mirror of https://github.com/ArduPilot/ardupilot
fixed inconsistent linefeeds in ADC code
the linefeeds had bacome inconsistent in this library, making some editors fail to load the code
This commit is contained in:
Andrew Tridgell
parent
2ca8e58bc2
commit
f375258699
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@ -1,11 +1,11 @@
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/*
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ADC.cpp - Analog Digital Converter Base Class for Ardupilot Mega
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Code by James Goppert. DIYDrones.com
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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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#include "AP_ADC.h"
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/*
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ADC.cpp - Analog Digital Converter Base Class for Ardupilot Mega
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Code by James Goppert. DIYDrones.com
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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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#include "AP_ADC.h"
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@ -1,28 +1,28 @@
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#ifndef AP_ADC_H
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#define AP_ADC_H
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#ifndef AP_ADC_H
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#define AP_ADC_H
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#include <stdint.h>
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/*
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AP_ADC.cpp - Analog Digital Converter Base Class for Ardupilot Mega
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Code by James Goppert. DIYDrones.com
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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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Methods:
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Init() : Initialization of ADC. (interrupts etc)
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Ch(ch_num) : Return the ADC channel value
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/*
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AP_ADC.cpp - Analog Digital Converter Base Class for Ardupilot Mega
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Code by James Goppert. DIYDrones.com
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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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Methods:
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Init() : Initialization of ADC. (interrupts etc)
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Ch(ch_num) : Return the ADC channel value
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Ch6(channel_numbers, result) : Return 6 ADC channel values
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*/
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class AP_ADC
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{
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public:
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AP_ADC() {}; // Constructor
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virtual void Init() {};
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*/
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class AP_ADC
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{
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public:
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AP_ADC() {}; // Constructor
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virtual void Init() {};
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/* read one channel value */
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virtual uint16_t Ch(uint8_t ch_num) = 0;
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@ -41,7 +41,7 @@ class AP_ADC
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private:
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};
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#include "AP_ADC_ADS7844.h"
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#include "AP_ADC_HIL.h"
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#endif
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#include "AP_ADC_ADS7844.h"
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#include "AP_ADC_HIL.h"
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#endif
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@ -1,61 +1,61 @@
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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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/*
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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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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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extern "C" {
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// AVR LibC Includes
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#include <inttypes.h>
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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 <stdint.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 "AP_ADC_ADS7844.h"
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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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#include <avr/interrupt.h>
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#include "WConstants.h"
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}
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#include "AP_ADC_ADS7844.h"
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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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// the sum of the values since last read
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static volatile uint32_t _sum[8];
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@ -78,12 +78,12 @@ 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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/* Get and return received data from buffer */
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return UDR2;
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}
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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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@ -127,13 +127,13 @@ ISR (TIMER2_OVF_vect)
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}
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// Constructors ////////////////////////////////////////////////////////////////
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AP_ADC_ADS7844::AP_ADC_ADS7844()
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{
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}
