mirror of https://github.com/ArduPilot/ardupilot
uncrustify libraries/AP_ADC/AP_ADC_ADS7844.cpp
This commit is contained in:
uncrustify
Pat Hickey
parent
7bfe32fd3d
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dcf4a9824d
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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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@ -82,7 +82,7 @@ static inline unsigned char ADC_SPI_transfer(unsigned char data)
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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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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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@ -172,7 +172,7 @@ float AP_ADC_ADS7844::Ch(uint8_t ch_num)
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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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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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