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AnalogSource: convert analogRead() calls to the new API

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this should give us much better analog values, plus save a bunch of
CPU time
This commit is contained in:
Andrew Tridgell 2012-06-29 21:51:05 +10:00
parent c8befe4536
commit 82ede937e7
6 changed files with 33 additions and 87 deletions
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9
APMrover2/sensors.pde
View File

@ -105,10 +105,13 @@ static void read_battery(void)
return;
}
if(g.battery_monitoring == 3 || g.battery_monitoring == 4)
battery_voltage1 = BATTERY_VOLTAGE(analogRead(BATTERY_PIN_1)) * .1 + battery_voltage1 * .9;
if(g.battery_monitoring == 3 || g.battery_monitoring == 4) {
static AP_AnalogSource_Arduino bat_pin(BATTERY_PIN_1);
battery_voltage1 = BATTERY_VOLTAGE(bat_pin.read_average());
}
if(g.battery_monitoring == 4) {
current_amps1 = CURRENT_AMPS(analogRead(CURRENT_PIN_1)) * .1 + current_amps1 * .9; //reads power sensor current pin
static AP_AnalogSource_Arduino current_pin(CURRENT_PIN_1);
current_amps1 = CURRENT_AMPS(current_pin.read_average());
current_total1 += current_amps1 * (float)delta_ms_medium_loop * 0.0002778; // .0002778 is 1/3600 (conversion to hours)
}

28
APMrover2/system.pde
View File

@ -602,34 +602,10 @@ void flash_leds(bool on)
#ifndef DESKTOP_BUILD
/*
* Read Vcc vs 1.1v internal reference
*
* This call takes about 150us total. ADC conversion is 13 cycles of
* 125khz default changes the mux if it isn't set, and return last
* reading (allows necessary settle time) otherwise trigger the
* conversion
*/
uint16_t board_voltage(void)
{
const uint8_t mux = (_BV(REFS0)|_BV(MUX4)|_BV(MUX3)|_BV(MUX2)|_BV(MUX1));
if (ADMUX == mux) {
ADCSRA |= _BV(ADSC); // Convert
uint16_t counter=4000; // normally takes about 1700 loops
while (bit_is_set(ADCSRA, ADSC) && counter) // Wait
counter--;
if (counter == 0) {
// we don't actually expect this timeout to happen,
// but we don't want any more code that could hang. We
// report 0V so it is clear in the logs that we don't know
// the value
return 0;
}
uint32_t result = ADCL | ADCH<<8;
return 1126400UL / result; // Read and back-calculate Vcc in mV
}
// switch mux, settle time is needed. We don't want to delay
// waiting for the settle, so report 0 as a "don't know" value
ADMUX = mux;
return 0; // we don't know the current voltage
static AP_AnalogSource_Arduino vcc(ANALOG_PIN_VCC);
return vcc.read_vcc();
}
#endif

9
ArduCopter/sensors.pde
View File

@ -68,10 +68,13 @@ static void read_battery(void)
return;
}
if(g.battery_monitoring == 3 || g.battery_monitoring == 4)
battery_voltage1 = BATTERY_VOLTAGE(analogRead(BATTERY_PIN_1)) * .1 + battery_voltage1 * .9;
if(g.battery_monitoring == 3 || g.battery_monitoring == 4) {
static AP_AnalogSource_Arduino bat_pin(BATTERY_PIN_1);
battery_voltage1 = BATTERY_VOLTAGE(bat_pin.read_average());
}
if(g.battery_monitoring == 4) {
current_amps1 = CURRENT_AMPS(analogRead(CURRENT_PIN_1)) * .1 + current_amps1 * .9; //reads power sensor current pin
static AP_AnalogSource_Arduino current_pin(CURRENT_PIN_1);
current_amps1 = CURRENT_AMPS(current_pin.read_average());
current_total1 += current_amps1 * 0.02778; // called at 100ms on average, .0002778 is 1/3600 (conversion to hours)
}

