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ADC: added an enable_channel() API

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enable_channel() must be used before the Ch6() method is called to
enable gathering of data on the required channels
This commit is contained in:
Andrew Tridgell 2011-12-16 20:08:37 +11:00
parent c41e7c505b
commit 9591317dbc
5 changed files with 36 additions and 16 deletions
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5
libraries/AP_ADC/AP_ADC.h
View File

@ -37,9 +37,14 @@ class AP_ADC
The function returns the amount of time (in microseconds)
since the last call to Ch6().
NOTE: You must enable the channels using enable_channel()
before use
*/
virtual uint32_t Ch6(const uint8_t *channel_numbers, uint16_t *result) = 0;
virtual void enable_channel(const uint8_t ch) = 0;
private:
};

12
libraries/AP_ADC/AP_ADC_ADS7844.cpp
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@ -100,6 +100,7 @@ void AP_ADC_ADS7844::read(void)
return;
}
// build a sequence of commands to use to fetch the channels
for (ch = 0; ch < 8; ch++) {
if (enable_mask & (1<<ch)) {
enable_cmd[num_enabled++] = adc_cmd[ch];
@ -187,6 +188,13 @@ void AP_ADC_ADS7844::Init( AP_PeriodicProcess * scheduler )
}
// enable a channel
void AP_ADC_ADS7844::enable_channel(uint8_t ch)
{
enable_mask |= (1<<ch);
}
// Read one channel value
float AP_ADC_ADS7844::Ch(uint8_t ch_num)
{
@ -220,10 +228,6 @@ uint32_t AP_ADC_ADS7844::Ch6(const uint8_t *channel_numbers, uint16_t *result)
uint32_t sum[6];
uint8_t i;
for (i=0; i<6; i++) {
enable_mask |= (1<<channel_numbers[i]);
}
// ensure we have at least one value
for (i=0; i<6; i++) {
while (_count[channel_numbers[i]] == 0) /* noop */;

1
libraries/AP_ADC/AP_ADC_ADS7844.h
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@ -29,6 +29,7 @@ class AP_ADC_ADS7844 : public AP_ADC
// Read 6 sensors at once
uint32_t Ch6(const uint8_t *channel_numbers, uint16_t *result);
void enable_channel(uint8_t ch);
bool filter_result;
private:

29
libraries/AP_ADC/examples/AP_ADC_test/AP_ADC_test.pde
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@ -1,24 +1,26 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
Example of APM_ADC library.
Code by Jordi Muñoz and Jose Julio. DIYDrones.com
*/
/*
Example of APM_ADC library.
Code by Jordi Muñoz and Jose Julio. DIYDrones.com
*/
#include <FastSerial.h>
#include <Arduino_Mega_ISR_Registry.h>
#include <AP_PeriodicProcess.h>
#include <AP_ADC.h> // ArduPilot Mega ADC Library
#include <AP_ADC.h> // ArduPilot Mega ADC Library
FastSerialPort0(Serial); // FTDI/console
Arduino_Mega_ISR_Registry isr_registry;
AP_TimerAperiodicProcess adc_scheduler;
unsigned long timer;
AP_ADC_ADS7844 adc;
void setup()
AP_ADC_ADS7844 adc;
static const uint8_t channel_map[6] = { 1, 2, 0, 4, 5, 6};
void setup()
{
Serial.begin(115200, 128, 128);
Serial.println("ArduPilot Mega ADC library test");
@ -30,9 +32,12 @@ void setup()
adc.Init(&adc_scheduler); // APM ADC initialization
delay(1000);
timer = millis();
for (uint8_t ch=0; ch<6; ch++) {
adc.enable_channel(channel_map[ch]);
}
}
static const uint8_t channel_map[6] = { 1, 2, 0, 4, 5, 6};
float v;
uint32_t last_usec = 0;

5
libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp
View File

@ -50,6 +50,11 @@ AP_InertialSensor_Oilpan::AP_InertialSensor_Oilpan( AP_ADC * adc ) :
void AP_InertialSensor_Oilpan::init( AP_PeriodicProcess * scheduler)
{
_adc->Init(scheduler);
// tell the ADC driver that we will be needed some channels
for (uint8_t ch=0; ch<6; ch++) {
_adc->enable_channel(_sensors[ch]);
}
}
bool AP_InertialSensor_Oilpan::update()