mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-03-13 18:14:19 -03:00
c33fdc7b71
This commit changes the way libraries headers are included in source files: - If the header is in the same directory the source belongs to, so the notation '#include ""' is used with the path relative to the directory containing the source. - If the header is outside the directory containing the source, then we use the notation '#include <>' with the path relative to libraries folder. Some of the advantages of such approach: - Only one search path for libraries headers. - OSs like Windows may have a better lookup time.
135 lines
4.0 KiB
C++
135 lines
4.0 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
/*
|
|
This program is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
This program is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
/*
|
|
Flymaple port by Mike McCauley
|
|
*/
|
|
|
|
#include <AP_HAL/AP_HAL.h>
|
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
|
|
|
|
#include "FlymapleWirish.h"
|
|
#include <AP_HAL/AP_HAL.h>
|
|
#include "AnalogIn.h"
|
|
using namespace AP_HAL_FLYMAPLE_NS;
|
|
|
|
extern const AP_HAL::HAL& hal;
|
|
|
|
/* CHANNEL_READ_REPEAT: how many reads on a channel before using the value.
|
|
* This seems to be determined empirically */
|
|
#define CHANNEL_READ_REPEAT 2
|
|
|
|
FLYMAPLEAnalogIn::FLYMAPLEAnalogIn() :
|
|
_vcc(FLYMAPLEAnalogSource(ANALOG_INPUT_BOARD_VCC))
|
|
{}
|
|
|
|
void FLYMAPLEAnalogIn::init(void* machtnichts) {
|
|
/* Register FLYMAPLEAnalogIn::_timer_event with the scheduler. */
|
|
hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&FLYMAPLEAnalogIn::_timer_event, void));
|
|
/* Register each private channel with FLYMAPLEAnalogIn. */
|
|
_register_channel(&_vcc);
|
|
}
|
|
|
|
FLYMAPLEAnalogSource* FLYMAPLEAnalogIn::_create_channel(int16_t chnum) {
|
|
FLYMAPLEAnalogSource *ch = new FLYMAPLEAnalogSource(chnum);
|
|
_register_channel(ch);
|
|
return ch;
|
|
}
|
|
|
|
void FLYMAPLEAnalogIn::_register_channel(FLYMAPLEAnalogSource* ch) {
|
|
if (_num_channels >= FLYMAPLE_INPUT_MAX_CHANNELS) {
|
|
for(;;) {
|
|
hal.console->print_P(PSTR(
|
|
"Error: AP_HAL_FLYMAPLE::FLYMAPLEAnalogIn out of channels\r\n"));
|
|
hal.scheduler->delay(1000);
|
|
}
|
|
}
|
|
_channels[_num_channels] = ch;
|
|
/* Need to lock to increment _num_channels as it is used
|
|
* by the interrupt to access _channels */
|
|
noInterrupts();
|
|
_num_channels++;
|
|
interrupts();
|
|
// Start conversions:
|
|
adc_reg_map *regs = ADC1->regs;
|
|
regs->CR2 |= ADC_CR2_SWSTART;
|
|
}
|
|
|
|
void FLYMAPLEAnalogIn::_timer_event(void)
|
|
{
|
|
adc_reg_map *regs = ADC1->regs;
|
|
if (_channels[_active_channel]->_pin == ANALOG_INPUT_NONE) {
|
|
_channels[_active_channel]->new_sample(0);
|
|
goto next_channel;
|
|
}
|
|
|
|
if (!(regs->SR & ADC_SR_EOC))
|
|
{
|
|
/* ADC Conversion is still running - this should not happen, as we
|
|
* are called at 1khz. */
|
|
return;
|
|
}
|
|
|
|
if (_num_channels == 0)
|
|
{
|
|
/* No channels are registered - nothing to be done. */
|
|
return;
|
|
}
|
|
|
|
_channel_repeat_count++;
|
|
if (_channel_repeat_count < CHANNEL_READ_REPEAT ||
|
|
!_channels[_active_channel]->reading_settled())
|
|
{
|
|
/* Start a new conversion, throw away the current conversion */
|
|
regs->CR2 |= ADC_CR2_SWSTART;
|
|
return;
|
|
}
|
|
|
|
_channel_repeat_count = 0;
|
|
{
|
|
// Need this block because of declared variabled and goto
|
|
uint16_t sample = (uint16)(regs->DR & ADC_DR_DATA);
|
|
/* Give the active channel a new sample */
|
|
_channels[_active_channel]->new_sample( sample );
|
|
}
|
|
next_channel:
|
|
/* stop the previous channel, if a stop pin is defined */
|
|
_channels[_active_channel]->stop_read();
|
|
/* Move to the next channel */
|
|
_active_channel = (_active_channel + 1) % _num_channels;
|
|
/* Setup the next channel's conversion */
|
|
_channels[_active_channel]->setup_read();
|
|
/* Start conversion */
|
|
regs->CR2 |= ADC_CR2_SWSTART;
|
|
}
|
|
|
|
|
|
AP_HAL::AnalogSource* FLYMAPLEAnalogIn::channel(int16_t ch)
|
|
{
|
|
if (ch == ANALOG_INPUT_BOARD_VCC) {
|
|
return &_vcc;
|
|
} else {
|
|
return _create_channel(ch);
|
|
}
|
|
}
|
|
|
|
float FLYMAPLEAnalogIn::board_voltage(void)
|
|
{
|
|
return _vcc.voltage_latest();
|
|
}
|
|
|
|
#endif
|