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AP_HAL_Linux: AnalogIIO: Remove unused code, add scaling for BBBMINI, rework

This commit is contained in:
mirkix 2016-01-25 20:13:48 +01:00 committed by Lucas De Marchi
parent 5e24443a0a
commit fe404c8a5d
2 changed files with 18 additions and 68 deletions
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63
libraries/AP_HAL_Linux/AnalogIn_IIO.cpp
View File

@ -6,8 +6,7 @@
extern const AP_HAL::HAL& hal;
const char* AnalogSource_IIO::analog_sources[IIO_ANALOG_IN_COUNT] = {
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF
const char* AnalogSource_IIO::analog_sources[] = {
"in_voltage0_raw",
"in_voltage1_raw",
"in_voltage2_raw",
@ -16,14 +15,12 @@ const char* AnalogSource_IIO::analog_sources[IIO_ANALOG_IN_COUNT] = {
"in_voltage5_raw",
"in_voltage6_raw",
"in_voltage7_raw",
#else
"in_voltage0_raw",
#endif
};
AnalogSource_IIO::AnalogSource_IIO(int16_t pin, float initial_value) :
AnalogSource_IIO::AnalogSource_IIO(int16_t pin, float initial_value, float voltage_scaling) :
_pin(pin),
_value(initial_value),
_voltage_scaling(voltage_scaling),
_sum_value(0),
_sum_count(0),
_pin_fd(-1)
@ -35,15 +32,12 @@ AnalogSource_IIO::AnalogSource_IIO(int16_t pin, float initial_value) :
void AnalogSource_IIO::init_pins(void)
{
char buf[100];
for (int i=0; i < IIO_ANALOG_IN_COUNT; i++) {
for (unsigned int i = 0; i < ARRAY_SIZE(AnalogSource_IIO::analog_sources); i++) {
// Construct the path by appending strings
strncpy(buf, IIO_ANALOG_IN_DIR, sizeof(buf));
strncat(buf, AnalogSource_IIO::analog_sources[i], sizeof(buf) - strlen(buf) -1);
strncat(buf, AnalogSource_IIO::analog_sources[i], sizeof(buf) - strlen(buf) - 1);
fd_analog_sources[i] = open(buf, O_RDONLY | O_NONBLOCK);
if (fd_analog_sources[i] == -1) {
::printf("Failed to open analog pin %s\n", buf);
}
}
}
@ -55,39 +49,6 @@ void AnalogSource_IIO::select_pin(void)
_pin_fd = fd_analog_sources[_pin];
}
/*
reopens an analog source (by closing and opening it again) and selects it
*/
void AnalogSource_IIO::reopen_pin(void)
{
char buf[100];
if (fd_analog_sources[_pin] != -1) {
close(fd_analog_sources[_pin]);
fd_analog_sources[_pin] = -1;
_pin_fd = -1;
}
if (_pin < 0) {
return;
}
if (_pin > IIO_ANALOG_IN_COUNT) {
// invalid pin
return;
}
// Construct the path by appending strings
strncpy(buf, IIO_ANALOG_IN_DIR, sizeof(buf));
strncat(buf, AnalogSource_IIO::analog_sources[_pin], sizeof(buf) - strlen(buf) - 1);
fd_analog_sources[_pin] = open(buf, O_RDONLY | O_NONBLOCK);
if (fd_analog_sources[_pin] == -1) {
::printf("Failed to open analog pin %s\n", buf);
}
_pin_fd = fd_analog_sources[_pin];
}
float AnalogSource_IIO::read_average()
{
read_latest();
@ -96,9 +57,7 @@ float AnalogSource_IIO::read_average()
}
hal.scheduler->suspend_timer_procs();
_value = _sum_value / _sum_count;
// _value_ratiometric = _sum_ratiometric / _sum_count;
_sum_value = 0;
// _sum_ratiometric = 0;
_sum_count = 0;
hal.scheduler->resume_timer_procs();
return _value;
@ -114,12 +73,8 @@ float AnalogSource_IIO::read_latest()
}
memset(sbuf, 0, sizeof(sbuf));
pread(_pin_fd, sbuf, sizeof(sbuf)-1, 0);
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF
_latest = atoi(sbuf) * BBB_VOLTAGE_SCALING;
#else
_latest = atoi(sbuf);
#endif
pread(_pin_fd, sbuf, sizeof(sbuf) - 1, 0);
_latest = atoi(sbuf) * _voltage_scaling;
_sum_value += _latest;
_sum_count++;
@ -147,12 +102,10 @@ void AnalogSource_IIO::set_pin(uint8_t pin)
hal.scheduler->suspend_timer_procs();
_pin = pin;
_sum_value = 0;
// _sum_ratiometric = 0;
_sum_count = 0;
_latest = 0;
_value = 0;
select_pin();
// _value_ratiometric = 0;
hal.scheduler->resume_timer_procs();
}
@ -170,7 +123,7 @@ void AnalogIn_IIO::init()
AP_HAL::AnalogSource* AnalogIn_IIO::channel(int16_t pin) {
return new AnalogSource_IIO(pin, 0);
return new AnalogSource_IIO(pin, 0.0f, IIO_VOLTAGE_SCALING);
}
#endif // CONFIG_HAL_BOARD

23
libraries/AP_HAL_Linux/AnalogIn_IIO.h
View File

@ -1,29 +1,27 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#pragma once
#include "AP_HAL_Linux.h"
#include <AP_ADC/AP_ADC.h>
#include <stdio.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <unistd.h>
#include <stdlib.h>
#define IIO_ANALOG_IN_COUNT 8
#define IIO_ANALOG_IN_DIR "/sys/bus/iio/devices/iio:device0/"
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF
#define IIO_ANALOG_IN_COUNT 8
// Note that echo BB-ADC cape should be loaded
#define IIO_ANALOG_IN_DIR "/sys/bus/iio/devices/iio:device0/"
#define BBB_VOLTAGE_SCALING 0.00142602816
#define IIO_VOLTAGE_SCALING 0.00142602816
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
#define IIO_VOLTAGE_SCALING 10.0/30.0*1.8/4096.0
#else
#define IIO_ANALOG_IN_COUNT 8
#define IIO_ANALOG_IN_DIR "/sys/bus/iio/devices/iio:device0/"
#define IIO_VOLTAGE_SCALING 1.0
#endif
class AnalogSource_IIO : public AP_HAL::AnalogSource {
public:
friend class AnalogIn_IIO;
AnalogSource_IIO(int16_t pin, float v);
AnalogSource_IIO(int16_t pin, float initial_value, float voltage_scaling);
float read_average();
float read_latest();
void set_pin(uint8_t p);
@ -36,17 +34,16 @@ private:
float _value;
float _latest;
float _sum_value;
// float _value_ratiometric;
float _voltage_scaling;
uint8_t _sum_count;
int16_t _pin;
int _pin_fd;
int fd_analog_sources[IIO_ANALOG_IN_COUNT];
void reopen_pin(void);
void init_pins(void);
void select_pin(void);
static const char *analog_sources[IIO_ANALOG_IN_COUNT];
static const char *analog_sources[];
};
class AnalogIn_IIO : public AP_HAL::AnalogIn {