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uncrustify libraries/AP_ADC/AP_ADC_HIL.cpp

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uncrustify 2012-08-16 22:39:21 -07:00 committed by Pat Hickey
parent 0fcf421752
commit bd0b3ee6b2
1 changed files with 43 additions and 43 deletions
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86
libraries/AP_ADC/AP_ADC_HIL.cpp
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@ -1,46 +1,46 @@
#include "AP_ADC_HIL.h" #include "AP_ADC_HIL.h"
#if defined(ARDUINO) && ARDUINO >= 100 #if defined(ARDUINO) && ARDUINO >= 100
#include "Arduino.h" #include "Arduino.h"
#else #else
#include "WProgram.h" #include "WProgram.h"
#endif #endif
/* /*
AP_ADC_HIL.cpp * AP_ADC_HIL.cpp
Author: James Goppert * Author: James Goppert
*
License: * License:
This library is free software; you can redistribute it and/or * This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public * modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either * License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version. * version 2.1 of the License, or (at your option) any later version.
*/ */
const uint8_t AP_ADC_HIL::sensors[6] = {1,2,0,4,5,6}; const uint8_t AP_ADC_HIL::sensors[6] = {1,2,0,4,5,6};
const int8_t AP_ADC_HIL::sensorSign[6] = { 1, -1, -1,-1, 1, 1}; const int8_t AP_ADC_HIL::sensorSign[6] = { 1, -1, -1,-1, 1, 1};
const float AP_ADC_HIL::gyroBias[3] = {1665,1665,1665}; const float AP_ADC_HIL::gyroBias[3] = {1665,1665,1665};
const float AP_ADC_HIL::accelBias[3] = {2025,2025,2025}; const float AP_ADC_HIL::accelBias[3] = {2025,2025,2025};
// gyroScale = 1/[GyroGain*pi/180] GyroGains (0.4,0.41,0.41) // gyroScale = 1/[GyroGain*pi/180] GyroGains (0.4,0.41,0.41)
const float AP_ADC_HIL::gyroScale[3] = {143.239, 139.746, 139.746}; const float AP_ADC_HIL::gyroScale[3] = {143.239, 139.746, 139.746};
const float AP_ADC_HIL::accelScale[3] = {418,418,418}; // adcPerG const float AP_ADC_HIL::accelScale[3] = {418,418,418}; // adcPerG
AP_ADC_HIL::AP_ADC_HIL() AP_ADC_HIL::AP_ADC_HIL()
{ {
// gyros set to zero for calibration // gyros set to zero for calibration
setGyro(0,0); setGyro(0,0);
setGyro(1,0); setGyro(1,0);
setGyro(2,0); setGyro(2,0);
// accels set to zero for calibration // accels set to zero for calibration
setAccel(0,0); setAccel(0,0);
setAccel(1,0); setAccel(1,0);
setAccel(2,0); setAccel(2,0);
// set diff press and temp to zero // set diff press and temp to zero
setGyroTemp(0); setGyroTemp(0);
setPressure(0); setPressure(0);
last_hil_time = millis(); last_hil_time = millis();
} }
void AP_ADC_HIL::Init( AP_PeriodicProcess * scheduler ) void AP_ADC_HIL::Init( AP_PeriodicProcess * scheduler )
@ -50,41 +50,41 @@ void AP_ADC_HIL::Init( AP_PeriodicProcess * scheduler )
// Read one channel value // Read one channel value
float AP_ADC_HIL::Ch(unsigned char ch_num) float AP_ADC_HIL::Ch(unsigned char ch_num)
{ {
return adcValue[ch_num]; return adcValue[ch_num];
} }
// Read 6 channel values // Read 6 channel values
uint32_t AP_ADC_HIL::Ch6(const uint8_t *channel_numbers, float *result) uint32_t AP_ADC_HIL::Ch6(const uint8_t *channel_numbers, float *result)
{ {
for (uint8_t i=0; i<6; i++) { for (uint8_t i=0; i<6; i++) {
result[i] = Ch(channel_numbers[i]); result[i] = Ch(channel_numbers[i]);
} }
return ((millis() - last_hil_time)*2)/5; return ((millis() - last_hil_time)*2)/5;
} }
// Set one channel value // Set one channel value
void AP_ADC_HIL::setHIL(int16_t p, int16_t q, int16_t r, int16_t gyroTemp, void AP_ADC_HIL::setHIL(int16_t p, int16_t q, int16_t r, int16_t gyroTemp,
int16_t aX, int16_t aY, int16_t aZ, int16_t diffPress) int16_t aX, int16_t aY, int16_t aZ, int16_t diffPress)
{ {
// gyros // gyros
setGyro(0,p); setGyro(0,p);
setGyro(1,q); setGyro(1,q);
setGyro(2,r); setGyro(2,r);
// temp // temp
setGyroTemp(gyroTemp); setGyroTemp(gyroTemp);
// accel // accel
setAccel(0,aX); setAccel(0,aX);
setAccel(1,aY); setAccel(1,aY);
setAccel(2,aZ); setAccel(2,aZ);
// differential pressure // differential pressure
setPressure(diffPress); setPressure(diffPress);
} }
// see if new data is available // see if new data is available
bool AP_ADC_HIL::new_data_available(const uint8_t *channel_numbers) bool AP_ADC_HIL::new_data_available(const uint8_t *channel_numbers)
{ {
return true; return true;
} }