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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
This commit is contained in:
jasonshort 2011-07-30 20:33:45 +00:00
parent 74edb558f4
commit 5c3837757a
5 changed files with 25 additions and 9 deletions
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1
libraries/AP_ADC/AP_ADC.h
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@ -22,6 +22,7 @@ class AP_ADC
AP_ADC() {}; // Constructor AP_ADC() {}; // Constructor
virtual void Init() {}; virtual void Init() {};
virtual int Ch(unsigned char ch_num) = 0; virtual int Ch(unsigned char ch_num) = 0;
virtual int Ch_raw(unsigned char ch_num) = 0;
private: private:
}; };

6
libraries/AP_ADC/AP_ADC_ADS7844.cpp
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@ -156,3 +156,9 @@ int AP_ADC_ADS7844::Ch(unsigned char ch_num)
return(result); return(result);
} }
// Read one channel value
int AP_ADC_ADS7844::Ch_raw(unsigned char ch_num)
{
return _filter[ch_num][_filter_index]; // close enough
}

3
libraries/AP_ADC/AP_ADC_ADS7844.h
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@ -19,7 +19,8 @@ class AP_ADC_ADS7844 : public AP_ADC
public: public:
AP_ADC_ADS7844(); // Constructor AP_ADC_ADS7844(); // Constructor
void Init(); void Init();
int Ch(unsigned char ch_num); int Ch(unsigned char ch_num);
int Ch_raw(unsigned char ch_num);
private: private:
}; };

5
libraries/AP_ADC/AP_ADC_HIL.cpp
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@ -46,6 +46,11 @@ int AP_ADC_HIL::Ch(unsigned char ch_num)
{ {
return adcValue[ch_num]; return adcValue[ch_num];
} }
// Read one channel value
int AP_ADC_HIL::Ch_raw(unsigned char ch_num)
{
return adcValue[ch_num];
}
// Set one channel value // Set one channel value
void AP_ADC_HIL::setHIL(int16_t p, int16_t q, int16_t r, int16_t gyroTemp, void AP_ADC_HIL::setHIL(int16_t p, int16_t q, int16_t r, int16_t gyroTemp,

3
libraries/AP_ADC/AP_ADC_HIL.h
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@ -33,6 +33,9 @@ class AP_ADC_HIL : public AP_ADC
/// ///
// Read the sensor, part of public AP_ADC interface // 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, // Set the adc raw values given the current rotations rates,