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px4io: return raw ADC value for current

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we don't know how to scale it as we have no info on what sensor is
attached. As we are returning a uint16_t it is better to let the FMU
sort it out or we'll just lose precision.
This commit is contained in:
Andrew Tridgell
2013-05-01 15:06:13 +10:00
parent 5b3844621c
commit 44015d6915
2 changed files with 9 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/px4iofirmware/protocol.h
+1 -3
View File
@@ -115,7 +115,7 @@
#define PX4IO_P_STATUS_ALARMS_PWM_ERROR (1 << 6) /* PWM configuration or output was bad */ #define PX4IO_P_STATUS_ALARMS_PWM_ERROR (1 << 6) /* PWM configuration or output was bad */
#define PX4IO_P_STATUS_VBATT 4 /* battery voltage in mV */ #define PX4IO_P_STATUS_VBATT 4 /* battery voltage in mV */
#define PX4IO_P_STATUS_IBATT 5 /* battery current in cA */ #define PX4IO_P_STATUS_IBATT 5 /* battery current (raw ADC) */
/* array of post-mix actuator outputs, -10000..10000 */ /* array of post-mix actuator outputs, -10000..10000 */
#define PX4IO_PAGE_ACTUATORS 2 /* 0..CONFIG_ACTUATOR_COUNT-1 */ #define PX4IO_PAGE_ACTUATORS 2 /* 0..CONFIG_ACTUATOR_COUNT-1 */
@@ -155,8 +155,6 @@
#define PX4IO_P_SETUP_PWM_ALTRATE 4 /* 'high' PWM frame output rate in Hz */ #define PX4IO_P_SETUP_PWM_ALTRATE 4 /* 'high' PWM frame output rate in Hz */
#define PX4IO_P_SETUP_RELAYS 5 /* bitmask of relay/switch outputs, 0 = off, 1 = on */ #define PX4IO_P_SETUP_RELAYS 5 /* bitmask of relay/switch outputs, 0 = off, 1 = on */
#define PX4IO_P_SETUP_VBATT_SCALE 6 /* battery voltage correction factor (float) */ #define PX4IO_P_SETUP_VBATT_SCALE 6 /* battery voltage correction factor (float) */
#define PX4IO_P_SETUP_IBATT_SCALE 7 /* battery current scaling factor (float) */
#define PX4IO_P_SETUP_IBATT_BIAS 8 /* battery current bias value */
#define PX4IO_P_SETUP_SET_DEBUG 9 /* debug level for IO board */ #define PX4IO_P_SETUP_SET_DEBUG 9 /* debug level for IO board */
/* autopilot control values, -10000..10000 */ /* autopilot control values, -10000..10000 */
src/modules/px4iofirmware/registers.c
+8 -8
View File
@@ -138,8 +138,6 @@ volatile uint16_t r_page_setup[] =
[PX4IO_P_SETUP_PWM_ALTRATE] = 200, [PX4IO_P_SETUP_PWM_ALTRATE] = 200,
[PX4IO_P_SETUP_RELAYS] = 0, [PX4IO_P_SETUP_RELAYS] = 0,
[PX4IO_P_SETUP_VBATT_SCALE] = 10000, [PX4IO_P_SETUP_VBATT_SCALE] = 10000,
[PX4IO_P_SETUP_IBATT_SCALE] = 0,
[PX4IO_P_SETUP_IBATT_BIAS] = 0,
[PX4IO_P_SETUP_SET_DEBUG] = 0, [PX4IO_P_SETUP_SET_DEBUG] = 0,
}; };
@@ -516,12 +514,14 @@ registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_val
/* PX4IO_P_STATUS_IBATT */ /* PX4IO_P_STATUS_IBATT */
{ {
unsigned counts = adc_measure(ADC_VBATT); /*
unsigned scaled = (counts * r_page_setup[PX4IO_P_SETUP_IBATT_SCALE]) / 10000; note that we have no idea what sort of
int corrected = scaled + REG_TO_SIGNED(r_page_setup[PX4IO_P_SETUP_IBATT_BIAS]); current sensor is attached, so we just
if (corrected < 0) return the raw 12 bit ADC value and let the
corrected = 0; FMU sort it out, with user selectable
r_page_status[PX4IO_P_STATUS_IBATT] = corrected; configuration for their sensor
*/
r_page_status[PX4IO_P_STATUS_IBATT] = adc_measure(ADC_IN5);
} }
SELECT_PAGE(r_page_status); SELECT_PAGE(r_page_status);