mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-18 14:48:28 -04:00
AP_ADC: remove AP_ADC_HIL
It's not being used and it's actually broken: it references AP_ADC_HIL::read() that doesn't exist.
This commit is contained in:
Lucas De Marchi
Andrew Tridgell
parent
c423fb5f46
commit
57386434d1
@ -58,6 +58,5 @@ private:
|
|||||||
|
|
||||||
#include "AP_ADC_ADS7844.h"
|
#include "AP_ADC_ADS7844.h"
|
||||||
#include "AP_ADC_ADS1115.h"
|
#include "AP_ADC_ADS1115.h"
|
||||||
#include "AP_ADC_HIL.h"
|
|
||||||
|
|
||||||
#endif
|
#endif
|
||||||
|
|||||||
@ -1,85 +0,0 @@
|
|||||||
|
|
||||||
#include "AP_ADC_HIL.h"
|
|
||||||
#include <AP_HAL.h>
|
|
||||||
extern const AP_HAL::HAL& hal;
|
|
||||||
/*
|
|
||||||
This program is free software: you can redistribute it and/or modify
|
|
||||||
it under the terms of the GNU General Public License as published by
|
|
||||||
the Free Software Foundation, either version 3 of the License, or
|
|
||||||
(at your option) any later version.
|
|
||||||
|
|
||||||
This program is distributed in the hope that it will be useful,
|
|
||||||
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
||||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
||||||
GNU General Public License for more details.
|
|
||||||
|
|
||||||
You should have received a copy of the GNU General Public License
|
|
||||||
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
||||||
*/
|
|
||||||
/*
|
|
||||||
* AP_ADC_HIL.cpp
|
|
||||||
* Author: James Goppert
|
|
||||||
*
|
|
||||||
*/
|
|
||||||
|
|
||||||
const uint8_t AP_ADC_HIL::sensors[6] = {1,2,0,4,5,6};
|
|
||||||
const int8_t AP_ADC_HIL::sensorSign[6] = { 1, -1, -1,-1, 1, 1};
|
|
||||||
const float AP_ADC_HIL::gyroBias[3] = {1665,1665,1665};
|
|
||||||
const float AP_ADC_HIL::accelBias[3] = {2025,2025,2025};
|
|
||||||
// gyroScale = 1/[GyroGain*pi/180] GyroGains (0.4,0.41,0.41)
|
|
||||||
const float AP_ADC_HIL::gyroScale[3] = {143.239f, 139.746f, 139.746f};
|
|
||||||
const float AP_ADC_HIL::accelScale[3] = {418,418,418}; // adcPerG
|
|
||||||
|
|
||||||
AP_ADC_HIL::AP_ADC_HIL()
|
|
||||||
{
|
|
||||||
// gyros set to zero for calibration
|
|
||||||
setGyro(0,0);
|
|
||||||
setGyro(1,0);
|
|
||||||
setGyro(2,0);
|
|
||||||
|
|
||||||
// accels set to zero for calibration
|
|
||||||
setAccel(0,0);
|
|
||||||
setAccel(1,0);
|
|
||||||
setAccel(2,0);
|
|
||||||
|
|
||||||
// set diff press and temp to zero
|
|
||||||
setGyroTemp(0);
|
|
||||||
setPressure(0);
|
|
||||||
}
|
|
||||||
|
|
||||||
void AP_ADC_HIL::Init()
|
|
||||||
{
|
|
||||||
hal.scheduler->register_timer_process( AP_HAL_MEMBERPROC(&AP_ADC_HIL::read));
|
|
||||||
}
|
|
||||||
|
|
||||||
// Read one channel value
|
|
||||||
float AP_ADC_HIL::Ch(unsigned char ch_num)
|
|
||||||
{
|
|
||||||
return adcValue[ch_num];
|
|
||||||
}
|
|
||||||
|
|
||||||
// Read 6 channel values
|
|
||||||
uint32_t AP_ADC_HIL::Ch6(const uint8_t *channel_numbers, float *result)
|
|
||||||
{
|
|
||||||
_count = 0;
|
|
||||||
|
|
||||||
for (uint8_t i=0; i<6; i++) {
|
|
||||||
result[i] = Ch(channel_numbers[i]);
|
|
||||||
}
|
|
||||||
uint32_t now = hal.scheduler->micros();
|
|
||||||
uint32_t ret = now - _last_ch6_time;
|
|
||||||
_last_ch6_time = now;
|
|
||||||
return ret;
|
|
||||||
}
|
|
||||||
|
|
||||||
// see if new data is available
|
|
||||||
bool AP_ADC_HIL::new_data_available(const uint8_t *channel_numbers)
|
|
||||||
{
|
|
||||||
return true;
|
|
||||||
}
|
|
||||||
|
|
||||||
// Get minimum number of samples read from the sensors
|
|
||||||
uint16_t AP_ADC_HIL::num_samples_available(const uint8_t *channel_numbers)
|
|
||||||
{
|
|
||||||
return _count;
|
|
||||||
}
|
|
||||||
@ -1,114 +0,0 @@
|
|||||||
#ifndef AP_ADC_HIL_H
|
|
||||||
#define AP_ADC_HIL_H
|
|
||||||
/*
|
|
||||||
This program is free software: you can redistribute it and/or modify
|
|
||||||
it under the terms of the GNU General Public License as published by
|
|
||||||
the Free Software Foundation, either version 3 of the License, or
|
|
||||||
(at your option) any later version.
