mirror of https://github.com/ArduPilot/ardupilot
remove AP_AnalogSource library, deprecated under AP_HAL
This commit is contained in:
Pat Hickey
Andrew Tridgell
parent
3987e81e2a
commit
1d21cea032
|
|
@ -1,203 +0,0 @@
|
||||||
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
||||||
|
|
||||||
#include <FastSerial.h>
|
|
||||||
#include "AP_AnalogSource_Arduino.h"
|
|
||||||
|
|
||||||
// increase this if we need more than 5 analog sources
|
|
||||||
#define MAX_PIN_SOURCES 5
|
|
||||||
|
|
||||||
// number of times to read a pin
|
|
||||||
// before considering the value valid.
|
|
||||||
// This ensures the value has settled on
|
|
||||||
// the new source
|
|
||||||
#define PIN_READ_REPEAT 2
|
|
||||||
|
|
||||||
static uint8_t num_pins_watched;
|
|
||||||
static uint8_t next_pin_index;
|
|
||||||
static uint8_t next_pin_count;
|
|
||||||
static volatile struct {
|
|
||||||
uint8_t pin;
|
|
||||||
uint8_t sum_count;
|
|
||||||
uint16_t output;
|
|
||||||
uint16_t sum;
|
|
||||||
} pins[MAX_PIN_SOURCES];
|
|
||||||
|
|
||||||
// ADC conversion timer. This is called at 1kHz by the timer
|
|
||||||
// interrupt
|
|
||||||
// each conversion takes about 125 microseconds
|
|
||||||
static void adc_timer(uint32_t t)
|
|
||||||
{
|
|
||||||
if (pins[next_pin_index].pin == ANALOG_PIN_NONE) {
|
|
||||||
goto next_pin;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (bit_is_set(ADCSRA, ADSC) || num_pins_watched == 0) {
|
|
||||||
// conversion is still running. This should be
|
|
||||||
// very rare, as we are called at 1kHz
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
|
|
||||||
next_pin_count++;
|
|
||||||
if (next_pin_count != PIN_READ_REPEAT) {
|
|
||||||
// we don't want this value, so start the next conversion
|
|
||||||
// immediately, discarding this value
|
|
||||||
ADCSRA |= _BV(ADSC);
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
|
|
||||||
// remember the value we got
|
|
||||||
{
|
|
||||||
uint8_t low = ADCL;
|
|
||||||
uint8_t high = ADCH;
|
|
||||||
pins[next_pin_index].output = low | (high<<8);
|
|
||||||
}
|
|
||||||
pins[next_pin_index].sum += pins[next_pin_index].output;
|
|
||||||
if (pins[next_pin_index].sum_count >= 63) {
|
|
||||||
// we risk overflowing the 16 bit sum
|
|
||||||
pins[next_pin_index].sum >>= 1;
|
|
||||||
pins[next_pin_index].sum_count = 32;
|
|
||||||
} else {
|
|
||||||
pins[next_pin_index].sum_count++;
|
|
||||||
}
|
|
||||||
|
|
||||||
next_pin:
|
|
||||||
next_pin_count = 0;
|
|
||||||
if (num_pins_watched != 0) {
|
|
||||||
next_pin_index = (next_pin_index+1) % num_pins_watched;
|
|
||||||
}
|
|
||||||
uint8_t pin = pins[next_pin_index].pin;
|
|
||||||
|
|
||||||
if (pin == ANALOG_PIN_NONE) {
|
|
||||||
// setup for returning 0
|
|
||||||
pins[next_pin_index].output = 0;
|
|
||||||
pins[next_pin_index].sum = 0;
|
|
||||||
pins[next_pin_index].sum_count = 1;
|
|
||||||
} else if (pin == ANALOG_PIN_VCC) {
|
|
||||||
// we're reading the board voltage
|
|
||||||
ADMUX = _BV(REFS0)|_BV(MUX4)|_BV(MUX3)|_BV(MUX2)|_BV(MUX1);
|
|
||||||
|
|
||||||
// start the next conversion
|
|
||||||
ADCSRA |= _BV(ADSC);
|
|
||||||
} else {
|
|
||||||
// we're reading an external pin
|
|
||||||
ADCSRB = (ADCSRB & ~(1 << MUX5)) | (((pin >> 3) & 0x01) << MUX5);
|
|
||||||
ADMUX = _BV(REFS0) | (pin & 0x07);
|
|
||||||
|
|
||||||
// start the next conversion
|
|
||||||
ADCSRA |= _BV(ADSC);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
// setup the timer process. This must be called before any analog
|
|
||||||
// values are available
|
|
||||||
void AP_AnalogSource_Arduino::init_timer(AP_PeriodicProcess * scheduler)
|
|
||||||
{
|
|
||||||
scheduler->register_process(adc_timer);
|
