ADC: randomise the sampling rate

this is based on suggestions from Kari and Mike, and should reduce the
aliasing effects we get from the simple averaging
This commit is contained in:
Andrew Tridgell 2011-09-17 12:30:19 +10:00
parent ba6c58a33c
commit a835912d93
1 changed files with 17 additions and 4 deletions

View File

@ -65,6 +65,14 @@ static volatile uint16_t _count[8];
static uint32_t last_ch6_micros;
// TCNT2 values for various interrupt rates,
// assuming 256 prescaler. Note that these values
// assume a zero-time ISR. The actual rate will be a
// bit lower than this
#define TCNT2_781_HZ (256-80)
#define TCNT2_1008_HZ (256-62)
#define TCNT2_1302_HZ (256-48)
static inline unsigned char ADC_SPI_transfer(unsigned char data)
{
/* Put data into buffer, sends the data */
@ -79,6 +87,7 @@ static inline unsigned char ADC_SPI_transfer(unsigned char data)
ISR (TIMER2_OVF_vect)
{
uint8_t ch;
static uint8_t timer_offset;
bit_clear(PORTC, 4); // Enable Chip Select (PIN PC4)
ADC_SPI_transfer(adc_cmd[0]); // Command to read the first channel
@ -110,7 +119,11 @@ ISR (TIMER2_OVF_vect)
}
bit_set(PORTC, 4); // Disable Chip Select (PIN PC4)
TCNT2 = 200;
// this gives us a sample rate between 781Hz and 1302Hz. We
// randomise it to try to minimise aliasing effects
timer_offset = (timer_offset + 49) % 32;
TCNT2 = TCNT2_781_HZ + timer_offset;
}
@ -151,10 +164,10 @@ void AP_ADC_ADS7844::Init(void)
// Enable Timer2 Overflow interrupt to capture ADC data
TIMSK2 = 0; // Disable interrupts
TCCR2A = 0; // normal counting mode
TCCR2B = _BV(CS21) | _BV(CS22); // Set prescaler of 256
TCCR2B = _BV(CS21) | _BV(CS22); // Set prescaler of clk/256
TCNT2 = 0;
TIFR2 = _BV(TOV2); // clear pending interrupts;
TIMSK2 = _BV(TOIE2) ; // enable the overflow interrupt
TIMSK2 = _BV(TOIE2); // enable the overflow interrupt
}
// Read one channel value