mirror of https://github.com/ArduPilot/ardupilot
Moved APM_ADC to AP_ADC
git-svn-id: https://arducopter.googlecode.com/svn/trunk@954 f9c3cf11-9bcb-44bc-f272-b75c42450872
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james.goppert
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386dab70f9
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cce122d387
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/*
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APM_ADC.cpp - ADC ADS7844 Library for Ardupilot Mega
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Code by Jordi Muñoz and Jose Julio. DIYDrones.com
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Modified by John Ihlein 6/19/2010 to:
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1)Prevent overflow of adc_counter when more than 8 samples collected between reads. Probably
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only an issue on initial read of ADC at program start.
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2)Reorder analog read order as follows:
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p, q, r, ax, ay, az
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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External ADC ADS7844 is connected via Serial port 2 (in SPI mode)
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TXD2 = MOSI = pin PH1
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RXD2 = MISO = pin PH0
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XCK2 = SCK = pin PH2
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Chip Select pin is PC4 (33) [PH6 (9)]
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We are using the 16 clocks per conversion timming to increase efficiency (fast)
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The sampling frequency is 400Hz (Timer2 overflow interrupt)
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So if our loop is at 50Hz, our needed sampling freq should be 100Hz, so
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we have an 4x oversampling and averaging.
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Methods:
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Init() : Initialization of interrupts an Timers (Timer2 overflow interrupt)
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Ch(ch_num) : Return the ADC channel value
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// HJI - Input definitions. USB connector assumed to be on the left, Rx and servo
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// connector pins to the rear. IMU shield components facing up. These are board
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// referenced sensor inputs, not device referenced.
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On Ardupilot Mega Hardware, oriented as described above:
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Chennel 0 : yaw rate, r
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Channel 1 : roll rate, p
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Channel 2 : pitch rate, q
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Channel 3 : x/y gyro temperature
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Channel 4 : x acceleration, aX
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Channel 5 : y acceleration, aY
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Channel 6 : z acceleration, aZ
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Channel 7 : Differential pressure sensor port
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*/
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extern "C" {
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// AVR LibC Includes
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#include <inttypes.h>
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#include <avr/interrupt.h>
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#include "WConstants.h"
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}
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#include "APM_ADC.h"
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// Commands for reading ADC channels on ADS7844
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const unsigned char adc_cmd[9]= { 0x87, 0xC7, 0x97, 0xD7, 0xA7, 0xE7, 0xB7, 0xF7, 0x00 };
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volatile long adc_value[8] = { 0, 0, 0, 0, 0, 0, 0, 0 };
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volatile unsigned char adc_counter[8] = { 0, 0, 0, 0, 0, 0, 0, 0 };
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unsigned char ADC_SPI_transfer(unsigned char data)
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{
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/* Wait for empty transmit buffer */
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while ( !( UCSR2A & (1<<UDRE2)) );
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/* Put data into buffer, sends the data */
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UDR2 = data;
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/* Wait for data to be received */
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while ( !(UCSR2A & (1<<RXC2)) );
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/* Get and return received data from buffer */
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return UDR2;
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}
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ISR (TIMER2_OVF_vect)
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{
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uint8_t ch;
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unsigned int adc_tmp;
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//bit_set(PORTL,6); // To test performance
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bit_clear(PORTC,4); // Enable Chip Select (PIN PC4)
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ADC_SPI_transfer(adc_cmd[0]); // Command to read the first channel
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for (ch=0;ch<8;ch++)
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{
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if (adc_counter[ch] >= 17) // HJI - Added this to prevent
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{ // overflow of adc_value
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adc_value[ch] = 0;
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adc_counter[ch] = 0;
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}
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adc_tmp = ADC_SPI_transfer(0)<<8; // Read first byte
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adc_tmp |= ADC_SPI_transfer(adc_cmd[ch+1]); // Read second byte and send next command
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adc_value[ch] += adc_tmp>>3; // Shift to 12 bits
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adc_counter[ch]++; // Number of samples
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}
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bit_set(PORTC,4); // Disable Chip Select (PIN PC4)
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//bit_clear(PORTL,6); // To test performance
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TCNT2 = 104; // 400 Hz
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}
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// Constructors ////////////////////////////////////////////////////////////////
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APM_ADC_Class::APM_ADC_Class()
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{
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}
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// Public Methods //////////////////////////////////////////////////////////////
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void APM_ADC_Class::Init(void)
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{
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unsigned char tmp;
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pinMode(ADC_CHIP_SELECT,OUTPUT);
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digitalWrite(ADC_CHIP_SELECT,HIGH); // Disable device (Chip select is active low)
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// Setup Serial Port2 in SPI mode
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UBRR2 = 0;
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DDRH |= (1<<PH2); // SPI clock XCK2 (PH2) as output. This enable SPI Master mode
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// Set MSPI mode of operation and SPI data mode 0.
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UCSR2C = (1<<UMSEL21)|(1<<UMSEL20); //|(0<<UCPHA2)|(0<<UCPOL2);
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// Enable receiver and transmitter.