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// Public Methods //////////////////////////////////////////////////////////////
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void AP_ADC_ADS7844::Init(void)
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// Constructors ////////////////////////////////////////////////////////////////
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AP_ADC_ADS7844::AP_ADC_ADS7844()
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{
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}
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// Public Methods //////////////////////////////////////////////////////////////
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void AP_ADC_ADS7844::Init(void)
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{
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pinMode(ADC_CHIP_SELECT, OUTPUT);
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@ -172,15 +172,15 @@ void AP_ADC_ADS7844::Init(void)
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// Read one channel value
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uint16_t AP_ADC_ADS7844::Ch(uint8_t ch_num)
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{
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{
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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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// grab the value with interrupts disabled, and clear the count
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cli();
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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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@ -204,8 +204,8 @@ uint32_t AP_ADC_ADS7844::Ch6(const uint8_t *channel_numbers, uint16_t *result)
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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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}
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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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@ -214,8 +214,8 @@ uint32_t AP_ADC_ADS7844::Ch6(const uint8_t *channel_numbers, uint16_t *result)
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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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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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@ -1,24 +1,24 @@
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#ifndef AP_ADC_ADS7844_H
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#define AP_ADC_ADS7844_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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#define ADC_FILTER_SIZE 3
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#include "AP_ADC.h"
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#include <inttypes.h>
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class AP_ADC_ADS7844 : public AP_ADC
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{
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public:
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AP_ADC_ADS7844(); // Constructor
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void Init();
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#ifndef AP_ADC_ADS7844_H
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#define AP_ADC_ADS7844_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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#define ADC_FILTER_SIZE 3
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#include "AP_ADC.h"
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#include <inttypes.h>
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class AP_ADC_ADS7844 : public AP_ADC
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{
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public:
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AP_ADC_ADS7844(); // Constructor
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void Init();
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// Read 1 sensor value
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uint16_t Ch(unsigned char ch_num);
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@ -28,5 +28,5 @@ class AP_ADC_ADS7844 : public AP_ADC
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private:
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};
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#endif
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#endif
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@ -1,51 +1,51 @@
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#include "AP_ADC_HIL.h"
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#include "WProgram.h"
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/*
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AP_ADC_HIL.cpp
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Author: James Goppert
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License:
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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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const uint8_t AP_ADC_HIL::sensors[6] = {1,2,0,4,5,6};
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const int8_t AP_ADC_HIL::sensorSign[6] = { 1, -1, -1,-1, 1, 1};
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const float AP_ADC_HIL::gyroBias[3] = {1665,1665,1665};
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const float AP_ADC_HIL::accelBias[3] = {2025,2025,2025};
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// gyroScale = 1/[GyroGain*pi/180] GyroGains (0.4,0.41,0.41)
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const float AP_ADC_HIL::gyroScale[3] = {143.239, 139.746, 139.746};
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const float AP_ADC_HIL::accelScale[3] = {418,418,418}; // adcPerG
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AP_ADC_HIL::AP_ADC_HIL()
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{
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// gyros set to zero for calibration
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setGyro(0,0);
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setGyro(1,0);
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setGyro(2,0);
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// accels set to zero for calibration
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setAccel(0,0);
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setAccel(1,0);
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setAccel(2,0);
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// set diff press and temp to zero
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setGyroTemp(0);
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setPressure(0);
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#include "AP_ADC_HIL.h"
