mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-20 11:23:06 +08:00
Introduce new generic ADC driver for ADS1115 chip (#14437)
This commit is contained in:
SalimTerryLi
GitHub
@@ -19,6 +19,7 @@ px4_add_board(
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TEL4:/dev/ttyS6
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DRIVERS
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adc/board_adc
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adc/ads1115
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barometer # all available barometer drivers
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batt_smbus
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camera_capture
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@@ -15,6 +15,7 @@ px4_add_board(
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TEL2:/dev/ttyS2
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DRIVERS
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adc/board_adc
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adc/ads1115
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barometer # all available barometer drivers
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batt_smbus
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camera_capture
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@@ -18,6 +18,7 @@ px4_add_board(
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TEL4:/dev/ttyS6
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DRIVERS
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adc/board_adc
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adc/ads1115
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barometer # all available barometer drivers
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batt_smbus
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camera_capture
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@@ -17,6 +17,7 @@ px4_add_board(
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TEL4:/dev/ttyS3
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DRIVERS
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adc/board_adc
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adc/ads1115
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barometer # all available barometer drivers
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batt_smbus
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camera_capture
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@@ -18,6 +18,7 @@ px4_add_board(
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GPS2:/dev/ttyS7
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DRIVERS
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adc/board_adc
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adc/ads1115
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barometer # all available barometer drivers
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batt_smbus
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camera_capture
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@@ -11,6 +11,7 @@ px4_add_board(
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TOOLCHAIN arm-linux-gnueabihf
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TESTING
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DRIVERS
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adc/ads1115
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#barometer # all available barometer drivers
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barometer/ms5611
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batt_smbus
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@@ -0,0 +1,197 @@
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/****************************************************************************
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*
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* Copyright (C) 2020 PX4 Development Team. All rights reserved.
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||||
*
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* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
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||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
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||||
*
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||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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||||
*
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****************************************************************************/
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#include "ADS1115.h"
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#include <cassert>
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int ADS1115::init()
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{
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int ret = I2C::init();
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if (ret != PX4_OK) {
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PX4_ERR("I2C init failed");
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return ret;
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}
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uint8_t config[2] = {};
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config[0] = CONFIG_HIGH_OS_NOACT | CONFIG_HIGH_MUX_P0NG | CONFIG_HIGH_PGA_6144 | CONFIG_HIGH_MODE_SS;
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config[1] = CONFIG_LOW_DR_250SPS | CONFIG_LOW_COMP_MODE_TRADITIONAL | CONFIG_LOW_COMP_POL_RESET |
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CONFIG_LOW_COMP_LAT_NONE | CONFIG_LOW_COMP_QU_DISABLE;
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return writeReg(ADDRESSPOINTER_REG_CONFIG, config, 2);
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}
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int ADS1115::setChannel(ADS1115::ChannelSelection ch)
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{
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uint8_t buf[2] = {};
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uint8_t next_mux_reg = CONFIG_HIGH_MUX_P0NG;
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switch (ch) {
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case A0:
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next_mux_reg = CONFIG_HIGH_MUX_P0NG;
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break;
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case A1:
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next_mux_reg = CONFIG_HIGH_MUX_P1NG;
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break;
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case A2:
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next_mux_reg = CONFIG_HIGH_MUX_P2NG;
