Mirrors_Framework/PX4-Autopilot
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Factor out the ADC code.

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This commit is contained in:
px4dev
2012-08-25 19:09:10 -07:00
parent 665014a3e0
commit 93f26e3c96
1 changed files with 46 additions and 40 deletions
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apps/sensors/sensors.cpp
+46 -40
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@@ -142,8 +142,9 @@ private:
void ppm_poll();
#endif
/* XXX should not be here */
/* XXX should not be here - should be own driver */
int _fd_adc;
hrt_abstime _last_adc;
bool _task_should_exit;
int _sensors_task;
@@ -221,6 +222,7 @@ private:
void baro_poll(struct sensor_combined_s &raw);
void vehicle_status_poll();
void adc_poll(struct sensor_combined_s &raw);
static void task_main_trampoline(int argc, char *argv[]);
void task_main() __attribute__((noreturn));
@@ -244,6 +246,9 @@ Sensors::Sensors() :
_fd_gyro_l3gd20(-1),
_ppm_last_valid(0),
_fd_adc(-1),
_last_adc(0),
_task_should_exit(false),
_sensors_task(-1),
_hil_enabled(false),
@@ -697,6 +702,43 @@ Sensors::vehicle_status_poll()
}
}
void
Sensors::adc_poll(struct sensor_combined_s &raw)
{
#pragma pack(push,1)
struct adc_msg4_s {
uint8_t am_channel1; /**< The 8-bit ADC Channel 1 */
int32_t am_data1; /**< ADC convert result 1 (4 bytes) */
uint8_t am_channel2; /**< The 8-bit ADC Channel 2 */
int32_t am_data2; /**< ADC convert result 2 (4 bytes) */
uint8_t am_channel3; /**< The 8-bit ADC Channel 3 */
int32_t am_data3; /**< ADC convert result 3 (4 bytes) */
uint8_t am_channel4; /**< The 8-bit ADC Channel 4 */
int32_t am_data4; /**< ADC convert result 4 (4 bytes) */
} buf_adc;
#pragma pack(pop)
if (hrt_absolute_time() - _last_adc >= 10000) {
read(_fd_adc, &buf_adc, sizeof(buf_adc));
if (ADC_BATTERY_VOLATGE_CHANNEL == buf_adc.am_channel1) {
/* Voltage in volts */
raw.battery_voltage_v = (BAT_VOL_LOWPASS_1 * (raw.battery_voltage_v + BAT_VOL_LOWPASS_2 * (buf_adc.am_data1 * _parameters.battery_voltage_scaling)));
if ((buf_adc.am_data1 * _parameters.battery_voltage_scaling) < VOLTAGE_BATTERY_IGNORE_THRESHOLD_VOLTS) {
raw.battery_voltage_valid = false;
raw.battery_voltage_v = 0.f;
} else {
raw.battery_voltage_valid = true;
}
raw.battery_voltage_counter++;
}
_last_adc = hrt_absolute_time();
}
}
#if CONFIG_HRT_PPM
void
Sensors::ppm_poll()
@@ -763,21 +805,6 @@ Sensors::task_main_trampoline(int argc, char *argv[])
void
Sensors::task_main()
{
#pragma pack(push,1)
struct adc_msg4_s {
uint8_t am_channel1; /**< The 8-bit ADC Channel 1 */
int32_t am_data1; /**< ADC convert result 1 (4 bytes) */
uint8_t am_channel2; /**< The 8-bit ADC Channel 2 */
int32_t am_data2; /**< ADC convert result 2 (4 bytes) */
uint8_t am_channel3; /**< The 8-bit ADC Channel 3 */
int32_t am_data3; /**< ADC convert result 3 (4 bytes) */
uint8_t am_channel4; /**< The 8-bit ADC Channel 4 */
int32_t am_data4; /**< ADC convert result 4 (4 bytes) */
};
#pragma pack(pop)
struct adc_msg4_s buf_adc;
size_t adc_readsize = 1 * sizeof(struct adc_msg4_s);
/* inform about start */
printf("[sensors] Initializing..\n");
@@ -842,7 +869,7 @@ Sensors::task_main()
_rc_pub = orb_advertise(ORB_ID(rc_channels), &rc);
}
/* wakeup sources */
/* wakeup source(s) */
struct pollfd fds[1];
/* use the gyro to pace output - XXX BROKEN if we are using the L3GD20 */
@@ -879,35 +906,14 @@ Sensors::task_main()
baro_poll(raw);
/* check battery voltage */
/* XXX move to function */
static uint64_t last_adc = 0;
/* ADC */
if (hrt_absolute_time() - last_adc >= 10000) {
read(_fd_adc, &buf_adc, adc_readsize);
if (ADC_BATTERY_VOLATGE_CHANNEL == buf_adc.am_channel1) {
/* Voltage in volts */
raw.battery_voltage_v = (BAT_VOL_LOWPASS_1 * (raw.battery_voltage_v + BAT_VOL_LOWPASS_2 * (buf_adc.am_data1 * _parameters.battery_voltage_scaling)));
if ((buf_adc.am_data1 * _parameters.battery_voltage_scaling) < VOLTAGE_BATTERY_IGNORE_THRESHOLD_VOLTS) {
raw.battery_voltage_valid = false;
raw.battery_voltage_v = 0.f;
} else {
raw.battery_voltage_valid = true;
}
raw.battery_voltage_counter++;
}
last_adc = hrt_absolute_time();
}
adc_poll(raw);
/* Inform other processes that new data is available to copy */
if (_publishing)
orb_publish(ORB_ID(sensor_combined), _sensor_pub, &raw);
#ifdef CONFIG_HRT_PPM
/* Look for new r/c input data */
ppm_poll();
#endif