mirror of https://github.com/ArduPilot/ardupilot
AP_ADC: rework ADC library to use PeriodicProcess and ISR_Register
this makes it possible to build the ADC library when another driver may also want that interrupt
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@ -2,6 +2,8 @@
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#define AP_ADC_H
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#include <stdint.h>
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#include <stdlib.h>
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#include <../AP_PeriodicProcess/AP_PeriodicProcess.h>
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/*
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AP_ADC.cpp - Analog Digital Converter Base Class for Ardupilot Mega
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@ -22,7 +24,7 @@ class AP_ADC
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{
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public:
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AP_ADC() {}; // Constructor
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virtual void Init() {};
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virtual void Init(AP_PeriodicProcess * scheduler = NULL) = 0;
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/* read one channel value */
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virtual uint16_t Ch(uint8_t ch_num) = 0;
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@ -83,10 +83,9 @@ static inline unsigned char ADC_SPI_transfer(unsigned char data)
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}
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ISR (TIMER2_OVF_vect)
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void AP_ADC_ADS7844::read(void)
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{
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uint8_t ch;
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static uint8_t timer_offset;
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bit_clear(PORTC, 4); // Enable Chip Select (PIN PC4)
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ADC_SPI_transfer(adc_cmd[0]); // Command to read the first channel
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@ -119,10 +118,6 @@ ISR (TIMER2_OVF_vect)
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bit_set(PORTC, 4); // Disable Chip Select (PIN PC4)
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// this gives us a sample rate between 781Hz and 1302Hz. We
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// randomise it to try to minimise aliasing effects
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timer_offset = (timer_offset + 49) % 32;
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TCNT2 = TCNT2_781_HZ + timer_offset;
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}
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@ -134,7 +129,7 @@ AP_ADC_ADS7844::AP_ADC_ADS7844() :
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}
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// Public Methods //////////////////////////////////////////////////////////////
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void AP_ADC_ADS7844::Init(void)
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void AP_ADC_ADS7844::Init( AP_PeriodicProcess * scheduler )
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{
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pinMode(ADC_CHIP_SELECT, OUTPUT);
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@ -162,13 +157,8 @@ void AP_ADC_ADS7844::Init(void)
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last_ch6_micros = micros();
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// Enable Timer2 Overflow interrupt to capture ADC data
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TIMSK2 = 0; // Disable interrupts
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TCCR2A = 0; // normal counting mode
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TCCR2B = _BV(CS21) | _BV(CS22); // Set prescaler of clk/256
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TCNT2 = 0;
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TIFR2 = _BV(TOV2); // clear pending interrupts;
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TIMSK2 = _BV(TOIE2); // enable the overflow interrupt
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scheduler->register_process( AP_ADC_ADS7844::read );
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}
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// Read one channel value
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@ -14,13 +14,14 @@
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#define ADC_ACCEL_FILTER_SIZE 8
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#include "AP_ADC.h"
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#include "../AP_PeriodicProcess/AP_PeriodicProcess.h"
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#include <inttypes.h>
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class AP_ADC_ADS7844 : public AP_ADC
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{
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public:
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AP_ADC_ADS7844(); // Constructor
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void Init();
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void Init( AP_PeriodicProcess * scheduler );
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// Read 1 sensor value
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uint16_t Ch(unsigned char ch_num);
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@ -34,6 +35,7 @@ class AP_ADC_ADS7844 : public AP_ADC
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uint16_t _prev_gyro[3];
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uint16_t _prev_accel[3];
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uint8_t _filter_index_accel;
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static void read( void );
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};
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@ -39,7 +39,7 @@ AP_ADC_HIL::AP_ADC_HIL()
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last_hil_time = millis();
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}
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void AP_ADC_HIL::Init(void)
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void AP_ADC_HIL::Init( AP_PeriodicProcess * scheduler )
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{
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}
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@ -28,7 +28,7 @@ class AP_ADC_HIL : public AP_ADC
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///
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// Initializes sensor, part of public AP_ADC interface
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void Init();
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void Init(AP_PeriodicProcess*);
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///
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// Read the sensor, part of public AP_ADC interface
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@ -5,10 +5,16 @@
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*/
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#include <FastSerial.h>
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#include <Arduino_Mega_ISR_Registry.h>
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#include <AP_PeriodicProcess.h>
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#include <AP_ADC.h> // ArduPilot Mega ADC Library
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FastSerialPort0(Serial); // FTDI/console
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Arduino_Mega_ISR_Registry isr_registry;
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AP_TimerAperiodicProcess adc_scheduler;
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unsigned long timer;
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AP_ADC_ADS7844 adc;
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@ -17,7 +23,11 @@ void setup()
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Serial.begin(115200, 128, 128);
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Serial.println("ArduPilot Mega ADC library test");
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delay(1000);
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adc.Init(); // APM ADC initialization
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isr_registry.init();
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adc_scheduler.init(&isr_registry);
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adc.Init(&adc_scheduler); // APM ADC initialization
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delay(1000);
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timer = millis();
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}
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@ -1,2 +1,2 @@
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BOARD = mega
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BOARD = mega2560
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include ../../../AP_Common/Arduino.mk
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