Moved APM_ADC to AP_ADC

git-svn-id: https://arducopter.googlecode.com/svn/trunk@954 f9c3cf11-9bcb-44bc-f272-b75c42450872

libraries/APM_ADC/APM_ADC.cpp

@@ -1,197 +0,0 @@
-/*
-	APM_ADC.cpp - ADC ADS7844 Library for Ardupilot Mega
-	Code by Jordi Muñoz and Jose Julio. DIYDrones.com
-
-	Modified by John Ihlein 6/19/2010 to:
-	1)Prevent overflow of adc_counter when more than 8 samples collected between reads.  Probably
-	  only an issue on initial read of ADC at program start.
-	2)Reorder analog read order as follows:
-	  p, q, r, ax, ay, az
-
-	This library is free software; you can redistribute it and/or
-    modify it under the terms of the GNU Lesser General Public
-    License as published by the Free Software Foundation; either
-    version 2.1 of the License, or (at your option) any later version.
-
-	External ADC ADS7844 is connected via Serial port 2 (in SPI mode)
-	TXD2 = MOSI = pin PH1
-	RXD2 = MISO = pin PH0
-	XCK2 = SCK = pin PH2
-	Chip Select pin is PC4 (33)   [PH6 (9)]
-	We are using the 16 clocks per conversion timming to increase efficiency (fast)
-	The sampling frequency is 400Hz (Timer2 overflow interrupt)
-	So if our loop is at 50Hz, our needed sampling freq should be 100Hz, so
-	we have an 4x oversampling and averaging.
-
-	Methods:
-		Init() : Initialization of interrupts an Timers (Timer2 overflow interrupt)
-		Ch(ch_num) : Return the ADC channel value
-
-	// HJI - Input definitions.  USB connector assumed to be on the left, Rx and servo
-	// connector pins to the rear.  IMU shield components facing up.  These are board
-	// referenced sensor inputs, not device referenced.
-	On Ardupilot Mega Hardware, oriented as described above:
-	Chennel 0 : yaw rate, r
-	Channel 1 : roll rate, p
-	Channel 2 : pitch rate, q
-	Channel 3 : x/y gyro temperature
-	Channel 4 : x acceleration, aX
-	Channel 5 : y acceleration, aY
-	Channel 6 : z acceleration, aZ
-	Channel 7 : Differential pressure sensor port
-
-*/
-extern "C" {
-  // AVR LibC Includes
-  #include <inttypes.h>
-  #include <avr/interrupt.h>
-  #include "WConstants.h"
-}
-
-#include "APM_ADC.h"
-
-
-// Commands for reading ADC channels on ADS7844
-const unsigned char adc_cmd[9]=  { 0x87, 0xC7, 0x97, 0xD7, 0xA7, 0xE7, 0xB7, 0xF7, 0x00 };
-volatile long          adc_value[8]   = { 0, 0, 0, 0, 0, 0, 0, 0 };
-volatile unsigned char adc_counter[8] = { 0, 0, 0, 0, 0, 0, 0, 0 };
-
-unsigned char ADC_SPI_transfer(unsigned char data)
-{
-	/* Wait for empty transmit buffer */
-	while ( !( UCSR2A & (1<<UDRE2)) );
-	/* Put data into buffer, sends the data */
-	UDR2 = data;
-	/* Wait for data to be received */
-	while ( !(UCSR2A & (1<<RXC2)) );
-	/* Get and return received data from buffer */
-	return UDR2;
-}
-
-
-ISR (TIMER2_OVF_vect)
-{
-  uint8_t ch;
-  unsigned int adc_tmp;
-
-  //bit_set(PORTL,6);                                 // To test performance
-  bit_clear(PORTC,4);                                 // Enable Chip Select (PIN PC4)
-  ADC_SPI_transfer(adc_cmd[0]);                       // Command to read the first channel
-  for (ch=0;ch<8;ch++)
-      {
-      if (adc_counter[ch] >= 17)                        // HJI - Added this to prevent
-      {                                                //       overflow of adc_value
-	    adc_value[ch] = 0;
-	    adc_counter[ch] = 0;
-	  }
-	  adc_tmp = ADC_SPI_transfer(0)<<8;               // Read first byte
-      adc_tmp |= ADC_SPI_transfer(adc_cmd[ch+1]);     // Read second byte and send next command
-      adc_value[ch] += adc_tmp>>3;                    // Shift to 12 bits
-      adc_counter[ch]++;                              // Number of samples
-      }
-  bit_set(PORTC,4);                                   // Disable Chip Select (PIN PC4)
-  //bit_clear(PORTL,6);                               // To test performance
-  TCNT2 = 104;                                        // 400 Hz