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break;
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case A3:
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next_mux_reg = CONFIG_HIGH_MUX_P3NG;
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break;
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default:
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assert(false);
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break;
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}
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buf[0] = CONFIG_HIGH_OS_START_SINGLE | next_mux_reg | CONFIG_HIGH_PGA_6144 | CONFIG_HIGH_MODE_SS;
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buf[1] = CONFIG_LOW_DR_250SPS | CONFIG_LOW_COMP_MODE_TRADITIONAL | CONFIG_LOW_COMP_POL_RESET |
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CONFIG_LOW_COMP_LAT_NONE | CONFIG_LOW_COMP_QU_DISABLE;
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return writeReg(ADDRESSPOINTER_REG_CONFIG, buf, 2); // must write whole register to take effect
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}
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bool ADS1115::isSampleReady()
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{
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uint8_t buf[1] = {0x00};
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if (readReg(ADDRESSPOINTER_REG_CONFIG, buf, 1) != 0) { return false; } // Pull config register
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return (buf[0] & (uint8_t) 0x80);
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}
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ADS1115::ChannelSelection ADS1115::getMeasurement(int16_t *value)
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{
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uint8_t buf[2] = {0x00};
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readReg(ADDRESSPOINTER_REG_CONFIG, buf, 1); // Pull config register
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ChannelSelection channel;
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switch ((buf[0] & (uint8_t) 0x70) >> 4) {
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case 0x04:
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channel = A0;
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break;
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case 0x05:
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channel = A1;
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break;
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case 0x06:
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channel = A2;
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break;
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case 0x07:
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channel = A3;
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break;
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default:
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return Invalid;
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}
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readReg(ADDRESSPOINTER_REG_CONVERSATION, buf, 2);
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uint16_t raw_adc_val = buf[0] * 256 + buf[1];
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if (raw_adc_val & (uint16_t) 0x8000) { // Negetive value
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raw_adc_val = ~raw_adc_val + 1; // 2's complement
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*value = -raw_adc_val;
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} else {
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*value = raw_adc_val;
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}
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return channel;
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}
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ADS1115::ChannelSelection ADS1115::cycleMeasure(int16_t *value)
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{
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uint8_t buf[2] = {0x00};
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readReg(ADDRESSPOINTER_REG_CONFIG, buf, 1); // Pull config register
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ChannelSelection channel;
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uint8_t next_mux_reg = CONFIG_HIGH_MUX_P0NG;
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switch ((buf[0] & (uint8_t) 0x70) >> 4) {
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case 0x04:
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channel = A0;
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next_mux_reg = CONFIG_HIGH_MUX_P1NG;
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break;
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case 0x05:
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channel = A1;
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next_mux_reg = CONFIG_HIGH_MUX_P2NG;
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break;
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case 0x06:
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channel = A2;
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next_mux_reg = CONFIG_HIGH_MUX_P3NG;
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break;
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case 0x07:
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channel = A3;
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next_mux_reg = CONFIG_HIGH_MUX_P0NG;
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break;
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default:
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return Invalid;
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}
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readReg(ADDRESSPOINTER_REG_CONVERSATION, buf, 2);
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uint16_t raw_adc_val = buf[0] * 256 + buf[1];
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if (raw_adc_val & (uint16_t) 0x8000) { // Negetive value
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raw_adc_val = ~raw_adc_val + 1; // 2's complement
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*value = -raw_adc_val;
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} else {
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*value = raw_adc_val;
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}
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buf[0] = CONFIG_HIGH_OS_START_SINGLE | next_mux_reg | CONFIG_HIGH_PGA_6144 | CONFIG_HIGH_MODE_SS;
