AnalogSource: convert analogRead() calls to the new API

this should give us much better analog values, plus save a bunch of
CPU time

APMrover2/sensors.pde

@@ -105,10 +105,13 @@ static void read_battery(void)
 		return;
 	}
 	
-	if(g.battery_monitoring == 3 || g.battery_monitoring == 4) 
+	if(g.battery_monitoring == 3 || g.battery_monitoring == 4) {
-		battery_voltage1 = BATTERY_VOLTAGE(analogRead(BATTERY_PIN_1)) * .1 + battery_voltage1 * .9;
+        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)
 	}
 	

APMrover2/system.pde

@@ -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));
+    static AP_AnalogSource_Arduino vcc(ANALOG_PIN_VCC);
-
+    return vcc.read_vcc();
-	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
 }
 #endif

ArduCopter/sensors.pde

@@ -68,10 +68,13 @@ static void read_battery(void)
 		return;
 	}
 
-    if(g.battery_monitoring == 3 || g.battery_monitoring == 4)
+    if(g.battery_monitoring == 3 || g.battery_monitoring == 4) {
-		battery_voltage1 = BATTERY_VOLTAGE(analogRead(BATTERY_PIN_1)) * .1 + battery_voltage1 * .9;
+        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)
 	}
 

ArduCopter/system.pde

@@ -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));
+    static AP_AnalogSource_Arduino vcc(ANALOG_PIN_VCC);
-
+    return vcc.read_vcc();
-	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
 }
 #endif

ArduPlane/sensors.pde

@@ -66,10 +66,13 @@ static void read_battery(void)
 		return;
 	}
 	
-	if(g.battery_monitoring == 3 || g.battery_monitoring == 4) 
+	if(g.battery_monitoring == 3 || g.battery_monitoring == 4) {
-		battery_voltage1 = BATTERY_VOLTAGE(analogRead(BATTERY_PIN_1)) * .1 + battery_voltage1 * .9;
+        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)
 	}
 	

ArduPlane/system.pde

@@ -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));
+    static AP_AnalogSource_Arduino vcc(ANALOG_PIN_VCC);
-
+    return vcc.read_vcc();
-	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
 }
 #endif