mirror of https://github.com/ArduPilot/ardupilot
uncrustify libraries/AP_ADC/AP_ADC_ADS7844.cpp
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uncrustify
Pat Hickey
parent
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commit
dcf4a9824d
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@ -1,65 +1,65 @@
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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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AP_ADC_ADS7844.cpp - ADC ADS7844 Library for Ardupilot Mega
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Code by Jordi Mu<EFBFBD>oz 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 1kHz (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 10x 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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* AP_ADC_ADS7844.cpp - ADC ADS7844 Library for Ardupilot Mega
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* Code by Jordi Mu<EFBFBD>oz and Jose Julio. DIYDrones.com
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*
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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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*
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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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*
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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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*
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* The sampling frequency is 1kHz (Timer2 overflow interrupt)
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*
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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 10x oversampling and averaging.
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*
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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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*
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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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*/
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#include "AP_ADC_ADS7844.h"
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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 <stdint.h>
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#include <avr/interrupt.h>
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// AVR LibC Includes
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#include <inttypes.h>
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#include <stdint.h>
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#include <avr/interrupt.h>
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}
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#if defined(ARDUINO) && ARDUINO >= 100
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#include "Arduino.h"
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#include "Arduino.h"
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#else
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#include "WConstants.h"
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#include "WConstants.h"
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#endif
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// Commands for reading ADC channels on ADS7844
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static const unsigned char adc_cmd[9] = { 0x87, 0xC7, 0x97, 0xD7, 0xA7, 0xE7, 0xB7, 0xF7, 0x00 };
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static const unsigned char adc_cmd[9] = { 0x87, 0xC7, 0x97, 0xD7, 0xA7, 0xE7, 0xB7, 0xF7, 0x00 };
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// the sum of the values since last read
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static volatile uint32_t _sum[8];
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@ -79,48 +79,48 @@ static uint32_t last_ch6_micros;
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static inline unsigned char ADC_SPI_transfer(unsigned char data)
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{
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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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/* 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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void AP_ADC_ADS7844::read(uint32_t tnow)
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{
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uint8_t ch;
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uint8_t ch;
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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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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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uint16_t v;
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for (ch = 0; ch < 8; ch++) {
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uint16_t v;
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v = ADC_SPI_transfer(0) << 8; // Read first byte
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v |= ADC_SPI_transfer(adc_cmd[ch + 1]); // Read second byte and send next command
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v = ADC_SPI_transfer(0) << 8; // Read first byte
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v |= ADC_SPI_transfer(adc_cmd[ch + 1]); // Read second byte and send next command
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if (v & 0x8007) {
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// this is a 12-bit ADC, shifted by 3 bits.
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// if we get other bits set then the value is
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// bogus and should be ignored
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continue;
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}
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if (v & 0x8007) {
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// this is a 12-bit ADC, shifted by 3 bits.
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// if we get other bits set then the value is
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// bogus and should be ignored
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continue;
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}
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if (++_count[ch] == 0) {
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// overflow ... shouldn't happen too often
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// unless we're just not using the
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// channel. Notice that we overflow the count
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// to 1 here, not zero, as otherwise the
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// reader below could get a division by zero
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_sum[ch] = 0;
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_count[ch] = 1;
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}
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_sum[ch] += (v >> 3);
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}
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if (++_count[ch] == 0) {
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// overflow ... shouldn't happen too often
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// unless we're just not using the
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// channel. Notice that we overflow the count
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// to 1 here, not zero, as otherwise the
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// reader below could get a division by zero
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_sum[ch] = 0;
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_count[ch] = 1;
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}
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_sum[ch] += (v >> 3);
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}
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bit_set(PORTC, 4); // Disable Chip Select (PIN PC4)
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bit_set(PORTC, 4); // Disable Chip Select (PIN PC4)
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}
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@ -134,31 +134,31 @@ AP_ADC_ADS7844::AP_ADC_ADS7844()
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void AP_ADC_ADS7844::Init( AP_PeriodicProcess * scheduler )
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{
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scheduler->suspend_timer();
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pinMode(ADC_CHIP_SELECT, OUTPUT);
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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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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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// 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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// get an initial value for each channel. This ensures
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// _count[] is never zero
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for (uint8_t i=0; i<8; i++) {
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uint16_t adc_tmp;
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adc_tmp = ADC_SPI_transfer(0) << 8;
