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AP_AnalogSource_Arduino: fix to allow analog port to be read to be specified as a "channel" (i.e. A0)

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Also fixed example range finder sketch to work with interrupt enabled AP_AnalogSource_Arduino class
This commit is contained in:
rmackay9 2012-07-11 21:19:17 +09:00
parent 23f8d20271
commit 1105a35c77
2 changed files with 23 additions and 7 deletions
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15
libraries/AP_AnalogSource/AP_AnalogSource_Arduino.cpp
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@ -27,8 +27,7 @@ static volatile struct {
// each conversion takes about 125 microseconds
static void adc_timer(uint32_t t)
{
if (bit_is_set(ADCSRA, ADSC) ||
num_pins_watched == 0) {
if (bit_is_set(ADCSRA, ADSC) || num_pins_watched == 0) {
// conversion is still running. This should be
// very rare, as we are called at 1kHz
return;
@ -142,6 +141,18 @@ void AP_AnalogSource_Arduino::assign_pin_index(uint8_t pin)
delay(1000);
}
}
// allow pin to be a channel (i.e. "A0") or an actual pin
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
if (pin >= 54) pin -= 54;
#elif defined(__AVR_ATmega32U4__)
if (pin >= 18) pin -= 18;
#elif defined(__AVR_ATmega1284__)
if (pin >= 24) pin -= 24;
#else
if (pin >= 14) pin -= 14;
#endif
_pin_index = num_pins_watched;
pins[_pin_index].pin = pin;
num_pins_watched++;

13
libraries/AP_RangeFinder/examples/AP_RangeFinder_test/AP_RangeFinder_test.pde
View File

@ -33,8 +33,9 @@ FastSerialPort0(Serial); // FTDI/console
// declare global instances
Arduino_Mega_ISR_Registry isr_registry;
ModeFilterInt16_Size5 mode_filter(2);
AP_TimerProcess timer_scheduler;
#ifdef USE_ADC_ADS7844
AP_TimerProcess adc_scheduler;
AP_ADC_ADS7844 adc;
AP_AnalogSource_ADC adc_source(&adc, AP_RANGEFINDER_PITOT_TYPE_ADC_CHANNEL, 0.25); // use Pitot tube
#else
@ -52,13 +53,17 @@ void setup()
Serial.print("Sonar Type: ");
Serial.println(SONAR_TYPE);
#ifdef USE_ADC_ADS7844
isr_registry.init();
adc_scheduler.init(&isr_registry);
timer_scheduler.init(&isr_registry);
#ifdef USE_ADC_ADS7844
adc.filter_result = true;
adc.Init(&adc_scheduler); // APM ADC initialization
adc.Init(&timer_scheduler); // APM ADC initialization
aRF.calculate_scaler(SONAR_TYPE,3.3); // setup scaling for sonar
#else
// initialise the analog port reader
AP_AnalogSource_Arduino::init_timer(&timer_scheduler);
aRF.calculate_scaler(SONAR_TYPE,5.0); // setup scaling for sonar
#endif