31
ArduCopter/system.pde
View File

@ -206,6 +206,9 @@ static void init_ardupilot()
timer_scheduler.init( &isr_registry );
// initialise the analog port reader
AP_AnalogSource_Arduino::init_timer(&timer_scheduler);
#if HIL_MODE != HIL_MODE_ATTITUDE
#if CONFIG_ADC == ENABLED
// begin filtering the ADC Gyros
@ -657,34 +660,10 @@ void flash_leds(bool on)
#ifndef DESKTOP_BUILD
/*
* Read Vcc vs 1.1v internal reference
*
* This call takes about 150us total. ADC conversion is 13 cycles of
* 125khz default changes the mux if it isn't set, and return last
* reading (allows necessary settle time) otherwise trigger the
* conversion
*/
uint16_t board_voltage(void)
{
const uint8_t mux = (_BV(REFS0)|_BV(MUX4)|_BV(MUX3)|_BV(MUX2)|_BV(MUX1));
if (ADMUX == mux) {
ADCSRA |= _BV(ADSC); // Convert
uint16_t counter=4000; // normally takes about 1700 loops
while (bit_is_set(ADCSRA, ADSC) && counter) // Wait
counter--;
if (counter == 0) {
// we don't actually expect this timeout to happen,
// but we don't want any more code that could hang. We
// report 0V so it is clear in the logs that we don't know
// the value
return 0;
}
uint32_t result = ADCL | ADCH<<8;
return 1126400UL / result; // Read and back-calculate Vcc in mV
}
// switch mux, settle time is needed. We don't want to delay
// waiting for the settle, so report 0 as a "don't know" value
ADMUX = mux;
return 0; // we don't know the current voltage
static AP_AnalogSource_Arduino vcc(ANALOG_PIN_VCC);
return vcc.read_vcc();
}
#endif

9
ArduPlane/sensors.pde
View File

@ -66,10 +66,13 @@ static void read_battery(void)
return;
}
if(g.battery_monitoring == 3 || g.battery_monitoring == 4)
battery_voltage1 = BATTERY_VOLTAGE(analogRead(BATTERY_PIN_1)) * .1 + battery_voltage1 * .9;
if(g.battery_monitoring == 3 || g.battery_monitoring == 4) {
static AP_AnalogSource_Arduino bat_pin(BATTERY_PIN_1);
battery_voltage1 = BATTERY_VOLTAGE(bat_pin.read_average());
}
if(g.battery_monitoring == 4) {
current_amps1 = CURRENT_AMPS(analogRead(CURRENT_PIN_1)) * .1 + current_amps1 * .9; //reads power sensor current pin
static AP_AnalogSource_Arduino current_pin(CURRENT_PIN_1);
current_amps1 = CURRENT_AMPS(current_pin.read_average());
current_total1 += current_amps1 * (float)delta_ms_medium_loop * 0.0002778; // .0002778 is 1/3600 (conversion to hours)
}

34
ArduPlane/system.pde
View File

@ -118,6 +118,9 @@ static void init_ardupilot()
timer_scheduler.init( & isr_registry );
// initialise the analog port reader
AP_AnalogSource_Arduino::init_timer(&timer_scheduler);
//
// Check the EEPROM format version before loading any parameters from EEPROM.
//
@ -164,6 +167,9 @@ static void init_ardupilot()
adc.Init(&timer_scheduler); // APM ADC library initialization
#endif
// initialise the analog port reader
AP_AnalogSource_Arduino::init_timer(&timer_scheduler);
barometer.init(&timer_scheduler);
if (g.compass_enabled==true) {
@ -574,34 +580,10 @@ void flash_leds(bool on)
#ifndef DESKTOP_BUILD
/*
* Read Vcc vs 1.1v internal reference
*
* This call takes about 150us total. ADC conversion is 13 cycles of
* 125khz default changes the mux if it isn't set, and return last
* reading (allows necessary settle time) otherwise trigger the
* conversion
*/
uint16_t board_voltage(void)
{
const uint8_t mux = (_BV(REFS0)|_BV(MUX4)|_BV(MUX3)|_BV(MUX2)|_BV(MUX1));
if (ADMUX == mux) {
ADCSRA |= _BV(ADSC); // Convert
uint16_t counter=4000; // normally takes about 1700 loops
while (bit_is_set(ADCSRA, ADSC) && counter) // Wait
counter--;
if (counter == 0) {
// we don't actually expect this timeout to happen,
// but we don't want any more code that could hang. We
// report 0V so it is clear in the logs that we don't know
// the value
return 0;
}
uint32_t result = ADCL | ADCH<<8;
return 1126400UL / result; // Read and back-calculate Vcc in mV
}
// switch mux, settle time is needed. We don't want to delay
// waiting for the settle, so report 0 as a "don't know" value
ADMUX = mux;
return 0; // we don't know the current voltage
static AP_AnalogSource_Arduino vcc(ANALOG_PIN_VCC);
return vcc.read_vcc();
}
#endif