From 5c3837757a3b52a665c1fc7bd2ca450f8161f0c2 Mon Sep 17 00:00:00 2001
From: jasonshort <jasonshort@f9c3cf11-9bcb-44bc-f272-b75c42450872>
Date: Sat, 30 Jul 2011 20:33:45 +0000
Subject: [PATCH] Added ability to grab an unfiltered value from the ADC

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2963 f9c3cf11-9bcb-44bc-f272-b75c42450872
---
 libraries/AP_ADC/AP_ADC.h           |  1 +
 libraries/AP_ADC/AP_ADC_ADS7844.cpp |  6 ++++++
 libraries/AP_ADC/AP_ADC_ADS7844.h   |  3 ++-
 libraries/AP_ADC/AP_ADC_HIL.cpp     | 11 ++++++++---
 libraries/AP_ADC/AP_ADC_HIL.h       | 13 ++++++++-----
 5 files changed, 25 insertions(+), 9 deletions(-)

diff --git a/libraries/AP_ADC/AP_ADC.h b/libraries/AP_ADC/AP_ADC.h
index f99971c54a..196a6741c3 100644
--- a/libraries/AP_ADC/AP_ADC.h
+++ b/libraries/AP_ADC/AP_ADC.h
@@ -22,6 +22,7 @@ class AP_ADC
 	AP_ADC() {};  // Constructor
 	virtual void Init() {};
 	virtual int Ch(unsigned char ch_num) = 0;
+	virtual int Ch_raw(unsigned char ch_num) = 0;
   private:
 };
 
diff --git a/libraries/AP_ADC/AP_ADC_ADS7844.cpp b/libraries/AP_ADC/AP_ADC_ADS7844.cpp
index 0ec5a2a168..27bbc0a477 100644
--- a/libraries/AP_ADC/AP_ADC_ADS7844.cpp
+++ b/libraries/AP_ADC/AP_ADC_ADS7844.cpp
@@ -156,3 +156,9 @@ int AP_ADC_ADS7844::Ch(unsigned char ch_num)
 
 	return(result);
 }
+
+// Read one channel value
+int AP_ADC_ADS7844::Ch_raw(unsigned char ch_num)
+{
+	return _filter[ch_num][_filter_index]; // close enough
+}
diff --git a/libraries/AP_ADC/AP_ADC_ADS7844.h b/libraries/AP_ADC/AP_ADC_ADS7844.h
index 6d1f518be0..532dfd97de 100644
--- a/libraries/AP_ADC/AP_ADC_ADS7844.h
+++ b/libraries/AP_ADC/AP_ADC_ADS7844.h
@@ -19,7 +19,8 @@ class AP_ADC_ADS7844 : public AP_ADC
 	public:
 	AP_ADC_ADS7844();  // Constructor
 	void 	Init();
-	int		Ch(unsigned char ch_num);
+	int 	Ch(unsigned char ch_num);
+	int 	Ch_raw(unsigned char ch_num);
 
 	private:
 };
diff --git a/libraries/AP_ADC/AP_ADC_HIL.cpp b/libraries/AP_ADC/AP_ADC_HIL.cpp
index 70465eaf17..07cfdbd8f0 100644
--- a/libraries/AP_ADC/AP_ADC_HIL.cpp
+++ b/libraries/AP_ADC/AP_ADC_HIL.cpp
@@ -12,12 +12,12 @@
 	version 2.1 of the License, or (at your option) any later version.
 */
 
-const uint8_t AP_ADC_HIL::sensors[6] = {1,2,0,4,5,6};		
+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] = {143.239, 139.746, 139.746}; 
+const float AP_ADC_HIL::gyroScale[3] = {143.239, 139.746, 139.746};
 const float AP_ADC_HIL::accelScale[3] = {418,418,418}; // adcPerG
 
 AP_ADC_HIL::AP_ADC_HIL()
@@ -42,7 +42,12 @@ void AP_ADC_HIL::Init(void)
 }
 
 // Read one channel value
-int AP_ADC_HIL::Ch(unsigned char ch_num)         
+int AP_ADC_HIL::Ch(unsigned char ch_num)
+{
+  return adcValue[ch_num];
+}
+// Read one channel value
+int AP_ADC_HIL::Ch_raw(unsigned char ch_num)
 {
   return adcValue[ch_num];
 }
diff --git a/libraries/AP_ADC/AP_ADC_HIL.h b/libraries/AP_ADC/AP_ADC_HIL.h
index 4a9ddacf3a..736e99a882 100644
--- a/libraries/AP_ADC/AP_ADC_HIL.h
+++ b/libraries/AP_ADC/AP_ADC_HIL.h
@@ -32,7 +32,10 @@ class AP_ADC_HIL : public AP_ADC
 
 	///
 	// Read the sensor, part of public AP_ADC interface
-	int Ch(unsigned char ch_num);     
+	int Ch(unsigned char ch_num);
+	///
+	// Read the sensor, part of public AP_ADC interface
+	int Ch_raw(unsigned char ch_num);
 
 	///
 	// Set the adc raw values given the current rotations rates,
@@ -50,10 +53,10 @@ class AP_ADC_HIL : public AP_ADC
 	// 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 uint8_t sensors[6];
+    static const float gyroBias[3];
     static const float gyroScale[3];
-	static const float accelBias[3];		
+	static const float accelBias[3];
     static const float accelScale[3];
     static const int8_t sensorSign[6];
 
@@ -78,7 +81,7 @@ class AP_ADC_HIL : public AP_ADC
 	///
 	// Sets the differential pressure adc channel
 	// TODO: implement
-	void setPressure(int16_t val) {} 
+	void setPressure(int16_t val) {}
 
 	///
 	// Sets the gyro temp adc channel