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buf[1] = CONFIG_LOW_DR_250SPS | CONFIG_LOW_COMP_MODE_TRADITIONAL | CONFIG_LOW_COMP_POL_RESET |
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CONFIG_LOW_COMP_LAT_NONE | CONFIG_LOW_COMP_QU_DISABLE;
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writeReg(ADDRESSPOINTER_REG_CONFIG, buf, 2); // must write whole register to take effect
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return channel;
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}
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int ADS1115::readReg(uint8_t addr, uint8_t *buf, size_t len)
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{
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return transfer(&addr, 1, buf, len);
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}
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int ADS1115::writeReg(uint8_t addr, uint8_t *buf, size_t len)
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{
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uint8_t buffer[len + 1];
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buffer[0] = addr;
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memcpy(buffer + 1, buf, sizeof(uint8_t)*len);
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return transfer(buffer, len + 1, nullptr, 0);
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}
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@@ -0,0 +1,162 @@
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/****************************************************************************
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*
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* Copyright (C) 2020 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
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****************************************************************************/
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#pragma once
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#include <stdint.h>
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#include <drivers/device/i2c.h>
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#include <px4_platform_common/i2c_spi_buses.h>
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#include <uORB/topics/adc_report.h>
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#include <uORB/Publication.hpp>
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#include <lib/perf/perf_counter.h>
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#include <drivers/drv_hrt.h>
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#define ADDRESSPOINTER_REG_CONVERSATION 0x00
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#define ADDRESSPOINTER_REG_CONFIG 0x01
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#define ADDRESSPOINTER_REG_LO_THRESH 0x02
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#define ADDRESSPOINTER_REG_HI_THRESH 0x03
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#define CONVERSION_REG_RESET 0x00
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#define CONFIG_HIGH_OS_RESET 0x80
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#define CONFIG_HIGH_OS_NOACT 0x00
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#define CONFIG_HIGH_OS_START_SINGLE 0x80
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#define CONFIG_HIGH_MUX_RESET 0x00
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#define CONFIG_HIGH_MUX_P0N1 0x00
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#define CONFIG_HIGH_MUX_P0N3 0x10
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#define CONFIG_HIGH_MUX_P1N3 0x20
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#define CONFIG_HIGH_MUX_P2N3 0x30
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#define CONFIG_HIGH_MUX_P0NG 0x40
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#define CONFIG_HIGH_MUX_P1NG 0x50
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#define CONFIG_HIGH_MUX_P2NG 0x60
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#define CONFIG_HIGH_MUX_P3NG 0x70
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#define CONFIG_HIGH_PGA_RESET 0x02
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#define CONFIG_HIGH_PGA_6144 0x00
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#define CONFIG_HIGH_PGA_4096 0x02
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#define CONFIG_HIGH_PGA_2048 0x04
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#define CONFIG_HIGH_PGA_1024 0x06
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#define CONFIG_HIGH_PGA_0512 0x08
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#define CONFIG_HIGH_PGA_0256 0x0a
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#define CONFIG_HIGH_MODE_RESET 0x01
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#define CONFIG_HIGH_MODE_SS 0x01
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#define CONFIG_HIGH_MODE_CC 0x00
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#define CONFIG_LOW_DR_RESET 0x80
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#define CONFIG_LOW_DR_8SPS 0x00
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#define CONFIG_LOW_DR_16SPS 0x20
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#define CONFIG_LOW_DR_32SPS 0x40
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#define CONFIG_LOW_DR_64SPS 0x60
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#define CONFIG_LOW_DR_128SPS 0x80
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#define CONFIG_LOW_DR_250SPS 0xa0
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#define CONFIG_LOW_DR_475SPS 0xc0
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#define CONFIG_LOW_DR_860SPS 0xe0
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#define CONFIG_LOW_COMP_MODE_RESET 0x00
|
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#define CONFIG_LOW_COMP_MODE_TRADITIONAL 0x00
|
||||
#define CONFIG_LOW_COMP_MODE_WINDOW 0x10
|
||||
#define CONFIG_LOW_COMP_POL_RESET 0x00
|
||||
#define CONFIG_LOW_COMP_POL_ACTIVE_LOW 0x00
|
||||
#define CONFIG_LOW_COMP_POL_ACTIVE_HIGH 0x08
|
||||
#define CONFIG_LOW_COMP_LAT_DEFAULT 0x00
|
||||
#define CONFIG_LOW_COMP_LAT_NONE 0x00
|
||||
#define CONFIG_LOW_COMP_LAT_LATCH 0x04
|
||||
#define CONFIG_LOW_COMP_QU_DEFAULT 0x03
|
||||
#define CONFIG_LOW_COMP_QU_AFTER1 0x00
|
||||
#define CONFIG_LOW_COMP_QU_AFTER2 0x01
|
||||
#define CONFIG_LOW_COMP_QU_AFTER4 0x02
|
||||
#define CONFIG_LOW_COMP_QU_DISABLE 0x03
|
||||
|
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using namespace time_literals;
|
||||
|
||||
/*
|
||||
* This driver configure ADS1115 into 4 channels with gnd as baseline.
|
||||
* Start each sample cycle by setting sample channel.
|
||||
* PGA set to 6.144V
|
||||
* SPS set to 256
|
||||
* Valid output ranges from 0 to 32767 on each channel.
