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Added FMUv5 System Power related system_power.msg fields

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voltage3V3_v - the sensor 3.3V voltage rail
   v3v3_valid   - the value of voltage3V3_v  may be 0. This
                  field is a 1 when the HW provides voltage3V3_v

   brick_valid - is now a bit mask. A 1 in the postion inticate the
                 Power controler HW has a valid supply voltage
                 present (in V window) on that priority
                 (channel V1..Vn).
                 The mapping is formed by 1<<battery_status.msg.priority
                 or using the manifest constanst BRICKn_VALID_MASK

   usb_vaild - is now indicated from the Power controler HW or
               the usb_connected if Power controler is
               not present.

   brick_valid == 0 and usb_vaild = 1 implies the FMU is powered
   from USB only

   brick_valid != 0  and usb_vaild = 1 implies the FMU is powered
   from the higest priority brick, providing a 1 bit in brick_valid
   and from USB
This commit is contained in:
David Sidrane
2017-06-29 12:22:22 -10:00
parent 4b63d629a9
commit f13682223a
2 changed files with 56 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files
msg/system_power.msg
+13 -1
View File
@@ -1,6 +1,18 @@
float32 voltage5V_v # peripheral 5V rail voltage
float32 voltage3V3_v # Sensor 3V3 rail voltage
uint8 v3v3_valid # Sensor 3V3 rail voltage was read.
uint8 usb_connected # USB is connected when 1
uint8 brick_valid # brick power is good when 1
uint8 brick_valid # brick bits power is good when bit 1
uint8 usb_vaild # USB is valid when 1
uint8 servo_valid # servo power is good when 1
uint8 periph_5V_OC # peripheral overcurrent when 1
uint8 hipower_5V_OC # hi power peripheral overcurrent when 1
uint8 BRICK1_VALID_SHIFTS=0
uint8 BRICK1_VALID_MASK=1
uint8 BRICK2_VALID_SHIFTS=1
uint8 BRICK2_VALID_MASK=2
uint8 BRICK3_VALID_SHIFTS=2
uint8 BRICK3_VALID_MASK=4
uint8 BRICK4_VALID_SHIFTS=3
uint8 BRICK4_VALID_MASK=8
src/drivers/stm32/adc/adc.cpp
+43 -6
View File
@@ -351,21 +351,43 @@ ADC::update_system_power(hrt_abstime now)
system_power.timestamp = now;
system_power.voltage5V_v = 0;
system_power.voltage3V3_v = 0;
system_power.v3v3_valid = 0;
/* HW provides ADC_SCALED_V5_SENSE */
# if defined(ADC_SCALED_V5_SENSE)
/* Assume HW provides only ADC_SCALED_V5_SENSE */
int cnt = 1;
/* HW provides both ADC_SCALED_V5_SENSE and ADC_SCALED_V3V3_SENSORS_SENSE */
# if defined(ADC_SCALED_V5_SENSE) && defined(ADC_SCALED_V3V3_SENSORS_SENSE)
cnt++;
# endif
for (unsigned i = 0; i < _channel_count; i++) {
# if defined(ADC_SCALED_V5_SENSE)
if (_samples[i].am_channel == ADC_SCALED_V5_SENSE) {
// it is 2:1 scaled
system_power.voltage5V_v = _samples[i].am_data * (ADC_V5_V_FULL_SCALE / 4096);
cnt--;
} else
# endif
# if defined(ADC_SCALED_V3V3_SENSORS_SENSE)
{
if (_samples[i].am_channel == ADC_SCALED_V3V3_SENSORS_SENSE) {
// it is 2:1 scaled
system_power.voltage3V3_v = _samples[i].am_data * (ADC_3V3_SCALE * (3.3f / 4096.0f));
system_power.v3v3_valid = 1;
cnt--;
}
}
# endif
if (cnt == 0) {
break;
}
}
# endif
/* Note once the board_config.h provides BOARD_ADC_USB_CONNECTED,
* It must provide the true logic GPIO BOARD_ADC_xxxx macros.
*/
@@ -373,8 +395,23 @@ ADC::update_system_power(hrt_abstime now)
// publish these to the same topic
system_power.usb_connected = BOARD_ADC_USB_CONNECTED;
/* If provided used the Valid signal from HW*/
#if defined(BOARD_ADC_USB_VALID)
system_power.usb_vaild = BOARD_ADC_USB_VALID;
#else
/* If not provided then use connected */
system_power.usb_vaild = system_power.usb_connected;
#endif
/* The valid signals (HW dependent) are associated with each brick */
bool valid_chan[BOARD_NUMBER_BRICKS] = BOARD_BRICK_VALID_LIST;
system_power.brick_valid = 0;
for (int b = 0; b < BOARD_NUMBER_BRICKS; b++) {
system_power.brick_valid |= valid_chan[b] ? 1 << b : 0;
}
system_power.brick_valid = BOARD_ADC_BRICK_VALID;
system_power.servo_valid = BOARD_ADC_SERVO_VALID;
// OC pins are active low