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[adc] Refactor ADS1115 driver (#24428)
This commit is contained in:
Niklas Hauser
GitHub
parent
0ee592f67c
commit
2aecdfe116
@ -42,18 +42,7 @@ int ADS1115::init()
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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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ret = writeReg(ADDRESSPOINTER_REG_CONFIG, config, 2);
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if (ret != PX4_OK) {
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PX4_ERR("writeReg failed (%i)", ret);
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return ret;
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}
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setChannel(ADS1115::A0); // prepare for the first measure.
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readChannel(Channel::A0); // prepare for the first measure.
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ScheduleOnInterval(SAMPLE_INTERVAL / 4, SAMPLE_INTERVAL / 4);
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@ -62,152 +51,69 @@ int ADS1115::init()
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int ADS1115::probe()
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{
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uint8_t buf[2] = {};
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int ret = readReg(ADDRESSPOINTER_REG_CONFIG, buf, 2);
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// The ADS1115 has no ID register, so we read out the threshold registers
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// and check their default values. We cannot use the config register, as
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// this is changed by this driver. Note the default value is in BE.
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static constexpr uint32_t DEFAULT{0xFF7F0080};
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union {
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struct {
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uint8_t low[2];
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uint8_t high[2];
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} parts;
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uint32_t threshold{};
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};
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int ret = readReg(ADDRESSPOINTER_REG_LO_THRESH, parts.low, 2);
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if (ret != PX4_OK) {
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DEVICE_DEBUG("readReg failed (%i)", ret);
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DEVICE_DEBUG("lo_thresh read failed (%i)", ret);
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return ret;
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}
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if (buf[0] != CONFIG_RESET_VALUE_HIGH || buf[1] != CONFIG_RESET_VALUE_LOW) {
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DEVICE_DEBUG("ADS1115 not found");
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return PX4_ERROR;
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ret = readReg(ADDRESSPOINTER_REG_HI_THRESH, parts.high, 2);
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if (ret != PX4_OK) {
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DEVICE_DEBUG("hi_thresh read failed (%i)", ret);
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return ret;
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}
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return PX4_OK;
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if (threshold == DEFAULT) {
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return PX4_OK;
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}
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DEVICE_DEBUG("ADS1115 not found");
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return PX4_ERROR;
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}
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int ADS1115::setChannel(ADS1115::ChannelSelection ch)
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int ADS1115::readChannel(ADS1115::Channel 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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uint8_t buf[2];
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buf[0] = CONFIG_HIGH_OS_START_SINGLE | uint8_t(ch) | 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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int 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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if (readReg(ADDRESSPOINTER_REG_CONFIG, buf, 1) != PX4_OK) { return -1; } // Pull config register
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return (buf[0] & (uint8_t) 0x80);
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return (buf[0] & (uint8_t) 0x80) ? 1 : 0;
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}
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ADS1115::ChannelSelection ADS1115::getMeasurement(int16_t *value)
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ADS1115::Channel 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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if (readReg(ADDRESSPOINTER_REG_CONFIG, buf, 1) != PX4_OK) { return Channel::Invalid; }
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case 0x05:
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channel = A1;
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break;
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const auto channel{Channel(buf[0] & CONFIG_HIGH_MUX_P3NG)};
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case 0x06:
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channel = A2;
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break;
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if (readReg(ADDRESSPOINTER_REG_CONVERSATION, buf, 2) != PX4_OK) { return Channel::Invalid; }
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case 0x07:
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channel = A3;
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break;
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*value = int16_t((buf[0] << 8) | buf[1]);
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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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@ -93,9 +93,6 @@
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#define CONFIG_LOW_COMP_QU_AFTER4 0x02
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#define CONFIG_LOW_COMP_QU_DISABLE 0x03
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#define CONFIG_RESET_VALUE_HIGH 0x85
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#define CONFIG_RESET_VALUE_LOW 0x83
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using namespace time_literals;
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/*
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@ -127,35 +124,39 @@ protected:
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private:
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uORB::PublicationMulti<adc_report_s> _to_adc_report{ORB_ID(adc_report)};
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uORB::PublicationMulti<adc_report_s> _to_adc_report{ORB_ID(adc_report)};
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static const hrt_abstime SAMPLE_INTERVAL{50_ms};
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static const hrt_abstime SAMPLE_INTERVAL{50_ms};
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adc_report_s _adc_report{};
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perf_counter_t _cycle_perf;
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perf_counter_t _cycle_perf;
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perf_counter_t _comms_errors;
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int _channel_cycle_count{0};
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uint8_t _channel_cycle_mask{0};
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bool _reported_ready_last_cycle{false};
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static constexpr uint8_t MAX_READY_COUNTER{20};
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uint8_t _ready_counter{MAX_READY_COUNTER};
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// ADS1115 logic part
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enum ChannelSelection {
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Invalid = -1, A0 = 0, A1, A2, A3
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enum class Channel : uint8_t {
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A0 = CONFIG_HIGH_MUX_P0NG,
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A1 = CONFIG_HIGH_MUX_P1NG,
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A2 = CONFIG_HIGH_MUX_P2NG,
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A3 = CONFIG_HIGH_MUX_P3NG,
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Invalid = 0xff,
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};
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/* set multiplexer to specific channel */
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int setChannel(ChannelSelection ch);
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/* return true if sample result is valid */
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bool isSampleReady();
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constexpr unsigned ch2u(Channel ch) { return (unsigned(ch) >> 4) & 0b11u; }
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constexpr Channel u2ch(unsigned ch) { return Channel((ch << 4) | CONFIG_HIGH_MUX_P0NG); }
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// Set the channel and start a conversion
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int readChannel(Channel ch);
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// return 1 if sample result is valid else 0 or -1 if I2C transaction failed
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int isSampleReady();
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/*
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* get adc sample. return the channel being measured.