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#include "WProgram.h"
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/*
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AP_ADC_HIL.cpp
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Author: James Goppert
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|
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License:
|
||||
This library is free software; you can redistribute it and/or
|
||||
modify it under the terms of the GNU Lesser General Public
|
||||
License as published by the Free Software Foundation; either
|
||||
version 2.1 of the License, or (at your option) any later version.
|
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*/
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const uint8_t AP_ADC_HIL::sensors[6] = {1,2,0,4,5,6};
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const int8_t AP_ADC_HIL::sensorSign[6] = { 1, -1, -1,-1, 1, 1};
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const float AP_ADC_HIL::gyroBias[3] = {1665,1665,1665};
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const float AP_ADC_HIL::accelBias[3] = {2025,2025,2025};
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// gyroScale = 1/[GyroGain*pi/180] GyroGains (0.4,0.41,0.41)
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const float AP_ADC_HIL::gyroScale[3] = {143.239, 139.746, 139.746};
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const float AP_ADC_HIL::accelScale[3] = {418,418,418}; // adcPerG
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AP_ADC_HIL::AP_ADC_HIL()
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{
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// gyros set to zero for calibration
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setGyro(0,0);
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setGyro(1,0);
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setGyro(2,0);
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// accels set to zero for calibration
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setAccel(0,0);
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setAccel(1,0);
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setAccel(2,0);
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// set diff press and temp to zero
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setGyroTemp(0);
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setPressure(0);
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last_hil_time = millis();
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}
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void AP_ADC_HIL::Init(void)
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{
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}
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// Read one channel value
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}
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void AP_ADC_HIL::Init(void)
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{
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}
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// Read one channel value
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uint16_t AP_ADC_HIL::Ch(unsigned char ch_num)
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{
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{
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return adcValue[ch_num];
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}
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@ -56,25 +56,25 @@ uint32_t AP_ADC_HIL::Ch6(const uint8_t *channel_numbers, uint16_t *result)
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result[i] = Ch(channel_numbers[i]);
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}
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return ((millis() - last_hil_time)*2)/5;
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}
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// Set one channel value
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void AP_ADC_HIL::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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// gyros
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setGyro(0,p);
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setGyro(1,q);
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setGyro(2,r);
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// temp
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setGyroTemp(gyroTemp);
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// accel
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setAccel(0,aX);
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setAccel(1,aY);
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setAccel(2,aZ);
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// differential pressure
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setPressure(diffPress);
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}
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}
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// Set one channel value
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void AP_ADC_HIL::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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{
|
||||
// gyros
|
||||
setGyro(0,p);
|
||||
setGyro(1,q);
|
||||
setGyro(2,r);
|
||||
|
||||
// temp
|
||||
setGyroTemp(gyroTemp);
|
||||
|
||||
// accel
|
||||
setAccel(0,aX);
|
||||
setAccel(1,aY);
|
||||
setAccel(2,aZ);
|
||||
|
||||
// differential pressure
|
||||
setPressure(diffPress);
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,37 +1,37 @@
|
|||
#ifndef AP_ADC_HIL_H
|
||||
#define AP_ADC_HIL_H
|
||||
|
||||
/*
|
||||
AP_ADC_HIL.h
|
||||
Author: James Goppert
|
||||
|
||||
License:
|
||||
This library is free software; you can redistribute it and/or
|
||||
modify it under the terms of the GNU Lesser General Public
|
||||
License as published by the Free Software Foundation; either
|
||||
version 2.1 of the License, or (at your option) any later version.
|
||||
*/
|
||||
|
||||
#include <inttypes.h>
|
||||
#include "AP_ADC.h"
|
||||
|
||||
///
|
||||
// A hardware in the loop model of the ADS7844 analog to digital converter
|
||||
// @author James Goppert DIYDrones.com
|
||||
class AP_ADC_HIL : public AP_ADC
|
||||
{
|
||||
public:
|
||||
|
||||
///
|
||||
// Constructor
|
||||
AP_ADC_HIL(); // Constructor
|
||||
|
||||
///
|
||||
// Initializes sensor, part of public AP_ADC interface
|
||||
void Init();
|
||||
|
||||
///
|
||||
// Read the sensor, part of public AP_ADC interface
|
||||
#ifndef AP_ADC_HIL_H
|
||||
#define AP_ADC_HIL_H
|
||||
|
||||
/*
|
||||
AP_ADC_HIL.h
|
||||
Author: James Goppert
|
||||
|
||||
License:
|
||||
This library is free software; you can redistribute it and/or
|
||||
modify it under the terms of the GNU Lesser General Public
|
||||
License as published by the Free Software Foundation; either
|
||||
version 2.1 of the License, or (at your option) any later version.
