Mirrors_Framework/ODrive
1
0
Fork 0
mirror of https://github.com/odriverobotics/ODrive.git synced 2026-08-18 18:20:15 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

Avoid redundant normalizing of adc voltage

Browse Source
This commit is contained in:
Oskar Weigl
2020-09-05 16:15:11 -07:00
parent b38fd2be9c
commit 33987df7e1
4 changed files with 17 additions and 12 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Firmware/MotorControl/low_level.cpp
+8 -5
View File
@@ -311,8 +311,12 @@ void start_general_purpose_adc() {
// The true frequency is slightly lower because of the injected vbus
// measurements
float get_adc_voltage(Stm32Gpio gpio) {
return get_adc_relative_voltage(gpio) * adc_ref_voltage;
}
float get_adc_relative_voltage(Stm32Gpio gpio) {
const uint16_t channel = channel_from_gpio(gpio);
return get_adc_voltage_channel(channel);
return get_adc_relative_voltage_ch(channel);
}
// @brief Given a GPIO_port and pin return the associated adc_channel.
@@ -358,12 +362,11 @@ uint16_t channel_from_gpio(Stm32Gpio gpio) {
return channel;
}
// @brief Given an adc channel return the measured voltage.
// @brief Given an adc channel return the voltage as a ratio of adc_ref_voltage
// returns -1.0f if the channel is not valid.
float get_adc_voltage_channel(uint16_t channel)
{
float get_adc_relative_voltage_ch(uint16_t channel) {
if (channel < ADC_CHANNEL_COUNT)
return ((float)adc_measurements_[channel]) * (adc_ref_voltage / adc_full_scale);
return (float)adc_measurements_[channel] / adc_full_scale;
else
return -1.0f;
}