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* Invalid indicates sample failure.
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*/
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ChannelSelection getMeasurement(int16_t *value);
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/*
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* get adc sample and automatically switch to next channel and start another measurement
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*/
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ChannelSelection cycleMeasure(int16_t *value);
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Channel getMeasurement(int16_t *value);
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int readReg(uint8_t addr, uint8_t *buf, size_t len);
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@ -45,7 +45,8 @@
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ADS1115::ADS1115(const I2CSPIDriverConfig &config) :
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I2C(config),
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I2CSPIDriver(config),
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_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": single-sample"))
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_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": single-sample")),
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_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comms errors"))
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{
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_adc_report.device_id = this->get_device_id();
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_adc_report.resolution = 32768;
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@ -61,6 +62,7 @@ ADS1115::~ADS1115()
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{
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ScheduleClear();
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perf_free(_cycle_perf);
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perf_free(_comms_errors);
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}
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void ADS1115::exit_and_cleanup()
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@ -77,56 +79,55 @@ void ADS1115::RunImpl()
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perf_begin(_cycle_perf);
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_adc_report.timestamp = hrt_absolute_time();
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const int ready = isSampleReady();
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if (isSampleReady()) { // whether ADS1115 is ready to be read or not
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if (!_reported_ready_last_cycle) {
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PX4_INFO("ADS1115: reported ready");
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_reported_ready_last_cycle = true;
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if (ready == 1) {
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// I2C transaction success and status register reported conversion as finished
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if (_ready_counter == 0) { PX4_INFO("ADS1115: reported ready"); }
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if (_ready_counter < MAX_READY_COUNTER) { _ready_counter++; }
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int16_t value;
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Channel ch = getMeasurement(&value);
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if (ch != Channel::Invalid) {
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// Store current readings and mark channel as read
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const unsigned index{ch2u(ch)};
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_adc_report.channel_id[index] = index;
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_adc_report.raw_data[index] = value;
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_channel_cycle_mask |= 1u << index;
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} else {
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// we will retry the same channel again
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perf_count(_comms_errors);
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}
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int16_t buf;
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ADS1115::ChannelSelection ch = cycleMeasure(&buf);
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++_channel_cycle_count;
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// Find the next unread channel in the bitmask
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uint8_t next_index{0};
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switch (ch) {
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case ADS1115::A0:
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_adc_report.channel_id[0] = 0;
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_adc_report.raw_data[0] = buf;
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break;
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for (; next_index < 4 && (_channel_cycle_mask & (1u << next_index)); next_index++) {}
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case ADS1115::A1:
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_adc_report.channel_id[1] = 1;
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_adc_report.raw_data[1] = buf;
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break;
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readChannel(u2ch(next_index));
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case ADS1115::A2:
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_adc_report.channel_id[2] = 2;
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_adc_report.raw_data[2] = buf;
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break;
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case ADS1115::A3:
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_adc_report.channel_id[3] = 3;
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_adc_report.raw_data[3] = buf;
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break;
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default:
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PX4_DEBUG("ADS1115: undefined behaviour");
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setChannel(ADS1115::A0);
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--_channel_cycle_count;
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break;
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}
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if (_channel_cycle_count == 4) { // ADS1115 has 4 channels
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_channel_cycle_count = 0;
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if (_channel_cycle_mask == 0b1111) {
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_channel_cycle_mask = 0;
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_to_adc_report.publish(_adc_report);
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}
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} else {
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if (_reported_ready_last_cycle) {
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_reported_ready_last_cycle = false;
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PX4_ERR("ADS1115: not ready. Device lost?");
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}
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} else if (ready == 0) {
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// I2C transaction success but status register reported conversion still in progress
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perf_count(_comms_errors);
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// Reset the channel to unstick the device
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readChannel(Channel::A0);
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} else if (ready == -1) {
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if (_ready_counter == 1) { PX4_ERR("ADS1115: device lost"); }
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if (_ready_counter > 0) { _ready_counter--; }
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perf_count(_comms_errors);
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// Reset the channel to unstick the device
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readChannel(Channel::A0);
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}
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perf_end(_cycle_perf);
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@ -151,7 +152,7 @@ parameter, and is disabled by default.
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If enabled, internal ADCs are not used.
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)DESCR_STR");
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PRINT_MODULE_USAGE_NAME("ads1115", "driver");
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PRINT_MODULE_USAGE_COMMAND("start");
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PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
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@ -163,6 +164,7 @@ void ADS1115::print_status()
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{
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I2CSPIDriverBase::print_status();
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perf_print_counter(_cycle_perf);
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perf_print_counter(_comms_errors);
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}
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extern "C" int ads1115_main(int argc, char *argv[])
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