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AP_ADC: fixed thread usage in AP_ADC_ADS1115

This commit is contained in:
Andrew Tridgell 2016-11-04 15:35:45 +11:00
parent dbd192971f
commit 7c36e14524
2 changed files with 7 additions and 24 deletions
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29
libraries/AP_ADC/AP_ADC_ADS1115.cpp
View File

@ -123,12 +123,9 @@ AP_ADC_ADS1115::~AP_ADC_ADS1115()
bool AP_ADC_ADS1115::init() bool AP_ADC_ADS1115::init()
{ {
hal.scheduler->suspend_timer_procs();
_gain = ADS1115_PGA_4P096; _gain = ADS1115_PGA_4P096;
hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&AP_ADC_ADS1115::_update, void)); _dev->register_periodic_callback(100000, FUNCTOR_BIND_MEMBER(&AP_ADC_ADS1115::_update, bool));
hal.scheduler->resume_timer_procs();
return true; return true;
} }
@ -198,39 +195,25 @@ float AP_ADC_ADS1115::_convert_register_data_to_mv(int16_t word) const
return (float) word * pga; return (float) word * pga;
} }
void AP_ADC_ADS1115::_update() bool AP_ADC_ADS1115::_update()
{ {
/* TODO: make update rate configurable */
if (AP_HAL::micros() - _last_update_timestamp < 100000) {
return;
}
uint8_t config[2]; uint8_t config[2];
be16_t val; be16_t val;
if (!_dev->get_semaphore()->take_nonblocking()) {
return;
}
if (!_dev->read_registers(ADS1115_RA_CONFIG, config, sizeof(config))) { if (!_dev->read_registers(ADS1115_RA_CONFIG, config, sizeof(config))) {
error("_dev->read_registers failed in ADS1115"); error("_dev->read_registers failed in ADS1115");
_dev->get_semaphore()->give(); return true;
return;
} }
/* check rdy bit */ /* check rdy bit */
if ((config[1] & 0x80) != 0x80 ) { if ((config[1] & 0x80) != 0x80 ) {
_dev->get_semaphore()->give(); return true;
return;
} }
if (!_dev->read_registers(ADS1115_RA_CONVERSION, (uint8_t *)&val, sizeof(val))) { if (!_dev->read_registers(ADS1115_RA_CONVERSION, (uint8_t *)&val, sizeof(val))) {
_dev->get_semaphore()->give(); return true;
return;
} }
_dev->get_semaphore()->give();
float sample = _convert_register_data_to_mv(be16toh(val)); float sample = _convert_register_data_to_mv(be16toh(val));
_samples[_channel_to_read].data = sample; _samples[_channel_to_read].data = sample;
@ -240,5 +223,5 @@ void AP_ADC_ADS1115::_update()
_channel_to_read = (_channel_to_read + 1) % _channels_number; _channel_to_read = (_channel_to_read + 1) % _channels_number;
_start_conversion(_channel_to_read); _start_conversion(_channel_to_read);
_last_update_timestamp = AP_HAL::micros(); return true;
} }

2
libraries/AP_ADC/AP_ADC_ADS1115.h
View File

@ -36,7 +36,7 @@ private:
int _channel_to_read; int _channel_to_read;
adc_report_s *_samples; adc_report_s *_samples;
void _update(); bool _update();
bool _start_conversion(uint8_t channel); bool _start_conversion(uint8_t channel);
float _convert_register_data_to_mv(int16_t word) const; float _convert_register_data_to_mv(int16_t word) const;