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[electrical]: extra ADC (#3134)

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This commit is contained in:
Christophe De Wagter
2023-10-16 12:29:27 +02:00
committed by GitHub
parent 673beb5e6e
commit 2b89019f1d
1 changed files with 12 additions and 0 deletions
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sw/airborne/modules/energy/electrical.c
+12
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@@ -73,6 +73,9 @@ static struct {
#if defined ADC_CHANNEL_CURRENT && !defined SITL
struct adc_buf current_adc_buf;
#endif
#if defined ADC_CHANNEL_CURRENT2 && !defined SITL
struct adc_buf current2_adc_buf;
#endif
#ifdef MILLIAMP_AT_FULL_THROTTLE
float nonlin_factor;
#endif
@@ -116,6 +119,10 @@ void electrical_init(void)
/* measure current if available, otherwise estimate it */
#if defined ADC_CHANNEL_CURRENT && !defined SITL
adc_buf_channel(ADC_CHANNEL_CURRENT, &electrical_priv.current_adc_buf, DEFAULT_AV_NB_SAMPLE);
#if defined ADC_CHANNEL_CURRENT2 && !defined SITL
adc_buf_channel(ADC_CHANNEL_CURRENT2, &electrical_priv.current2_adc_buf, DEFAULT_AV_NB_SAMPLE);
#endif
#elif defined MILLIAMP_AT_FULL_THROTTLE
PRINT_CONFIG_VAR(CURRENT_ESTIMATION_NONLINEARITY)
electrical_priv.nonlin_factor = CURRENT_ESTIMATION_NONLINEARITY;
@@ -137,6 +144,11 @@ void electrical_periodic(void)
#ifndef SITL
int32_t current_adc = electrical_priv.current_adc_buf.sum / electrical_priv.current_adc_buf.av_nb_sample;
electrical.current = MilliAmpereOfAdc(current_adc) / 1000.f;
#ifdef ADC_CHANNEL_CURRENT2
current_adc = electrical_priv.current2_adc_buf.sum / electrical_priv.current2_adc_buf.av_nb_sample;
electrical.current += MilliAmpereOfAdc2(current_adc) / 1000.f;
#endif
#endif
#elif defined MILLIAMP_AT_FULL_THROTTLE && defined COMMAND_CURRENT_ESTIMATION
/*