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AP_ADC: remove AP_ADC_HIL

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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 2015-05-20 22:18:55 -03:00 committed by Andrew Tridgell
parent c423fb5f46
commit 57386434d1
3 changed files with 0 additions and 200 deletions
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1
libraries/AP_ADC/AP_ADC.h
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@ -58,6 +58,5 @@ private:
#include "AP_ADC_ADS7844.h"
#include "AP_ADC_ADS1115.h"
#include "AP_ADC_HIL.h"
#endif

85
libraries/AP_ADC/AP_ADC_HIL.cpp
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@ -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;
}

114
libraries/AP_ADC/AP_ADC_HIL.h
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@ -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