mirror of https://github.com/ArduPilot/ardupilot
244 lines
7.7 KiB
C++
244 lines
7.7 KiB
C++
#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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#include <AP_HAL/utility/sparse-endian.h>
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#include "AP_ADC_ADS1115.h"
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#define ADS1115_ADDRESS_ADDR_GND 0x48 // address pin low (GND)
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#define ADS1115_ADDRESS_ADDR_VDD 0x49 // address pin high (VCC)
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#define ADS1115_ADDRESS_ADDR_SDA 0x4A // address pin tied to SDA pin
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#define ADS1115_ADDRESS_ADDR_SCL 0x4B // address pin tied to SCL pin
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#define ADS1115_I2C_ADDR ADS1115_ADDRESS_ADDR_GND
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#define ADS1115_I2C_BUS 1
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#define ADS1115_RA_CONVERSION 0x00
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#define ADS1115_RA_CONFIG 0x01
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#define ADS1115_RA_LO_THRESH 0x02
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#define ADS1115_RA_HI_THRESH 0x03
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#define ADS1115_OS_SHIFT 15
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#define ADS1115_OS_INACTIVE 0x00 << ADS1115_OS_SHIFT
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#define ADS1115_OS_ACTIVE 0x01 << ADS1115_OS_SHIFT
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#define ADS1115_MUX_SHIFT 12
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#define ADS1115_MUX_P0_N1 0x00 << ADS1115_MUX_SHIFT /* default */
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#define ADS1115_MUX_P0_N3 0x01 << ADS1115_MUX_SHIFT
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#define ADS1115_MUX_P1_N3 0x02 << ADS1115_MUX_SHIFT
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#define ADS1115_MUX_P2_N3 0x03 << ADS1115_MUX_SHIFT
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#define ADS1115_MUX_P0_NG 0x04 << ADS1115_MUX_SHIFT
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#define ADS1115_MUX_P1_NG 0x05 << ADS1115_MUX_SHIFT
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#define ADS1115_MUX_P2_NG 0x06 << ADS1115_MUX_SHIFT
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#define ADS1115_MUX_P3_NG 0x07 << ADS1115_MUX_SHIFT
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#define ADS1115_PGA_SHIFT 9
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#define ADS1115_PGA_6P144 0x00 << ADS1115_PGA_SHIFT
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#define ADS1115_PGA_4P096 0x01 << ADS1115_PGA_SHIFT
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#define ADS1115_PGA_2P048 0x02 << ADS1115_PGA_SHIFT // default
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#define ADS1115_PGA_1P024 0x03 << ADS1115_PGA_SHIFT
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#define ADS1115_PGA_0P512 0x04 << ADS1115_PGA_SHIFT
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#define ADS1115_PGA_0P256 0x05 << ADS1115_PGA_SHIFT
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#define ADS1115_PGA_0P256B 0x06 << ADS1115_PGA_SHIFT
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#define ADS1115_PGA_0P256C 0x07 << ADS1115_PGA_SHIFT
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#define ADS1115_MV_6P144 0.187500f
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#define ADS1115_MV_4P096 0.125000f
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#define ADS1115_MV_2P048 0.062500f // default
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#define ADS1115_MV_1P024 0.031250f
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#define ADS1115_MV_0P512 0.015625f
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#define ADS1115_MV_0P256 0.007813f
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#define ADS1115_MV_0P256B 0.007813f
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#define ADS1115_MV_0P256C 0.007813f
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#define ADS1115_MODE_SHIFT 8
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#define ADS1115_MODE_CONTINUOUS 0x00 << ADS1115_MODE_SHIFT
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#define ADS1115_MODE_SINGLESHOT 0x01 << ADS1115_MODE_SHIFT // default
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#define ADS1115_RATE_SHIFT 5
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#define ADS1115_RATE_8 0x00 << ADS1115_RATE_SHIFT
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#define ADS1115_RATE_16 0x01 << ADS1115_RATE_SHIFT
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#define ADS1115_RATE_32 0x02 << ADS1115_RATE_SHIFT
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#define ADS1115_RATE_64 0x03 << ADS1115_RATE_SHIFT
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#define ADS1115_RATE_128 0x04 << ADS1115_RATE_SHIFT // default
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#define ADS1115_RATE_250 0x05 << ADS1115_RATE_SHIFT
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#define ADS1115_RATE_475 0x06 << ADS1115_RATE_SHIFT
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#define ADS1115_RATE_860 0x07 << ADS1115_RATE_SHIFT
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#define ADS1115_COMP_MODE_SHIFT 4
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#define ADS1115_COMP_MODE_HYSTERESIS 0x00 << ADS1115_COMP_MODE_SHIFT // default
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#define ADS1115_COMP_MODE_WINDOW 0x01 << ADS1115_COMP_MODE_SHIFT
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#define ADS1115_COMP_POL_SHIFT 3
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#define ADS1115_COMP_POL_ACTIVE_LOW 0x00 << ADS1115_COMP_POL_SHIFT // default
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#define ADS1115_COMP_POL_ACTIVE_HIGH 0x01 << ADS1115_COMP_POL_SHIFT
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#define ADS1115_COMP_LAT_SHIFT 2
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#define ADS1115_COMP_LAT_NON_LATCHING 0x00 << ADS1115_COMP_LAT_SHIFT // default
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#define ADS1115_COMP_LAT_LATCHING 0x01 << ADS1115_COMP_LAT_SHIFT
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#define ADS1115_COMP_QUE_SHIFT 0
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#define ADS1115_COMP_QUE_ASSERT1 0x00 << ADS1115_COMP_SHIFT
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#define ADS1115_COMP_QUE_ASSERT2 0x01 << ADS1115_COMP_SHIFT
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#define ADS1115_COMP_QUE_ASSERT4 0x02 << ADS1115_COMP_SHIFT
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#define ADS1115_COMP_QUE_DISABLE 0x03 // default
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#define ADS1115_DEBUG 0
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#if ADS1115_DEBUG
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#include <cstdio>
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#define debug(fmt, args ...) do {hal.console->printf("%s:%d: " fmt "\n", __FUNCTION__, __LINE__, ## args); } while(0)
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#define error(fmt, args ...) do {fprintf(stderr,"%s:%d: " fmt "\n", __FUNCTION__, __LINE__, ## args); } while(0)
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#else
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#define debug(fmt, args ...)