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adc_tmp |= ADC_SPI_transfer(adc_cmd[i + 1]);
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_count[i] = 1;
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_sum[i] = adc_tmp;
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}
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// get an initial value for each channel. This ensures
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// _count[] is never zero
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for (uint8_t i=0; i<8; i++) {
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uint16_t adc_tmp;
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adc_tmp = ADC_SPI_transfer(0) << 8;
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adc_tmp |= ADC_SPI_transfer(adc_cmd[i + 1]);
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_count[i] = 1;
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_sum[i] = adc_tmp;
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}
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last_ch6_micros = micros();
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last_ch6_micros = micros();
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scheduler->resume_timer();
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scheduler->register_process( AP_ADC_ADS7844::read );
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@ -168,33 +168,33 @@ void AP_ADC_ADS7844::Init( AP_PeriodicProcess * scheduler )
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// Read one channel value
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float AP_ADC_ADS7844::Ch(uint8_t ch_num)
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{
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uint16_t count;
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uint32_t sum;
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uint16_t count;
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uint32_t sum;
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// ensure we have at least one value
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while (_count[ch_num] == 0) /* noop */ ;
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// ensure we have at least one value
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while (_count[ch_num] == 0) /* noop */;
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// grab the value with interrupts disabled, and clear the count
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cli();
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count = _count[ch_num];
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sum = _sum[ch_num];
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_count[ch_num] = 0;
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_sum[ch_num] = 0;
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sei();
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// grab the value with interrupts disabled, and clear the count
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cli();
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count = _count[ch_num];
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sum = _sum[ch_num];
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_count[ch_num] = 0;
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_sum[ch_num] = 0;
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sei();
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return ((float)sum)/count;
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return ((float)sum)/count;
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}
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// see if Ch6() can return new data
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bool AP_ADC_ADS7844::new_data_available(const uint8_t *channel_numbers)
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{
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uint8_t i;
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uint8_t i;
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for (i=0; i<6; i++) {
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if (_count[channel_numbers[i]] == 0) {
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for (i=0; i<6; i++) {
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if (_count[channel_numbers[i]] == 0) {
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return false;
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}
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}
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}
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return true;
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}
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@ -206,36 +206,36 @@ bool AP_ADC_ADS7844::new_data_available(const uint8_t *channel_numbers)
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// then you will get very strange results
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uint32_t AP_ADC_ADS7844::Ch6(const uint8_t *channel_numbers, float *result)
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{
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uint16_t count[6];
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uint32_t sum[6];
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uint8_t i;
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uint16_t count[6];
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uint32_t sum[6];
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uint8_t i;
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// ensure we have at least one value
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for (i=0; i<6; i++) {
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while (_count[channel_numbers[i]] == 0) /* noop */;
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}
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// ensure we have at least one value
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for (i=0; i<6; i++) {
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while (_count[channel_numbers[i]] == 0) /* noop */;
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}
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// grab the values with interrupts disabled, and clear the counts
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cli();
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for (i=0; i<6; i++) {
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count[i] = _count[channel_numbers[i]];
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sum[i] = _sum[channel_numbers[i]];
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_count[channel_numbers[i]] = 0;
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_sum[channel_numbers[i]] = 0;
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}
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sei();
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// grab the values with interrupts disabled, and clear the counts
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cli();
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for (i=0; i<6; i++) {
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count[i] = _count[channel_numbers[i]];
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sum[i] = _sum[channel_numbers[i]];
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_count[channel_numbers[i]] = 0;
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_sum[channel_numbers[i]] = 0;
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}
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sei();
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// calculate averages. We keep this out of the cli region
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// to prevent us stalling the ISR while doing the
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// division. That costs us 36 bytes of stack, but I think its
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// worth it.
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for (i = 0; i < 6; i++) {
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result[i] = sum[i] / (float)count[i];
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}
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// calculate averages. We keep this out of the cli region
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// to prevent us stalling the ISR while doing the
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// division. That costs us 36 bytes of stack, but I think its
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// worth it.
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for (i = 0; i < 6; i++) {
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result[i] = sum[i] / (float)count[i];
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}
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// return number of microseconds since last call
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uint32_t us = micros();
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uint32_t ret = us - last_ch6_micros;
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last_ch6_micros = us;
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return ret;
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// return number of microseconds since last call
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uint32_t us = micros();
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uint32_t ret = us - last_ch6_micros;
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last_ch6_micros = us;
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return ret;
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}
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