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uncrustify libraries/AP_ADC/AP_ADC_ADS7844.cpp

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uncrustify 2012-08-16 22:39:21 -07:00 committed by Pat Hickey
parent 7bfe32fd3d
commit dcf4a9824d
1 changed files with 147 additions and 147 deletions
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100
libraries/AP_ADC/AP_ADC_ADS7844.cpp
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@ -1,56 +1,56 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/* /*
AP_ADC_ADS7844.cpp - ADC ADS7844 Library for Ardupilot Mega * AP_ADC_ADS7844.cpp - ADC ADS7844 Library for Ardupilot Mega
Code by Jordi Mu<EFBFBD>oz and Jose Julio. DIYDrones.com * Code by Jordi Mu<EFBFBD>oz and Jose Julio. DIYDrones.com
*
Modified by John Ihlein 6 / 19 / 2010 to: * Modified by John Ihlein 6 / 19 / 2010 to:
1)Prevent overflow of adc_counter when more than 8 samples collected between reads. Probably * 1)Prevent overflow of adc_counter when more than 8 samples collected between reads. Probably
only an issue on initial read of ADC at program start. * only an issue on initial read of ADC at program start.
2)Reorder analog read order as follows: * 2)Reorder analog read order as follows:
p, q, r, ax, ay, az * p, q, r, ax, ay, az
*
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.
*
External ADC ADS7844 is connected via Serial port 2 (in SPI mode) * External ADC ADS7844 is connected via Serial port 2 (in SPI mode)
TXD2 = MOSI = pin PH1 * TXD2 = MOSI = pin PH1
RXD2 = MISO = pin PH0 * RXD2 = MISO = pin PH0
XCK2 = SCK = pin PH2 * XCK2 = SCK = pin PH2
Chip Select pin is PC4 (33) [PH6 (9)] * Chip Select pin is PC4 (33) [PH6 (9)]
We are using the 16 clocks per conversion timming to increase efficiency (fast) * We are using the 16 clocks per conversion timming to increase efficiency (fast)
*
The sampling frequency is 1kHz (Timer2 overflow interrupt) * The sampling frequency is 1kHz (Timer2 overflow interrupt)
*
So if our loop is at 50Hz, our needed sampling freq should be 100Hz, so * So if our loop is at 50Hz, our needed sampling freq should be 100Hz, so
we have an 10x oversampling and averaging. * we have an 10x oversampling and averaging.
*
Methods: * Methods:
Init() : Initialization of interrupts an Timers (Timer2 overflow interrupt) * Init() : Initialization of interrupts an Timers (Timer2 overflow interrupt)
Ch(ch_num) : Return the ADC channel value * Ch(ch_num) : Return the ADC channel value
*
// HJI - Input definitions. USB connector assumed to be on the left, Rx and servo * // HJI - Input definitions. USB connector assumed to be on the left, Rx and servo
// connector pins to the rear. IMU shield components facing up. These are board * // connector pins to the rear. IMU shield components facing up. These are board
// referenced sensor inputs, not device referenced. * // referenced sensor inputs, not device referenced.
On Ardupilot Mega Hardware, oriented as described above: * On Ardupilot Mega Hardware, oriented as described above:
Chennel 0 : yaw rate, r * Chennel 0 : yaw rate, r
Channel 1 : roll rate, p * Channel 1 : roll rate, p
Channel 2 : pitch rate, q * Channel 2 : pitch rate, q
Channel 3 : x / y gyro temperature * Channel 3 : x / y gyro temperature
Channel 4 : x acceleration, aX * Channel 4 : x acceleration, aX
Channel 5 : y acceleration, aY * Channel 5 : y acceleration, aY
Channel 6 : z acceleration, aZ * Channel 6 : z acceleration, aZ
Channel 7 : Differential pressure sensor port * Channel 7 : Differential pressure sensor port
*
*/ */
#include "AP_ADC_ADS7844.h" #include "AP_ADC_ADS7844.h"
extern "C" { extern "C" {
// AVR LibC Includes // AVR LibC Includes
#include <inttypes.h> #include <inttypes.h>
#include <stdint.h> #include <stdint.h>
#include <avr/interrupt.h> #include <avr/interrupt.h>
} }
#if defined(ARDUINO) && ARDUINO >= 100 #if defined(ARDUINO) && ARDUINO >= 100
#include "Arduino.h" #include "Arduino.h"
@ -82,7 +82,7 @@ static inline unsigned char ADC_SPI_transfer(unsigned char data)
/* Put data into buffer, sends the data */ /* Put data into buffer, sends the data */
UDR2 = data; UDR2 = data;
/* Wait for data to be received */ /* Wait for data to be received */
while ( !(UCSR2A & (1 << RXC2)) ); while ( !(UCSR2A & (1 << RXC2)) ) ;
/* Get and return received data from buffer */ /* Get and return received data from buffer */
return UDR2; return UDR2;
} }
@ -172,7 +172,7 @@ float AP_ADC_ADS7844::Ch(uint8_t ch_num)
uint32_t sum; uint32_t sum;
// ensure we have at least one value // ensure we have at least one value
while (_count[ch_num] == 0) /* noop */ ; while (_count[ch_num] == 0) /* noop */;
// grab the value with interrupts disabled, and clear the count // grab the value with interrupts disabled, and clear the count
cli(); cli();