-}
-
-
-// Constructors ////////////////////////////////////////////////////////////////
-APM_ADC_Class::APM_ADC_Class()
-{
-}
-
-// Public Methods //////////////////////////////////////////////////////////////
-void APM_ADC_Class::Init(void)
-{
-  unsigned char tmp;
-
-  pinMode(ADC_CHIP_SELECT,OUTPUT);
-
-  digitalWrite(ADC_CHIP_SELECT,HIGH);                 // Disable device (Chip select is active low)
-
-  // Setup Serial Port2 in SPI mode
-  UBRR2 = 0;
-  DDRH |= (1<<PH2);                                   // SPI clock XCK2 (PH2) as output. This enable SPI Master mode
-  // Set MSPI mode of operation and SPI data mode 0.
-  UCSR2C = (1<<UMSEL21)|(1<<UMSEL20);                 //|(0<<UCPHA2)|(0<<UCPOL2);
-  // Enable receiver and transmitter.
-  UCSR2B = (1<<RXEN2)|(1<<TXEN2);
-  // Set Baud rate
-  UBRR2 = 2;                                          // SPI clock running at 2.6MHz
-
-
-  // Enable Timer2 Overflow interrupt to capture ADC data
-  TIMSK2 = 0;                                         // Disable interrupts
-  TCCR2A = 0;                                         // normal counting mode
-  TCCR2B = _BV(CS21)|_BV(CS22);                       // Set prescaler of 256
-  TCNT2  = 0;
-  TIFR2  = _BV(TOV2);                                 // clear pending interrupts;
-  TIMSK2 = _BV(TOIE2) ;                               // enable the overflow interrupt
-}
-
-// Read one channel value
-int APM_ADC_Class::Ch(unsigned char ch_num)         
-{
-  int result;                                      
-
-  cli();                                              // We stop interrupts to read the variables
-  if (adc_counter[ch_num]>0)
-	result = adc_value[ch_num]/adc_counter[ch_num];
-  else
-	result = 0;
-  adc_value[ch_num] = 0;                              // Initialize for next reading
-  adc_counter[ch_num] = 0;
-  sei();
-  return(result);
-}
-
-// Constructors ////////////////////////////////////////////////////////////////
-APM_ADC_HIL_Class::APM_ADC_HIL_Class()
-{
-}
-
-// Public Methods //////////////////////////////////////////////////////////////
-void APM_ADC_HIL_Class::Init(void)
-{
-}
-
-// Read one channel value
-int APM_ADC_HIL_Class::Ch(unsigned char ch_num)         
-{
-  return adc_value[ch_num];
-}
-
-// Set one channel value
-int APM_ADC_HIL_Class::setHIL(int16_t p, int16_t q, int16_t r, int16_t gyroTemp,
-    int16_t aX, int16_t aY, int16_t aZ, int16_t diffPress)
-{
-    static const uint16_t adcPerG = 418;
-    static const float gyroGainX = 0.4;
-    static const float gyroGainY = 0.41;
-    static const float gyroGainZ = 0.41;
-    static const float deg2rad = 3.14159/180.0;
-    static const uint8_t sensors[6] 	= {1,2,0,4,5,6};				// For ArduPilot Mega Sensor Shield Hardware
-    static const int SENSOR_SIGN[]	= { 1, -1, -1,
-					       -1,  1,  1,
-					       -1, -1, -1};	
-    // TODO: map temp and press to raw
-    
-    // gyros
-    /* 0 */ adc_value[sensors[0]] = SENSOR_SIGN[0]* p/(gyroGainX*deg2rad*1000) + 1665; // note apm says 1,2,0 gyro order, but 
-    /* 1 */ adc_value[sensors[1]] = SENSOR_SIGN[1]* q/(gyroGainY*deg2rad*1000) + 1665; // this says 0,1,2
-    /* 2 */ adc_value[sensors[2]] = SENSOR_SIGN[2]* r/(gyroGainZ*deg2rad*1000) + 1665;
-
-    // gyro temp
-    /* 3 */ adc_value[3] = SENSOR_SIGN[3]* gyroTemp; //gyroTemp XXX: fix scaling; 
-
-    // accelerometers
-    /* 4 */ adc_value[sensors[3]] = SENSOR_SIGN[4]* (aX*adcPerG)/1.0e3 + 2025;
-    /* 5 */ adc_value[sensors[4]] = SENSOR_SIGN[5]* (aY*adcPerG)/1.0e3 + 2025;
-    /* 6 */ adc_value[sensors[5]] = SENSOR_SIGN[6]* (aZ*adcPerG)/1.0e3 + 2025;
-
-    // differential pressure
-    /* 7 */ adc_value[7] = SENSOR_SIGN[7]* diffPress; //diffPress XXX: fix scaling;
-
-	// set count as 1 so no averaging occurs
-	for (int i=0;i<7;i++) adc_counter[i] = 1;
-}