|
|
||||||
|
|
||||||
This program is distributed in the hope that it will be useful,
|
|
||||||
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
||||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
||||||
GNU General Public License for more details.
|
|
||||||
|
|
||||||
You should have received a copy of the GNU General Public License
|
|
||||||
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
||||||
*/
|
|
||||||
|
|
||||||
/*
|
|
||||||
* AP_ADC_HIL.h
|
|
||||||
* Author: James Goppert
|
|
||||||
*
|
|
||||||
*/
|
|
||||||
|
|
||||||
#include <inttypes.h>
|
|
||||||
#include "AP_ADC.h"
|
|
||||||
|
|
||||||
///
|
|
||||||
// A hardware in the loop model of the ADS7844 analog to digital converter
|
|
||||||
// @author James Goppert DIYDrones.com
|
|
||||||
class AP_ADC_HIL : public AP_ADC
|
|
||||||
{
|
|
||||||
public:
|
|
||||||
|
|
||||||
///
|
|
||||||
// Constructor
|
|
||||||
AP_ADC_HIL(); // Constructor
|
|
||||||
|
|
||||||
///
|
|
||||||
// Initializes sensor, part of public AP_ADC interface
|
|
||||||
void Init();
|
|
||||||
|
|
||||||
///
|
|
||||||
// Read the sensor, part of public AP_ADC interface
|
|
||||||
float Ch(unsigned char ch_num);
|
|
||||||
|
|
||||||
///
|
|
||||||
// Read 6 sensors at once
|
|
||||||
uint32_t Ch6(const uint8_t *channel_numbers, float *result);
|
|
||||||
|
|
||||||
// see if Ch6 would block
|
|
||||||
bool new_data_available(const uint8_t *channel_numbers);
|
|
||||||
|
|
||||||
// Get minimum number of samples read from the sensors
|
|
||||||
uint16_t num_samples_available(const uint8_t *channel_numbers);
|
|
||||||
|
|
||||||
private:
|
|
||||||
|
|
||||||
///
|
|
||||||
// The raw adc array
|
|
||||||
uint16_t adcValue[8];
|
|
||||||
|
|
||||||
// the time in microseconds when Ch6 was last requested
|
|
||||||
uint32_t _last_ch6_time;
|
|
||||||
|
|
||||||
///
|
|
||||||
// sensor constants
|
|
||||||
// constants declared in cpp file
|
|
||||||
// @see AP_ADC_HIL.cpp
|
|
||||||
static const uint8_t sensors[6];
|
|
||||||
static const float gyroBias[3];
|
|
||||||
static const float gyroScale[3];
|
|
||||||
static const float accelBias[3];
|
|
||||||
static const float accelScale[3];
|
|
||||||
static const int8_t sensorSign[6];
|
|
||||||
|
|
||||||
///
|
|
||||||
// gyro set function
|
|
||||||
// @param val the value of the gyro in milli rad/s
|
|
||||||
// @param index the axis for the gyro(0-x,1-y,2-z)
|
|
||||||
inline void setGyro(uint8_t index, int16_t val) {
|
|
||||||
int16_t temp = val * gyroScale[index] / 1000 + gyroBias[index];
|
|
||||||
adcValue[sensors[index]] = (sensorSign[index] < 0) ? -temp : temp;
|
|
||||||
}
|
|
||||||
|
|
||||||
///
|
|
||||||
// accel set function
|
|
||||||
// @param val the value of the accel in milli g's
|
|
||||||
// @param index the axis for the accelerometer(0-x,1-y,2-z)
|
|
||||||
inline void setAccel(uint8_t index, int16_t val) {
|
|
||||||
int16_t temp = val * accelScale[index] / 1000 + accelBias[index];
|
|
||||||
adcValue[sensors[index+3]] = (sensorSign[index+3] < 0) ? -temp : temp;
|
|
||||||
}
|
|
||||||
|
|
||||||
///
|
|
||||||
// Sets the differential pressure adc channel
|
|
||||||
// TODO: implement
|
|
||||||
void setPressure(int16_t val) {
|
|
||||||
}
|
|
||||||
|
|
||||||
///
|
|
||||||
// Sets the gyro temp adc channel
|
|
||||||
// TODO: implement
|
|
||||||
void setGyroTemp(int16_t val) {
|
|
||||||
}
|
|
||||||
|
|
||||||
// read function that pretends to capture new data
|
|
||||||
void read(void) {
|
|
||||||
_count++;
|
|
||||||
}
|
|
||||||
|
|
||||||
uint16_t _count; // number of samples captured
|
|
||||||
};
|
|
||||||
|
|
||||||
#endif
|
|
||||||
Loading…
Reference in New Issue
Block a user