From 87e7704b1cbf4d8be8538bef2c541720db144580 Mon Sep 17 00:00:00 2001 From: Lucas De Marchi Date: Thu, 28 Jan 2016 22:34:51 -0200 Subject: [PATCH] AP_HAL_Linux: ADS1115: rename classes to follow other names While at it, remove some dead/commented-out code. --- libraries/AP_HAL_Linux/AnalogIn_ADS1115.cpp | 49 +++++++-------------- libraries/AP_HAL_Linux/AnalogIn_ADS1115.h | 29 +++++------- libraries/AP_HAL_Linux/HAL_Linux_Class.cpp | 2 +- 3 files changed, 30 insertions(+), 50 deletions(-) diff --git a/libraries/AP_HAL_Linux/AnalogIn_ADS1115.cpp b/libraries/AP_HAL_Linux/AnalogIn_ADS1115.cpp index eceb087a09..e4c59ec2de 100644 --- a/libraries/AP_HAL_Linux/AnalogIn_ADS1115.cpp +++ b/libraries/AP_HAL_Linux/AnalogIn_ADS1115.cpp @@ -4,23 +4,13 @@ #include "AnalogIn_ADS1115.h" -#define ADS1115_ANALOGIN_DEBUG 0 -#if ADS1115_ANALOGIN_DEBUG -#include -#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 - -ADS1115AnalogSource::ADS1115AnalogSource(int16_t pin): +AnalogSource_ADS1115::AnalogSource_ADS1115(int16_t pin): _pin(pin), _value(0.0f) { } -void ADS1115AnalogSource::set_pin(uint8_t pin) +void AnalogSource_ADS1115::set_pin(uint8_t pin) { if (_pin == pin) { return; @@ -28,44 +18,44 @@ void ADS1115AnalogSource::set_pin(uint8_t pin) _pin = pin; } -float ADS1115AnalogSource::read_average() -{ +float AnalogSource_ADS1115::read_average() +{ return read_latest(); } -float ADS1115AnalogSource::read_latest() +float AnalogSource_ADS1115::read_latest() { return _value; } -float ADS1115AnalogSource::voltage_average() +float AnalogSource_ADS1115::voltage_average() { return _value; } -float ADS1115AnalogSource::voltage_latest() +float AnalogSource_ADS1115::voltage_latest() { return _value; } -float ADS1115AnalogSource::voltage_average_ratiometric() +float AnalogSource_ADS1115::voltage_average_ratiometric() { return _value; } -extern const AP_HAL::HAL& hal; +extern const AP_HAL::HAL &hal; -ADS1115AnalogIn::ADS1115AnalogIn() +AnalogIn_ADS1115::AnalogIn_ADS1115() { _adc = new AP_ADC_ADS1115(); _channels_number = _adc->get_channels_number(); } -AP_HAL::AnalogSource* ADS1115AnalogIn::channel(int16_t pin) +AP_HAL::AnalogSource* AnalogIn_ADS1115::channel(int16_t pin) { for (uint8_t j = 0; j < _channels_number; j++) { if (_channels[j] == NULL) { - _channels[j] = new ADS1115AnalogSource(pin); + _channels[j] = new AnalogSource_ADS1115(pin); return _channels[j]; } } @@ -74,15 +64,16 @@ AP_HAL::AnalogSource* ADS1115AnalogIn::channel(int16_t pin) return NULL; } -void ADS1115AnalogIn::init() +void AnalogIn_ADS1115::init() { _adc->init(); + hal.scheduler->suspend_timer_procs(); - hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&ADS1115AnalogIn::_update, void)); + hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&AnalogIn_ADS1115::_update, void)); hal.scheduler->resume_timer_procs(); } -void ADS1115AnalogIn::_update() +void AnalogIn_ADS1115::_update() { if (AP_HAL::micros() - _last_update_timestamp < 100000) { return; @@ -94,13 +85,7 @@ void ADS1115AnalogIn::_update() for (size_t i = 0; i < rc; i++) { for (uint8_t j=0; j < rc; j++) { - ADS1115AnalogSource *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 + AnalogSource_ADS1115 *source = _channels[j]; if (source != NULL && reports[i].id == source->_pin) { source->_value = reports[i].data / 1000; diff --git a/libraries/AP_HAL_Linux/AnalogIn_ADS1115.h b/libraries/AP_HAL_Linux/AnalogIn_ADS1115.h index 2eb3c04b04..ed5475d5d0 100644 --- a/libraries/AP_HAL_Linux/AnalogIn_ADS1115.h +++ b/libraries/AP_HAL_Linux/AnalogIn_ADS1115.h @@ -1,15 +1,14 @@ -#ifndef __ADS1115AnalogIn_H__ -#define __ADS1115AnalogIn_H__ +#pragma once #include "AP_HAL_Linux.h" #include #define ADS1115_ADC_MAX_CHANNELS 6 -class ADS1115AnalogSource: public AP_HAL::AnalogSource { +class AnalogSource_ADS1115: public AP_HAL::AnalogSource { public: - friend class ADS1115AnalogIn; - ADS1115AnalogSource(int16_t pin); + friend class AnalogIn_ADS1115; + AnalogSource_ADS1115(int16_t pin); float read_average(); float read_latest(); void set_pin(uint8_t p); @@ -23,26 +22,22 @@ private: float _value; }; -class ADS1115AnalogIn: public AP_HAL::AnalogIn { +class AnalogIn_ADS1115: public AP_HAL::AnalogIn { public: - ADS1115AnalogIn(); + AnalogIn_ADS1115(); void init(); AP_HAL::AnalogSource* channel(int16_t n); /* Board voltage is not available */ - float board_voltage(void) - { - return 0.0f; + float board_voltage(void) + { + return 0.0f; } private: - AP_ADC_ADS1115 *_adc; - ADS1115AnalogSource *_channels[ADS1115_ADC_MAX_CHANNELS]; - uint8_t _channels_number; - void _update(); - uint32_t _last_update_timestamp; + AP_ADC_ADS1115 *_adc; + AnalogSource_ADS1115 *_channels[ADS1115_ADC_MAX_CHANNELS]; + uint32_t _last_update_timestamp; }; - -#endif diff --git a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp b/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp index 6aba0af801..06776ae015 100644 --- a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp +++ b/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp @@ -77,7 +77,7 @@ static SPIDeviceManager spiDeviceManager; CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI -static ADS1115AnalogIn analogIn; +static AnalogIn_ADS1115 analogIn; #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT static RaspilotAnalogIn analogIn; #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT