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fixed inconsistent linefeeds in ADC code

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the linefeeds had bacome inconsistent in this library, making some
editors fail to load the code
This commit is contained in:
Andrew Tridgell 2011-09-18 13:49:00 +10:00
parent 2ca8e58bc2
commit f375258699
6 changed files with 281 additions and 281 deletions
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22
libraries/AP_ADC/AP_ADC.cpp
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@ -1,11 +1,11 @@
/* /*
ADC.cpp - Analog Digital Converter Base Class for Ardupilot Mega ADC.cpp - Analog Digital Converter Base Class for Ardupilot Mega
Code by James Goppert. DIYDrones.com Code by James Goppert. DIYDrones.com
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.
*/ */
#include "AP_ADC.h" #include "AP_ADC.h"

52
libraries/AP_ADC/AP_ADC.h
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@ -1,28 +1,28 @@
#ifndef AP_ADC_H #ifndef AP_ADC_H
#define AP_ADC_H #define AP_ADC_H
#include <stdint.h> #include <stdint.h>
/* /*
AP_ADC.cpp - Analog Digital Converter Base Class for Ardupilot Mega AP_ADC.cpp - Analog Digital Converter Base Class for Ardupilot Mega
Code by James Goppert. DIYDrones.com Code by James Goppert. DIYDrones.com
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.
Methods: Methods:
Init() : Initialization of ADC. (interrupts etc) Init() : Initialization of ADC. (interrupts etc)
Ch(ch_num) : Return the ADC channel value Ch(ch_num) : Return the ADC channel value
Ch6(channel_numbers, result) : Return 6 ADC channel values Ch6(channel_numbers, result) : Return 6 ADC channel values
*/ */
class AP_ADC class AP_ADC
{ {
public: public:
AP_ADC() {}; // Constructor AP_ADC() {}; // Constructor
virtual void Init() {}; virtual void Init() {};
/* read one channel value */ /* read one channel value */
virtual uint16_t Ch(uint8_t ch_num) = 0; virtual uint16_t Ch(uint8_t ch_num) = 0;
@ -41,7 +41,7 @@ class AP_ADC
private: private:
}; };
#include "AP_ADC_ADS7844.h" #include "AP_ADC_ADS7844.h"
#include "AP_ADC_HIL.h" #include "AP_ADC_HIL.h"
#endif #endif

148
libraries/AP_ADC/AP_ADC_ADS7844.cpp
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@ -1,61 +1,61 @@
/* /*
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
*/ */
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>
#include "WConstants.h" #include "WConstants.h"
} }
#include "AP_ADC_ADS7844.h" #include "AP_ADC_ADS7844.h"
// Commands for reading ADC channels on ADS7844 // Commands for reading ADC channels on ADS7844
static const unsigned char adc_cmd[9] = { 0x87, 0xC7, 0x97, 0xD7, 0xA7, 0xE7, 0xB7, 0xF7, 0x00 }; static const unsigned char adc_cmd[9] = { 0x87, 0xC7, 0x97, 0xD7, 0xA7, 0xE7, 0xB7, 0xF7, 0x00 };
// the sum of the values since last read // the sum of the values since last read
static volatile uint32_t _sum[8]; static volatile uint32_t _sum[8];
@ -78,12 +78,12 @@ 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;
} }
ISR (TIMER2_OVF_vect) ISR (TIMER2_OVF_vect)
{ {
uint8_t ch; uint8_t ch;
@ -127,13 +127,13 @@ ISR (TIMER2_OVF_vect)
} }
// Constructors //////////////////////////////////////////////////////////////// // Constructors ////////////////////////////////////////////////////////////////
AP_ADC_ADS7844::AP_ADC_ADS7844() AP_ADC_ADS7844::AP_ADC_ADS7844()
{ {
} }
// Public Methods ////////////////////////////////////////////////////////////// // Public Methods //////////////////////////////////////////////////////////////
void AP_ADC_ADS7844::Init(void) void AP_ADC_ADS7844::Init(void)
{ {
pinMode(ADC_CHIP_SELECT, OUTPUT); pinMode(ADC_CHIP_SELECT, OUTPUT);
@ -172,15 +172,15 @@ void AP_ADC_ADS7844::Init(void)
// Read one channel value // Read one channel value
uint16_t AP_ADC_ADS7844::Ch(uint8_t ch_num) uint16_t AP_ADC_ADS7844::Ch(uint8_t ch_num)
{ {
uint16_t count; uint16_t count;
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();
count = _count[ch_num]; count = _count[ch_num];
sum = _sum[ch_num]; sum = _sum[ch_num];
_count[ch_num] = 0; _count[ch_num] = 0;
@ -204,8 +204,8 @@ uint32_t AP_ADC_ADS7844::Ch6(const uint8_t *channel_numbers, uint16_t *result)
// ensure we have at least one value // ensure we have at least one value
for (i=0; i<6; i++) { for (i=0; i<6; i++) {
while (_count[channel_numbers[i]] == 0) /* noop */; while (_count[channel_numbers[i]] == 0) /* noop */;
} }
// grab the values with interrupts disabled, and clear the counts // grab the values with interrupts disabled, and clear the counts
cli(); cli();
for (i=0; i<6; i++) { for (i=0; i<6; i++) {
@ -214,8 +214,8 @@ uint32_t AP_ADC_ADS7844::Ch6(const uint8_t *channel_numbers, uint16_t *result)
_count[channel_numbers[i]] = 0; _count[channel_numbers[i]] = 0;
_sum[channel_numbers[i]] = 0; _sum[channel_numbers[i]] = 0;
} }
sei(); sei();
// calculate averages. We keep this out of the cli region // calculate averages. We keep this out of the cli region
// to prevent us stalling the ISR while doing the // to prevent us stalling the ISR while doing the
// division. That costs us 36 bytes of stack, but I think its // division. That costs us 36 bytes of stack, but I think its

46
libraries/AP_ADC/AP_ADC_ADS7844.h
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@ -1,24 +1,24 @@
#ifndef AP_ADC_ADS7844_H #ifndef AP_ADC_ADS7844_H
#define AP_ADC_ADS7844_H #define AP_ADC_ADS7844_H
#define bit_set(p,m) ((p) |= ( 1<<m)) #define bit_set(p,m) ((p) |= ( 1<<m))
#define bit_clear(p,m) ((p) &= ~(1<<m)) #define bit_clear(p,m) ((p) &= ~(1<<m))
// We use Serial Port 2 in SPI Mode // We use Serial Port 2 in SPI Mode
#define ADC_DATAOUT 51 // MOSI #define ADC_DATAOUT 51 // MOSI
#define ADC_DATAIN 50 // MISO #define ADC_DATAIN 50 // MISO
#define ADC_SPICLOCK 52 // SCK #define ADC_SPICLOCK 52 // SCK
#define ADC_CHIP_SELECT 33 // PC4 9 // PH6 Puerto:0x08 Bit mask : 0x40 #define ADC_CHIP_SELECT 33 // PC4 9 // PH6 Puerto:0x08 Bit mask : 0x40
#define ADC_FILTER_SIZE 3 #define ADC_FILTER_SIZE 3
#include "AP_ADC.h" #include "AP_ADC.h"
#include <inttypes.h> #include <inttypes.h>
class AP_ADC_ADS7844 : public AP_ADC class AP_ADC_ADS7844 : public AP_ADC
{ {
public: public:
AP_ADC_ADS7844(); // Constructor AP_ADC_ADS7844(); // Constructor
void Init(); void Init();
// Read 1 sensor value // Read 1 sensor value
uint16_t Ch(unsigned char ch_num); uint16_t Ch(unsigned char ch_num);
@ -28,5 +28,5 @@ class AP_ADC_ADS7844 : public AP_ADC
private: private:
}; };
#endif #endif

134
libraries/AP_ADC/AP_ADC_HIL.cpp
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@ -1,51 +1,51 @@
#include "AP_ADC_HIL.h" #include "AP_ADC_HIL.h"
#include "WProgram.h" #include "WProgram.h"
/* /*
AP_ADC_HIL.cpp AP_ADC_HIL.cpp
Author: James Goppert Author: James Goppert
License: License:
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.
*/ */
const uint8_t AP_ADC_HIL::sensors[6] = {1,2,0,4,5,6}; const uint8_t AP_ADC_HIL::sensors[6] = {1,2,0,4,5,6};
const int8_t AP_ADC_HIL::sensorSign[6] = { 1, -1, -1,-1, 1, 1}; const int8_t AP_ADC_HIL::sensorSign[6] = { 1, -1, -1,-1, 1, 1};
const float AP_ADC_HIL::gyroBias[3] = {1665,1665,1665}; const float AP_ADC_HIL::gyroBias[3] = {1665,1665,1665};
const float AP_ADC_HIL::accelBias[3] = {2025,2025,2025}; const float AP_ADC_HIL::accelBias[3] = {2025,2025,2025};
// gyroScale = 1/[GyroGain*pi/180] GyroGains (0.4,0.41,0.41) // gyroScale = 1/[GyroGain*pi/180] GyroGains (0.4,0.41,0.41)
const float AP_ADC_HIL::gyroScale[3] = {143.239, 139.746, 139.746}; const float AP_ADC_HIL::gyroScale[3] = {143.239, 139.746, 139.746};
const float AP_ADC_HIL::accelScale[3] = {418,418,418}; // adcPerG const float AP_ADC_HIL::accelScale[3] = {418,418,418}; // adcPerG
AP_ADC_HIL::AP_ADC_HIL() AP_ADC_HIL::AP_ADC_HIL()
{ {
// gyros set to zero for calibration // gyros set to zero for calibration
setGyro(0,0); setGyro(0,0);
setGyro(1,0); setGyro(1,0);
setGyro(2,0); setGyro(2,0);
// accels set to zero for calibration // accels set to zero for calibration
setAccel(0,0); setAccel(0,0);
setAccel(1,0); setAccel(1,0);
setAccel(2,0); setAccel(2,0);
// set diff press and temp to zero // set diff press and temp to zero
setGyroTemp(0); setGyroTemp(0);
setPressure(0); setPressure(0);
last_hil_time = millis(); last_hil_time = millis();
} }
void AP_ADC_HIL::Init(void) void AP_ADC_HIL::Init(void)
{ {
} }
// Read one channel value // Read one channel value
uint16_t AP_ADC_HIL::Ch(unsigned char ch_num) uint16_t AP_ADC_HIL::Ch(unsigned char ch_num)
{ {
return adcValue[ch_num]; return adcValue[ch_num];
} }
@ -56,25 +56,25 @@ uint32_t AP_ADC_HIL::Ch6(const uint8_t *channel_numbers, uint16_t *result)
result[i] = Ch(channel_numbers[i]); result[i] = Ch(channel_numbers[i]);
} }
return ((millis() - last_hil_time)*2)/5; return ((millis() - last_hil_time)*2)/5;
} }
// Set one channel value // Set one channel value
void AP_ADC_HIL::setHIL(int16_t p, int16_t q, int16_t r, int16_t gyroTemp, void AP_ADC_HIL::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) int16_t aX, int16_t aY, int16_t aZ, int16_t diffPress)
{ {
// gyros // gyros
setGyro(0,p); setGyro(0,p);
setGyro(1,q); setGyro(1,q);
setGyro(2,r); setGyro(2,r);
// temp // temp
setGyroTemp(gyroTemp); setGyroTemp(gyroTemp);
// accel // accel
setAccel(0,aX); setAccel(0,aX);
setAccel(1,aY); setAccel(1,aY);
setAccel(2,aZ); setAccel(2,aZ);
// differential pressure // differential pressure
setPressure(diffPress); setPressure(diffPress);
} }

160
libraries/AP_ADC/AP_ADC_HIL.h
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@ -1,37 +1,37 @@
#ifndef AP_ADC_HIL_H #ifndef AP_ADC_HIL_H
#define AP_ADC_HIL_H #define AP_ADC_HIL_H
/* /*
AP_ADC_HIL.h AP_ADC_HIL.h
Author: James Goppert Author: James Goppert
License: License:
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.
*/ */
#include <inttypes.h> #include <inttypes.h>
#include "AP_ADC.h" #include "AP_ADC.h"
/// ///
// A hardware in the loop model of the ADS7844 analog to digital converter // A hardware in the loop model of the ADS7844 analog to digital converter
// @author James Goppert DIYDrones.com // @author James Goppert DIYDrones.com
class AP_ADC_HIL : public AP_ADC class AP_ADC_HIL : public AP_ADC
{ {
public: public:
/// ///
// Constructor // Constructor
AP_ADC_HIL(); // Constructor AP_ADC_HIL(); // Constructor
/// ///
// Initializes sensor, part of public AP_ADC interface // Initializes sensor, part of public AP_ADC interface
void Init(); void Init();
/// ///
// Read the sensor, part of public AP_ADC interface // Read the sensor, part of public AP_ADC interface
uint16_t Ch(unsigned char ch_num); 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, // Set the adc raw values given the current rotations rates,
// temps, accels, and pressures // temps, accels, and pressures
void setHIL(int16_t p, int16_t q, int16_t r, int16_t gyroTemp, 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); int16_t aX, int16_t aY, int16_t aZ, int16_t diffPress);
private: private:
/// ///
// The raw adc array // The raw adc array
uint16_t adcValue[8]; uint16_t adcValue[8];
// the time in milliseconds when we last got a HIL update // the time in milliseconds when we last got a HIL update
uint32_t last_hil_time; uint32_t last_hil_time;
/// ///
// sensor constants // sensor constants
// constants declared in cpp file // constants declared in cpp file
// @see AP_ADC_HIL.cpp // @see AP_ADC_HIL.cpp
static const uint8_t sensors[6]; static const uint8_t sensors[6];
static const float gyroBias[3]; static const float gyroBias[3];
static const float gyroScale[3]; static const float gyroScale[3];
static const float accelBias[3]; static const float accelBias[3];
static const float accelScale[3]; static const float accelScale[3];
static const int8_t sensorSign[6]; static const int8_t sensorSign[6];
/// ///
// gyro set function // gyro set function
// @param val the value of the gyro in milli rad/s // @param val the value of the gyro in milli rad/s
// @param index the axis for the gyro(0-x,1-y,2-z) // @param index the axis for the gyro(0-x,1-y,2-z)
inline void setGyro(uint8_t index, int16_t val) { inline void setGyro(uint8_t index, int16_t val) {
int16_t temp = val * gyroScale[index] / 1000 + gyroBias[index]; int16_t temp = val * gyroScale[index] / 1000 + gyroBias[index];
adcValue[sensors[index]] = (sensorSign[index] < 0) ? -temp : temp; adcValue[sensors[index]] = (sensorSign[index] < 0) ? -temp : temp;
} }
/// ///
// accel set function // accel set function
// @param val the value of the accel in milli g's // @param val the value of the accel in milli g's
// @param index the axis for the accelerometer(0-x,1-y,2-z) // @param index the axis for the accelerometer(0-x,1-y,2-z)
inline void setAccel(uint8_t index, int16_t val) { inline void setAccel(uint8_t index, int16_t val) {
int16_t temp = val * accelScale[index] / 1000 + accelBias[index]; int16_t temp = val * accelScale[index] / 1000 + accelBias[index];
adcValue[sensors[index+3]] = (sensors[index+3] < 0) ? -temp : temp; adcValue[sensors[index+3]] = (sensors[index+3] < 0) ? -temp : temp;
} }
/// ///
// Sets the differential pressure adc channel // Sets the differential pressure adc channel
// TODO: implement // TODO: implement
void setPressure(int16_t val) {} void setPressure(int16_t val) {}
/// ///
// Sets the gyro temp adc channel // Sets the gyro temp adc channel
// TODO: implement // TODO: implement
void setGyroTemp(int16_t val) {} void setGyroTemp(int16_t val) {}
}; };
#endif #endif