|
||||
*/
|
||||
class ADS1115 : public device::I2C, public I2CSPIDriver<ADS1115>
|
||||
{
|
||||
public:
|
||||
ADS1115(I2CSPIBusOption bus_option, int bus, int addr, int bus_frequency);
|
||||
~ADS1115() override;
|
||||
|
||||
int Begin();
|
||||
|
||||
int init() override;
|
||||
|
||||
static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
|
||||
int runtime_instance);
|
||||
|
||||
static void print_usage();
|
||||
|
||||
void RunImpl();
|
||||
|
||||
protected:
|
||||
|
||||
adc_report_s _adc_report = {};
|
||||
|
||||
void print_status() override;
|
||||
|
||||
void exit_and_cleanup() override;
|
||||
|
||||
private:
|
||||
|
||||
uORB::Publication<adc_report_s> _to_adc_report{ORB_ID(adc_report)};
|
||||
|
||||
static const hrt_abstime SAMPLE_INTERVAL{50_ms};
|
||||
|
||||
perf_counter_t _cycle_perf;
|
||||
|
||||
int _channel_cycle_count = 0;
|
||||
|
||||
// ADS1115 logic part
|
||||
enum ChannelSelection {
|
||||
Invalid = -1, A0 = 0, A1, A2, A3
|
||||
};
|
||||
/* set multiplexer to specific channel */
|
||||
int setChannel(ChannelSelection ch);
|
||||
/* return true if sample result is valid */
|
||||
bool isSampleReady();
|
||||
/*
|
||||
* get adc sample. return the channel being measured.
|
||||
* Invalid indicates sample failure.
|
||||
*/
|
||||
ChannelSelection getMeasurement(int16_t *value);
|
||||
/*
|
||||
* get adc sample and automatically switch to next channel and start another measurement
|
||||
*/
|
||||
ChannelSelection cycleMeasure(int16_t *value);
|
||||
|
||||
int readReg(uint8_t addr, uint8_t *buf, size_t len);
|
||||
|
||||
int writeReg(uint8_t addr, uint8_t *buf, size_t len);
|
||||
|
||||
};
|
||||
@@ -0,0 +1,41 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2020 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
px4_add_module(
|
||||
MODULE drivers__ads1115
|
||||
MAIN ads1115
|
||||
COMPILE_FLAGS
|
||||
SRCS
|
||||
ads1115_main.cpp
|
||||
ADS1115.cpp
|
||||
DEPENDS
|
||||
)
|
||||
@@ -0,0 +1,212 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2020 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file ads1115_main.cpp
|
||||
* @author SalimTerryLi
|
||||
*
|
||||
* Driver for the ADS1115 connected via I2C.
|
||||
*/
|
||||
|
||||
#include "ADS1115.h"
|
||||
#include <px4_platform_common/module.h>
|
||||
#include <drivers/drv_adc.h>
|
||||
|
||||
ADS1115::ADS1115(I2CSPIBusOption bus_option, int bus, int addr, int bus_frequency) :
|
||||
I2C(DRV_ADC_DEVTYPE_ADS1115, nullptr, bus, addr, bus_frequency),
|
||||
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus, addr),
|
||||
_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": single-sample"))
|
||||
{
|
||||
_adc_report.device_id = this->get_device_id();
|
||||
_adc_report.resolution = 32768;
|
||||
_adc_report.v_ref = 6.144f;
|
||||
|
||||
for (unsigned i = 0; i < PX4_MAX_ADC_CHANNELS; ++i) {
|
||||
_adc_report.channel_id[i] = -1;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
ADS1115::~ADS1115()
|
||||
{
|
||||
ScheduleClear();
|
||||
perf_free(_cycle_perf);
|
||||
}
|
||||
|
||||
int ADS1115::Begin()
|
||||
{
|
||||
int ret = init();
|
||||
|
||||
if (ret != PX4_OK) {
|
||||
PX4_ERR("ADS1115 init failed");
|
||||
return ret;
|
||||
}
|
||||
|
||||
setChannel(ADS1115::A0); // prepare for the first measure.