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#define error(fmt, args ...)
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#endif
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extern const AP_HAL::HAL &hal;
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#define ADS1115_CHANNELS_COUNT 6
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const uint8_t AP_ADC_ADS1115::_channels_number = ADS1115_CHANNELS_COUNT;
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/* Only two differential channels used */
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static const uint16_t mux_table[ADS1115_CHANNELS_COUNT] = {
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ADS1115_MUX_P1_N3,
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ADS1115_MUX_P2_N3,
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ADS1115_MUX_P0_NG,
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ADS1115_MUX_P1_NG,
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ADS1115_MUX_P2_NG,
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ADS1115_MUX_P3_NG
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};
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AP_ADC_ADS1115::AP_ADC_ADS1115()
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: _dev(hal.i2c_mgr->get_device(ADS1115_I2C_BUS, ADS1115_I2C_ADDR))
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, _channel_to_read(0)
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{
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_samples = new adc_report_s[_channels_number];
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}
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bool AP_ADC_ADS1115::init()
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{
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hal.scheduler->suspend_timer_procs();
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_gain = ADS1115_PGA_4P096;
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hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&AP_ADC_ADS1115::_update, void));
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hal.scheduler->resume_timer_procs();
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return true;
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}
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bool AP_ADC_ADS1115::_start_conversion(uint8_t channel)
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{
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struct PACKED {
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uint8_t reg;
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be16_t val;
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} config;
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config.reg = ADS1115_RA_CONFIG;
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config.val = htobe16(ADS1115_OS_ACTIVE | _gain | mux_table[channel] |
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ADS1115_MODE_SINGLESHOT | ADS1115_COMP_QUE_DISABLE |
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ADS1115_RATE_250);
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return _dev->transfer((uint8_t *)&config, sizeof(config), nullptr, 0);
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}
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size_t AP_ADC_ADS1115::read(adc_report_s *report, size_t length) const
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{
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for (size_t i = 0; i < length; i++) {
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report[i].data = _samples[i].data;
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report[i].id = _samples[i].id;
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}
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return length;
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}
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float AP_ADC_ADS1115::_convert_register_data_to_mv(int16_t word) const
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{
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float pga;
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switch (_gain) {
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case ADS1115_PGA_6P144:
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pga = ADS1115_MV_6P144;
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break;
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case ADS1115_PGA_4P096:
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pga = ADS1115_MV_4P096;
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break;
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case ADS1115_PGA_2P048:
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pga = ADS1115_MV_2P048;
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break;
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case ADS1115_PGA_1P024:
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pga = ADS1115_MV_1P024;
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break;
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case ADS1115_PGA_0P512:
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pga = ADS1115_MV_0P512;
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break;
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case ADS1115_PGA_0P256:
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pga = ADS1115_MV_0P256;
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break;
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case ADS1115_PGA_0P256B:
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pga = ADS1115_MV_0P256B;
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break;
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case ADS1115_PGA_0P256C:
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pga = ADS1115_MV_0P256C;
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break;
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default:
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pga = 0.0f;
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hal.console->printf("Wrong gain");
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AP_HAL::panic("ADS1115: wrong gain selected");
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break;
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}
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return (float) word * pga;
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}
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void AP_ADC_ADS1115::_update()
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{
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/* TODO: make update rate configurable */
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if (AP_HAL::micros() - _last_update_timestamp < 100000) {
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return;
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}
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uint8_t config[2];
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be16_t val;
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if (!_dev->get_semaphore()->take_nonblocking()) {
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return;
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}
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if (!_dev->read_registers(ADS1115_RA_CONFIG, config, sizeof(config))) {
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error("i2c->read_registers failed in ADS1115");
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_dev->get_semaphore()->give();
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return;
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}
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/* check rdy bit */
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if ((config[1] & 0x80) != 0x80 ) {
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_dev->get_semaphore()->give();
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return;
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}
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if (!_dev->read_registers(ADS1115_RA_CONVERSION, (uint8_t *)&val, sizeof(val))) {
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_dev->get_semaphore()->give();
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return;
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}
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_dev->get_semaphore()->give();
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float sample = _convert_register_data_to_mv(be16toh(val));
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_samples[_channel_to_read].data = sample;
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_samples[_channel_to_read].id = _channel_to_read;
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/* select next channel */
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_channel_to_read = (_channel_to_read + 1) % _channels_number;
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_start_conversion(_channel_to_read);
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_last_update_timestamp = AP_HAL::micros();
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}
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#endif
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