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AP_ADC: use millis/micros/panic functions

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Caio Marcelo de Oliveira Filho 2015-11-20 12:06:12 +09:00 committed by Randy Mackay
parent b331ffdd91
commit b293fb150c
2 changed files with 9 additions and 9 deletions
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6
libraries/AP_ADC/AP_ADC_ADS1115.cpp
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@ -188,7 +188,7 @@ float AP_ADC_ADS1115::_convert_register_data_to_mv(int16_t word) const
default: default:
pga = 0.0f; pga = 0.0f;
hal.console->printf("Wrong gain"); hal.console->printf("Wrong gain");
hal.scheduler->panic("ADS1115: wrong gain selected"); AP_HAL::panic("ADS1115: wrong gain selected");
break; break;
} }
@ -198,7 +198,7 @@ float AP_ADC_ADS1115::_convert_register_data_to_mv(int16_t word) const
void AP_ADC_ADS1115::_update() void AP_ADC_ADS1115::_update()
{ {
/* TODO: make update rate configurable */ /* TODO: make update rate configurable */
if (hal.scheduler->micros() - _last_update_timestamp < 100000) { if (AP_HAL::micros() - _last_update_timestamp < 100000) {
return; return;
} }
@ -241,5 +241,5 @@ void AP_ADC_ADS1115::_update()
_i2c_sem->give(); _i2c_sem->give();
_last_update_timestamp = hal.scheduler->micros(); _last_update_timestamp = AP_HAL::micros();
} }

12
libraries/AP_ADC/AP_ADC_ADS7844.cpp
View File

@ -90,7 +90,7 @@ void AP_ADC_ADS7844::read(void)
if (!got) { if (!got) {
semfail_ctr++; semfail_ctr++;
if (semfail_ctr > 100) { if (semfail_ctr > 100) {
hal.scheduler->panic("PANIC: failed to take _spi_sem " AP_HAL::panic("PANIC: failed to take _spi_sem "
"100 times in AP_ADC_ADS7844::read"); "100 times in AP_ADC_ADS7844::read");
} }
return; return;
@ -124,7 +124,7 @@ void AP_ADC_ADS7844::read(void)
_spi_sem->give(); _spi_sem->give();
// record time of this sample // record time of this sample
_ch6_last_sample_time_micros = hal.scheduler->micros(); _ch6_last_sample_time_micros = AP_HAL::micros();
} }
@ -137,19 +137,19 @@ void AP_ADC_ADS7844::Init()
hal.scheduler->suspend_timer_procs(); hal.scheduler->suspend_timer_procs();
_spi = hal.spi->device(AP_HAL::SPIDevice_ADS7844); _spi = hal.spi->device(AP_HAL::SPIDevice_ADS7844);
if (_spi == NULL) { if (_spi == NULL) {
hal.scheduler->panic("PANIC: AP_ADC_ADS7844 missing SPI device " AP_HAL::panic("PANIC: AP_ADC_ADS7844 missing SPI device "
"driver\n"); "driver\n");
} }
_spi_sem = _spi->get_semaphore(); _spi_sem = _spi->get_semaphore();
if (_spi_sem == NULL) { if (_spi_sem == NULL) {
hal.scheduler->panic("PANIC: AP_ADC_ADS7844 missing SPI device " AP_HAL::panic("PANIC: AP_ADC_ADS7844 missing SPI device "
"semaphore"); "semaphore");
} }
if (!_spi_sem->take(0)) { if (!_spi_sem->take(0)) {
hal.scheduler->panic("PANIC: failed to take _spi_sem in" AP_HAL::panic("PANIC: failed to take _spi_sem in"
"AP_ADC_ADS7844::Init"); "AP_ADC_ADS7844::Init");
} }
@ -168,7 +168,7 @@ void AP_ADC_ADS7844::Init()
_spi_sem->give(); _spi_sem->give();
_ch6_last_sample_time_micros = hal.scheduler->micros(); _ch6_last_sample_time_micros = AP_HAL::micros();
hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&AP_ADC_ADS7844::read, void)); hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&AP_ADC_ADS7844::read, void));
hal.scheduler->resume_timer_procs(); hal.scheduler->resume_timer_procs();