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UCSR2B = (1<<RXEN2)|(1<<TXEN2);
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// Set Baud rate
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UBRR2 = 2; // SPI clock running at 2.6MHz
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// Enable Timer2 Overflow interrupt to capture ADC data
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TIMSK2 = 0; // Disable interrupts
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TCCR2A = 0; // normal counting mode
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TCCR2B = _BV(CS21)|_BV(CS22); // Set prescaler of 256
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TCNT2 = 0;
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TIFR2 = _BV(TOV2); // clear pending interrupts;
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TIMSK2 = _BV(TOIE2) ; // enable the overflow interrupt
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}
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// Read one channel value
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int APM_ADC_Class::Ch(unsigned char ch_num)
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{
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int result;
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cli(); // We stop interrupts to read the variables
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if (adc_counter[ch_num]>0)
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result = adc_value[ch_num]/adc_counter[ch_num];
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else
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result = 0;
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adc_value[ch_num] = 0; // Initialize for next reading
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adc_counter[ch_num] = 0;
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sei();
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return(result);
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}
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// Constructors ////////////////////////////////////////////////////////////////
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APM_ADC_HIL_Class::APM_ADC_HIL_Class()
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{
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}
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// Public Methods //////////////////////////////////////////////////////////////
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void APM_ADC_HIL_Class::Init(void)
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{
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}
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// Read one channel value
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int APM_ADC_HIL_Class::Ch(unsigned char ch_num)
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{
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return adc_value[ch_num];
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}
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// Set one channel value
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int APM_ADC_HIL_Class::setHIL(int16_t p, int16_t q, int16_t r, int16_t gyroTemp,
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int16_t aX, int16_t aY, int16_t aZ, int16_t diffPress)
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{
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static const uint16_t adcPerG = 418;
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static const float gyroGainX = 0.4;
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static const float gyroGainY = 0.41;
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static const float gyroGainZ = 0.41;
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static const float deg2rad = 3.14159/180.0;
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static const uint8_t sensors[6] = {1,2,0,4,5,6}; // For ArduPilot Mega Sensor Shield Hardware
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static const int SENSOR_SIGN[] = { 1, -1, -1,
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-1, 1, 1,
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-1, -1, -1};
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// TODO: map temp and press to raw
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// gyros
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/* 0 */ adc_value[sensors[0]] = SENSOR_SIGN[0]* p/(gyroGainX*deg2rad*1000) + 1665; // note apm says 1,2,0 gyro order, but
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/* 1 */ adc_value[sensors[1]] = SENSOR_SIGN[1]* q/(gyroGainY*deg2rad*1000) + 1665; // this says 0,1,2
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/* 2 */ adc_value[sensors[2]] = SENSOR_SIGN[2]* r/(gyroGainZ*deg2rad*1000) + 1665;
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// gyro temp
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/* 3 */ adc_value[3] = SENSOR_SIGN[3]* gyroTemp; //gyroTemp XXX: fix scaling;
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// accelerometers
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/* 4 */ adc_value[sensors[3]] = SENSOR_SIGN[4]* (aX*adcPerG)/1.0e3 + 2025;
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/* 5 */ adc_value[sensors[4]] = SENSOR_SIGN[5]* (aY*adcPerG)/1.0e3 + 2025;
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/* 6 */ adc_value[sensors[5]] = SENSOR_SIGN[6]* (aZ*adcPerG)/1.0e3 + 2025;
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// differential pressure
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/* 7 */ adc_value[7] = SENSOR_SIGN[7]* diffPress; //diffPress XXX: fix scaling;
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// set count as 1 so no averaging occurs
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for (int i=0;i<7;i++) adc_counter[i] = 1;
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}
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@ -1,33 +0,0 @@
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#ifndef APM_ADC_h
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#define APM_ADC_h
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#define bit_set(p,m) ((p) |= ( 1<<m))
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#define bit_clear(p,m) ((p) &= ~(1<<m))
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// We use Serial Port 2 in SPI Mode
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#define ADC_DATAOUT 51 // MOSI
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#define ADC_DATAIN 50 // MISO
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#define ADC_SPICLOCK 52 // SCK
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#define ADC_CHIP_SELECT 33 // PC4 9 // PH6 Puerto:0x08 Bit mask : 0x40
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class APM_ADC_Class
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{
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private:
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public:
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APM_ADC_Class(); // Constructor
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void Init();
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int Ch(unsigned char ch_num);
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};
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class APM_ADC_HIL_Class
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{
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private:
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public:
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APM_ADC_HIL_Class(); // Constructor
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void Init();
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int Ch(unsigned char ch_num);
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int setHIL(int16_t p, int16_t q, int16_t r, int16_t gyroTemp,
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int16_t aX, int16_t aY, int16_t aZ, int16_t diffPress);
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};
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#endif
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@ -3,15 +3,15 @@
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Code by Jordi Muñoz and Jose Julio. DIYDrones.com
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*/
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#include <APM_ADC.h> // ArduPilot Mega ADC Library
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#include <AP_ADC.h> // ArduPilot Mega ADC Library
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unsigned long timer;
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APM_ADC_Class APM_ADC;
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AP_ADC_ADS7844 adc;
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void setup()
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{
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APM_ADC.Init(); // APM ADC initialization
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adc.Init(); // APM ADC initialization
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Serial.begin(57600);
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Serial.println("ArduPilot Mega ADC library test");
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delay(1000);
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@ -27,7 +27,7 @@ void loop()
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timer = millis();
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for (ch=0;ch<7;ch++)
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{
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Serial.print(APM_ADC.Ch(ch));
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Serial.print(adc.Ch(ch));
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Serial.print(",");
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}
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Serial.println();
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