|
||||
|
||||
ScheduleOnInterval(SAMPLE_INTERVAL / 4, SAMPLE_INTERVAL / 4);
|
||||
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
void ADS1115::exit_and_cleanup()
|
||||
{
|
||||
I2CSPIDriverBase::exit_and_cleanup(); // nothing to do
|
||||
}
|
||||
|
||||
void ADS1115::RunImpl()
|
||||
{
|
||||
if (should_exit()) {
|
||||
PX4_INFO("stopping");
|
||||
return; // stop and return immediately to avoid unexpected schedule from stopping procedure
|
||||
}
|
||||
|
||||
perf_begin(_cycle_perf);
|
||||
|
||||
_adc_report.timestamp = hrt_absolute_time();
|
||||
|
||||
if (isSampleReady()) { // whether ADS1115 is ready to be read or not
|
||||
int16_t buf;
|
||||
ADS1115::ChannelSelection ch = cycleMeasure(&buf);
|
||||
++_channel_cycle_count;
|
||||
|
||||
switch (ch) {
|
||||
case ADS1115::A0:
|
||||
_adc_report.channel_id[0] = 0;
|
||||
_adc_report.raw_data[0] = buf;
|
||||
break;
|
||||
|
||||
case ADS1115::A1:
|
||||
_adc_report.channel_id[1] = 1;
|
||||
_adc_report.raw_data[1] = buf;
|
||||
break;
|
||||
|
||||
case ADS1115::A2:
|
||||
_adc_report.channel_id[2] = 2;
|
||||
_adc_report.raw_data[2] = buf;
|
||||
break;
|
||||
|
||||
case ADS1115::A3:
|
||||
_adc_report.channel_id[3] = 3;
|
||||
_adc_report.raw_data[3] = buf;
|
||||
break;
|
||||
|
||||
default:
|
||||
PX4_DEBUG("ADS1115: undefined behaviour");
|
||||
setChannel(ADS1115::A0);
|
||||
--_channel_cycle_count;
|
||||
break;
|
||||
}
|
||||
|
||||
if (_channel_cycle_count == 4) { // ADS1115 has 4 channels
|
||||
_channel_cycle_count = 0;
|
||||
_to_adc_report.publish(_adc_report);
|
||||
}
|
||||
|
||||
} else {
|
||||
PX4_WARN("ADS1115 not ready!");
|
||||
}
|
||||
|
||||
perf_end(_cycle_perf);
|
||||
}
|
||||
|
||||
I2CSPIDriverBase *ADS1115::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
|
||||
int runtime_instance)
|
||||
{
|
||||
ADS1115 *instance = new ADS1115(iterator.configuredBusOption(), iterator.bus(), cli.i2c_address,
|
||||
cli.bus_frequency);
|
||||
|
||||
if (!instance) {
|
||||
PX4_ERR("alloc failed");
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
if (OK != instance->Begin()) {
|
||||
delete instance;
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
return instance;
|
||||
}
|
||||
|
||||
void ADS1115::print_usage()
|
||||
{
|
||||
PRINT_MODULE_USAGE_NAME("ads1115", "driver");
|
||||
PRINT_MODULE_USAGE_COMMAND("start");
|
||||
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
|
||||
PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x48);
|
||||
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
|
||||
}
|
||||
|
||||
void ADS1115::print_status()
|
||||
{
|
||||
I2CSPIDriverBase::print_status();
|
||||
perf_print_counter(_cycle_perf);
|
||||
}
|
||||
|
||||
extern "C" int ads1115_main(int argc, char *argv[])
|
||||
{
|
||||
int ch;
|
||||
using ThisDriver = ADS1115;
|
||||
BusCLIArguments cli{true, false};
|
||||
cli.default_i2c_frequency = 400000;
|
||||
cli.i2c_address = 0x48;
|
||||
|
||||
while ((ch = cli.getopt(argc, argv, "")) != EOF) {
|
||||
|
||||
}
|
||||
|
||||
const char *verb = cli.optarg();
|
||||
|
||||
if (!verb) {
|
||||
ThisDriver::print_usage();
|
||||
return -1;
|
||||
}
|
||||
|
||||
BusInstanceIterator iterator(MODULE_NAME, cli, DRV_ADC_DEVTYPE_ADS1115);
|
||||
|
||||
if (!strcmp(verb, "start")) {
|
||||
return ThisDriver::module_start(cli, iterator);
|
||||
}
|
||||
|
||||
if (!strcmp(verb, "stop")) {
|
||||
return ThisDriver::module_stop(iterator);
|
||||
}
|
||||
|
||||
if (!strcmp(verb, "status")) {
|
||||
return ThisDriver::module_status(iterator);
|
||||
}
|
||||
|
||||
ThisDriver::print_usage();
|
||||
return -1;
|
||||
}
|
||||
@@ -163,6 +163,7 @@
|
||||
#define DRV_MAG_DEVTYPE_UAVCAN 0x88
|
||||
#define DRV_DIST_DEVTYPE_UAVCAN 0x89
|
||||
|
||||
#define DRV_ADC_DEVTYPE_ADS1115 0x90
|
||||
|
||||
#define DRV_DEVTYPE_UNUSED 0xff
|
||||
|
||||
|
||||
Reference in New Issue
Block a user