|
||||
*/
|
||||
|
||||
#include <inttypes.h>
|
||||
#include "AP_ADC.h"
|
||||
|
||||
///
|
||||
// A hardware in the loop model of the ADS7844 analog to digital converter
|
||||
// @author James Goppert DIYDrones.com
|
||||
class AP_ADC_HIL : public AP_ADC
|
||||
{
|
||||
public:
|
||||
|
||||
///
|
||||
// Constructor
|
||||
AP_ADC_HIL(); // Constructor
|
||||
|
||||
///
|
||||
// Initializes sensor, part of public AP_ADC interface
|
||||
void Init();
|
||||
|
||||
///
|
||||
// Read the sensor, part of public AP_ADC interface
|
||||
uint16_t Ch(unsigned char ch_num);
|
||||
|
||||
///
|
||||
|
|
@ -40,57 +40,57 @@ class AP_ADC_HIL : public AP_ADC
|
|||
|
||||
///
|
||||
// Set the adc raw values given the current rotations rates,
|
||||
// temps, accels, and pressures
|
||||
void 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);
|
||||
|
||||
private:
|
||||
|
||||
///
|
||||
// The raw adc array
|
||||
uint16_t adcValue[8];
|
||||
|
||||
// temps, accels, and pressures
|
||||
void 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);
|
||||
|
||||
private:
|
||||
|
||||
///
|
||||
// The raw adc array
|
||||
uint16_t adcValue[8];
|
||||
|
||||
// the time in milliseconds when we last got a HIL update
|
||||
uint32_t last_hil_time;
|
||||
|
||||
///
|
||||
// sensor constants
|
||||
// constants declared in cpp file
|
||||
// @see AP_ADC_HIL.cpp
|
||||
///
|
||||
// sensor constants
|
||||
// constants declared in cpp file
|
||||
// @see AP_ADC_HIL.cpp
|
||||
static const uint8_t sensors[6];
|
||||
static const float gyroBias[3];
|
||||
static const float gyroScale[3];
|
||||
static const float accelBias[3];
|
||||
static const float accelBias[3];
|
||||
static const float accelScale[3];
|
||||
static const int8_t sensorSign[6];
|
||||
|
||||
///
|
||||
// gyro set function
|
||||
// @param val the value of the gyro in milli rad/s
|
||||
// @param index the axis for the gyro(0-x,1-y,2-z)
|
||||
inline void setGyro(uint8_t index, int16_t val) {
|
||||
int16_t temp = val * gyroScale[index] / 1000 + gyroBias[index];
|
||||
adcValue[sensors[index]] = (sensorSign[index] < 0) ? -temp : temp;
|
||||
}
|
||||
|
||||
///
|
||||
// accel set function
|
||||
// @param val the value of the accel in milli g's
|
||||
// @param index the axis for the accelerometer(0-x,1-y,2-z)
|
||||
inline void setAccel(uint8_t index, int16_t val) {
|
||||
int16_t temp = val * accelScale[index] / 1000 + accelBias[index];
|
||||
adcValue[sensors[index+3]] = (sensors[index+3] < 0) ? -temp : temp;
|
||||
}
|
||||
|
||||
///
|
||||
// Sets the differential pressure adc channel
|
||||
// TODO: implement
|
||||
void setPressure(int16_t val) {}
|
||||
|
||||
///
|
||||
// Sets the gyro temp adc channel
|
||||
// TODO: implement
|
||||
void setGyroTemp(int16_t val) {}
|
||||
};
|
||||
|
||||
#endif
|
||||
|
||||
///
|
||||
// gyro set function
|
||||
// @param val the value of the gyro in milli rad/s
|
||||
// @param index the axis for the gyro(0-x,1-y,2-z)
|
||||
inline void setGyro(uint8_t index, int16_t val) {
|
||||
int16_t temp = val * gyroScale[index] / 1000 + gyroBias[index];
|
||||
adcValue[sensors[index]] = (sensorSign[index] < 0) ? -temp : temp;
|
||||
}
|
||||
|
||||
///
|
||||
// accel set function
|
||||
// @param val the value of the accel in milli g's
|
||||
// @param index the axis for the accelerometer(0-x,1-y,2-z)
|
||||
inline void setAccel(uint8_t index, int16_t val) {
|
||||
int16_t temp = val * accelScale[index] / 1000 + accelBias[index];
|
||||
adcValue[sensors[index+3]] = (sensors[index+3] < 0) ? -temp : temp;
|
||||
}
|
||||
|
||||
///
|
||||
// Sets the differential pressure adc channel
|
||||
// TODO: implement
|
||||
void setPressure(int16_t val) {}
|
||||
|
||||
///
|
||||
// Sets the gyro temp adc channel
|
||||
// TODO: implement
|
||||
void setGyroTemp(int16_t val) {}
|
||||
};
|
||||
|
||||
#endif
|
||||
|
|
|
|||
Loading…
Reference in New Issue