libraries/APM_ADC/APM_ADC.h

@@ -1,33 +0,0 @@
-#ifndef APM_ADC_h
-#define APM_ADC_h
-
-#define bit_set(p,m)   ((p) |= ( 1<<m))
-#define bit_clear(p,m) ((p) &= ~(1<<m))
-
-// We use Serial Port 2 in SPI Mode
-#define ADC_DATAOUT     51    // MOSI
-#define ADC_DATAIN      50    // MISO
-#define ADC_SPICLOCK    52    // SCK
-#define ADC_CHIP_SELECT 33    // PC4   9 // PH6  Puerto:0x08 Bit mask : 0x40
-
-class APM_ADC_Class
-{
-  private:
-  public:
-	APM_ADC_Class();  // Constructor
-	void Init();
-	int Ch(unsigned char ch_num);     
-};
-
-class APM_ADC_HIL_Class
-{
-  private:
-  public:
-	APM_ADC_HIL_Class();  // Constructor
-	void Init();
-	int Ch(unsigned char ch_num);     
-	int setHIL(int16_t p, int16_t q, int16_t r, int16_t gyroTemp,
-            int16_t aX, int16_t aY, int16_t aZ, int16_t diffPress);     
-};
-
-#endif

libraries/AP_ADC/examples/AP_ADC_test/AP_ADC_test.pde

@@ -3,15 +3,15 @@
   Code by Jordi Muñoz and Jose Julio. DIYDrones.com
 */
 
-#include <APM_ADC.h> // ArduPilot Mega ADC Library
+#include <AP_ADC.h> // ArduPilot Mega ADC Library
 
 unsigned long timer;
 
-APM_ADC_Class APM_ADC;
+AP_ADC_ADS7844 adc;
 
 void setup()
 {  
-  APM_ADC.Init();   // APM ADC initialization
+  adc.Init();   // APM ADC initialization
   Serial.begin(57600);
   Serial.println("ArduPilot Mega ADC library test");
   delay(1000);
@@ -27,7 +27,7 @@ void loop()
     timer = millis();
     for (ch=0;ch<7;ch++)
       {
-      Serial.print(APM_ADC.Ch(ch));
+      Serial.print(adc.Ch(ch));
       Serial.print(",");
       }
     Serial.println();