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AP_AnalogSource: added set_pin() interface

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this allows pin numbers to be changed at runtime
This commit is contained in:
Andrew Tridgell 2012-10-16 17:20:15 +11:00
parent 5642922ca7
commit a979fb6014
2 changed files with 36 additions and 12 deletions
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39
libraries/AP_AnalogSource/AP_AnalogSource_Arduino.cpp
View File

@ -131,17 +131,9 @@ float AP_AnalogSource_Arduino::read(void)
}
// assign a slot in the pins_watched
void AP_AnalogSource_Arduino::assign_pin_index(uint8_t pin)
// remap pin numbers to physical pin
uint8_t AP_AnalogSource_Arduino::_remap_pin(uint8_t pin)
{
// ensure we don't try to read from too many analog pins
if (num_pins_watched == MAX_PIN_SOURCES) {
while (true) {
Serial.printf_P(PSTR("MAX_PIN_SOURCES REACHED\n"));
delay(1000);
}
}
if (pin != ANALOG_PIN_VCC) {
// allow pin to be a channel (i.e. "A0") or an actual pin
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
@ -154,7 +146,21 @@ void AP_AnalogSource_Arduino::assign_pin_index(uint8_t pin)
if (pin >= 14) pin -= 14;
#endif
}
return pin;
}
// assign a slot in the pins_watched
void AP_AnalogSource_Arduino::_assign_pin_index(uint8_t pin)
{
// ensure we don't try to read from too many analog pins
if (num_pins_watched == MAX_PIN_SOURCES) {
while (true) {
Serial.printf_P(PSTR("MAX_PIN_SOURCES REACHED\n"));
delay(1000);
}
}
pin = _remap_pin(pin);
_pin_index = num_pins_watched;
pins[_pin_index].pin = pin;
num_pins_watched++;
@ -164,3 +170,16 @@ void AP_AnalogSource_Arduino::assign_pin_index(uint8_t pin)
ADCSRA |= _BV(ADEN);
}
}
// change which pin to read
void AP_AnalogSource_Arduino::set_pin(uint8_t pin)
{
pin = _remap_pin(pin);
if (pins[_pin_index].pin != pin) {
cli();
pins[_pin_index].pin = pin;
pins[_pin_index].sum = 0;
pins[_pin_index].sum_count = 0;
sei();
}
}

9
libraries/AP_AnalogSource/AP_AnalogSource_Arduino.h
View File

@ -15,7 +15,7 @@ class AP_AnalogSource_Arduino : public AP_AnalogSource
public:
AP_AnalogSource_Arduino( uint8_t pin, float prescale = 1.0 ) :
_prescale(prescale) {
assign_pin_index(pin);
_assign_pin_index(pin);
}
// setup the timer callback
@ -34,11 +34,16 @@ public:
// we last called read_average().
float read_average(void);
// set the pin to be used for this source. This allows for the pin
// to be changed at runtime
void set_pin(uint8_t pin);
private:
uint8_t _pin_index;
float _prescale;
void assign_pin_index(uint8_t pin);
uint8_t _remap_pin(uint8_t pin);
void _assign_pin_index(uint8_t pin);
};
#endif // __AP_ANALOG_SOURCE_ARDUINO_H__