,12 +106,12 @@ void AP_RangeFinder_analog::Init(void *adc)
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
if (_pin == 127) {
_source = new AP_ADC_AnalogSource((AP_ADC*)adc, 7, 1.0);
_last_pin = 127;
return;
}
#endif
_source = hal.analogin->channel(_pin);
_last_pin = _pin;
_source->set_stop_pin((uint8_t)_stop_pin);
_source->set_settle_time((uint16_t)_settle_time_ms);
}
/*
@ -115,11 +125,10 @@ float AP_RangeFinder_analog::voltage(void)
if (_source == NULL) {
return 0.0f;
}
// check for pin changes
if (_last_pin != 127 && _last_pin != _pin) {
// cope with changed settings
_source->set_pin(_pin);
_last_pin = _pin;
}
_source->set_stop_pin((uint8_t)_stop_pin);
_source->set_settle_time((uint16_t)_settle_time_ms);
return _source->voltage_average();
}

3
libraries/AP_RangeFinder/AP_RangeFinder_analog.h
View File

@ -38,12 +38,13 @@ public:
private:
AP_HAL::AnalogSource *_source;
AP_Int8 _pin;
AP_Int8 _stop_pin;
AP_Int16 _settle_time_ms;
AP_Float _scaling;
AP_Float _offset;
AP_Int8 _function;
AP_Int16 _min_distance_cm;
AP_Int16 _max_distance_cm;
int8_t _last_pin;
AP_Int8 _enabled;
};
#endif // __AP_RangeFinder_analog_H__