|
||||||
}
|
|
||||||
|
|
||||||
// read raw 16 bit value
|
|
||||||
uint16_t AP_AnalogSource_Arduino::read_raw(void)
|
|
||||||
{
|
|
||||||
uint16_t ret;
|
|
||||||
uint8_t oldSREG = SREG;
|
|
||||||
cli();
|
|
||||||
ret = pins[_pin_index].output;
|
|
||||||
SREG = oldSREG;
|
|
||||||
return ret;
|
|
||||||
}
|
|
||||||
|
|
||||||
// scaled read for board Vcc
|
|
||||||
uint16_t AP_AnalogSource_Arduino::read_vcc(void)
|
|
||||||
{
|
|
||||||
uint16_t v = read_raw();
|
|
||||||
if (v == 0) {
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
return 1126400UL / v;
|
|
||||||
}
|
|
||||||
|
|
||||||
// read the average 16 bit value since the last
|
|
||||||
// time read_average() was called. This gives a very cheap
|
|
||||||
// filtered value, as new values are produced at 500/N Hz
|
|
||||||
// where N is the total number of analog sources
|
|
||||||
float AP_AnalogSource_Arduino::read_average(void)
|
|
||||||
{
|
|
||||||
uint16_t sum;
|
|
||||||
uint8_t sum_count;
|
|
||||||
|
|
||||||
// we don't expect this loop to trigger, unless
|
|
||||||
// you call read_average() very frequently
|
|
||||||
while (pins[_pin_index].sum_count == 0) ;
|
|
||||||
|
|
||||||
uint8_t oldSREG = SREG;
|
|
||||||
cli();
|
|
||||||
sum = pins[_pin_index].sum;
|
|
||||||
sum_count = pins[_pin_index].sum_count;
|
|
||||||
pins[_pin_index].sum = 0;
|
|
||||||
pins[_pin_index].sum_count = 0;
|
|
||||||
SREG = oldSREG;
|
|
||||||
return sum / (float)sum_count;
|
|
||||||
}
|
|
||||||
|
|
||||||
// read with the prescaler. This uses the averaged value since
|
|
||||||
// the last read, which matches that the AP_ADC APM1 library does
|
|
||||||
// for ADC sources
|
|
||||||
float AP_AnalogSource_Arduino::read(void)
|
|
||||||
{
|
|
||||||
return read_average() * _prescale;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
// remap pin numbers to physical pin
|
|
||||||
uint8_t AP_AnalogSource_Arduino::_remap_pin(uint8_t pin)
|
|
||||||
{
|
|
||||||
if (pin != ANALOG_PIN_VCC && pin != ANALOG_PIN_NONE) {
|
|
||||||
// allow pin to be a channel (i.e. "A0") or an actual pin
|
|
||||||
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
|
|
||||||
if (pin >= 54) pin -= 54;
|
|
||||||
#elif defined(__AVR_ATmega32U4__)
|
|
||||||
if (pin >= 18) pin -= 18;
|
|
||||||
#elif defined(__AVR_ATmega1284__)
|
|
||||||
if (pin >= 24) pin -= 24;
|
|
||||||
#else
|
|
||||||
if (pin >= 14) pin -= 14;
|
|
||||||
#endif
|
|
||||||
}
|
|
||||||
return pin;
|
|
||||||
}
|
|
||||||
|
|
||||||
// assign a slot in the pins_watched
|
|
||||||
void AP_AnalogSource_Arduino::_assign_pin_index(uint8_t pin)
|
|
||||||
{
|
|
||||||
// ensure we don't try to read from too many analog pins
|
|
||||||
if (num_pins_watched == MAX_PIN_SOURCES) {
|
|
||||||
while (true) {
|
|
||||||
Serial.printf_P(PSTR("MAX_PIN_SOURCES REACHED\n"));
|
|
||||||
delay(1000);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
pin = _remap_pin(pin);
|
|
||||||
_pin_index = num_pins_watched;
|
|
||||||
pins[_pin_index].pin = pin;
|
|
||||||
num_pins_watched++;
|
|
||||||
if (num_pins_watched == 1) {
|
|
||||||
// enable the ADC
|
|
||||||
PRR0 &= ~_BV(PRADC);
|
|
||||||
ADCSRA |= _BV(ADEN);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
// change which pin to read
|
|
||||||
void AP_AnalogSource_Arduino::set_pin(uint8_t pin)
|
|
||||||
{
|
|
||||||
pin = _remap_pin(pin);
|
|
||||||
if (pins[_pin_index].pin != pin) {
|
|
||||||
uint8_t oldSREG = SREG;
|
|
||||||
cli();
|
|
||||||
pins[_pin_index].pin = pin;
|
|
||||||
pins[_pin_index].sum = 0;
|
|
||||||
pins[_pin_index].sum_count = 0;
|
|
||||||
SREG = oldSREG;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
Loading…
Reference in New Issue