AP_HAL_Linux: added NavioAnalogIn

libraries/AP_HAL_Linux/AP_HAL_Linux_Private.h

@@ -11,6 +11,7 @@
 #include "I2CDriver.h"
 #include "SPIDriver.h"
 #include "AnalogIn.h"
+#include "NavioAnalogIn.h"
 #include "Storage.h"
 #include "GPIO.h"
 #include "RCInput.h"

libraries/AP_HAL_Linux/HAL_Linux_Class.cpp

@@ -26,7 +26,11 @@ static LinuxUARTDriver uartCDriver(false);
 static LinuxSemaphore  i2cSemaphore;
 static LinuxI2CDriver  i2cDriver(&i2cSemaphore, "/dev/i2c-1");
 static LinuxSPIDeviceManager spiDeviceManager;
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
+static NavioAnalogIn analogIn;
+#else
 static LinuxAnalogIn analogIn;
+#endif
 
 /*
   select between FRAM and FS
@@ -145,6 +149,7 @@ void HAL_Linux::init(int argc,char* const argv[]) const
     rcin->init(NULL);
     uartA->begin(115200);    
     spi->init(NULL);
+    analogin->init(NULL);
     utilInstance.init(argc, argv);
 }
 

libraries/AP_HAL_Linux/NavioAnalogIn.cpp

@@ -0,0 +1,114 @@
+#include <AP_HAL.h>
+
+#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
+
+#include "NavioAnalogIn.h"
+
+#define NAVIO_ANALOGIN_DEBUG 0
+#if NAVIO_ANALOGIN_DEBUG
+#include <cstdio>
+#define debug(fmt, args ...)  do {hal.console->printf("%s:%d: " fmt "\n", __FUNCTION__, __LINE__, ## args); } while(0)
+#define error(fmt, args ...)  do {fprintf(stderr,"%s:%d: " fmt "\n", __FUNCTION__, __LINE__, ## args); } while(0)
+#else
+#define debug(fmt, args ...)  
+#define error(fmt, args ...)  
+#endif
+
+NavioAnalogSource::NavioAnalogSource(int16_t pin):
+    _pin(pin),
+    _value(0.0f)
+{
+}
+
+void NavioAnalogSource::set_pin(uint8_t pin)
+{
+    if (_pin == pin) {
+        return;
+    }
+    _pin = pin;
+}
+
+float NavioAnalogSource::read_average()
+{ 
+    return read_latest();
+}
+
+float NavioAnalogSource::read_latest()
+{
+    return _value;
+}
+
+float NavioAnalogSource::voltage_average()
+{
+    return _value;
+}
+
+float NavioAnalogSource::voltage_latest()
+{
+    return _value;
+}
+
+float NavioAnalogSource::voltage_average_ratiometric()
+{
+    return _value;
+}
+
+extern const AP_HAL::HAL& hal;
+
+NavioAnalogIn::NavioAnalogIn() 
+{
+    _adc = new AP_ADC_ADS1115();
+    _channels_number = _adc->get_channels_number();
+}
+
+AP_HAL::AnalogSource* NavioAnalogIn::channel(int16_t pin)
+{
+    for (uint8_t j = 0; j < _channels_number; j++) {
+        if (_channels[j] == NULL) {
+            _channels[j] = new NavioAnalogSource(pin);
+            return _channels[j];
+        }
+    }
+
+    hal.console->println("Out of analog channels");
+    return NULL;
+}
+
+void NavioAnalogIn::init(void* implspecific)
+{
+    _adc->init();
+    hal.scheduler->suspend_timer_procs();
+    hal.scheduler->register_timer_process( AP_HAL_MEMBERPROC(&NavioAnalogIn::_update));
+    hal.scheduler->resume_timer_procs();
+}
+
+void NavioAnalogIn::_update()
+{
+    if (hal.scheduler->micros() - _last_update_timestamp < 100000) {
+        return;
+    }
+
+    adc_report_s reports[NAVIO_ADC_MAX_CHANNELS];
+
+    size_t rc = _adc->read(reports, 6);
+
+    for (size_t i = 0; i < rc; i++) {
+        for (uint8_t j=0; j < rc; j++) {
+            NavioAnalogSource *source = _channels[j];
+
+#if 0
+            if (source != NULL) {
+                fprintf(stderr, "pin: %d id: %d data: %.3f\n", source->_pin, reports[i].id, reports[i].data);
+            }
+#endif
+
+            if (source != NULL && reports[i].id == source->_pin) {
+                source->_value = reports[i].data / 1000;
+            }
+        }
+    }
+
+    _last_update_timestamp = hal.scheduler->micros();
+}
+
+#endif

libraries/AP_HAL_Linux/NavioAnalogIn.h

@@ -0,0 +1,48 @@
+#ifndef __NavioAnalogIn_H__
+#define __NavioAnalogIn_H__
+
+#include <AP_HAL_Linux.h>
+#include <AP_ADC.h>
+
+#define NAVIO_ADC_MAX_CHANNELS 6
+
+class NavioAnalogSource: public AP_HAL::AnalogSource {
+public:
+    friend class NavioAnalogIn;
+    NavioAnalogSource(int16_t pin);
+    float read_average();
+    float read_latest();
+    void set_pin(uint8_t p);
+    void set_stop_pin(uint8_t p) {}
+    void set_settle_time(uint16_t settle_time_ms){}
+    float voltage_average();
+    float voltage_latest();
+    float voltage_average_ratiometric();
+private:
+    int16_t _pin;
+    float _value;
+};
+
+class NavioAnalogIn: public AP_HAL::AnalogIn {
+public:
+    NavioAnalogIn();
+    void init(void* implspecific);
+    AP_HAL::AnalogSource* channel(int16_t n);
+
+    /* Board voltage is not available */
+    float board_voltage(void) 
+    { 
+        return 0.0f; 
+    }
+private:
+    AP_ADC_ADS1115 *_adc;
+    NavioAnalogSource *_channels[NAVIO_ADC_MAX_CHANNELS];
+
+    uint8_t _channels_number;
+
+    void _update();
+
+    uint32_t            _last_update_timestamp;
+};
+
+#endif