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[omap] Added linux i2c driver

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closes #961
This commit is contained in:
Freek van Tienen
2014-11-19 14:17:07 +01:00
committed by Felix Ruess
parent 8ae37c7f8b
commit b474c5e126
4 changed files with 176 additions and 135 deletions
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sw/airborne/arch/omap/mcu_periph/i2c_arch.c
+73 -27
View File
@@ -1,6 +1,6 @@
/* /*
* *
* Copyright (C) 2009-2013 The Paparazzi Team * Copyright (C) 2014 Freek van Tienen <freek.v.tienen@gmail.com>
* *
* This file is part of paparazzi. * This file is part of paparazzi.
* *
@@ -22,58 +22,104 @@
*/ */
/** @file arch/omap/mcu_periph/i2c_arch.h /** @file arch/omap/mcu_periph/i2c_arch.h
* I2C functionality (unimplemented) * I2C functionality
*/ */
#include "mcu_periph/i2c.h" #include "mcu_periph/i2c.h"
#include <stdio.h>
#include <fcntl.h>
#include <unistd.h>
#include <sys/ioctl.h>
#include <linux/i2c-dev.h>
#include <errno.h>
void i2c_event(void)
{
}
bool_t i2c_idle(struct i2c_periph *p __attribute__ ((unused))) { return TRUE; } void i2c_setbitrate(struct i2c_periph *p __attribute__((unused)), int bitrate __attribute__((unused)))
bool_t i2c_submit(struct i2c_periph* p __attribute__ ((unused)), struct i2c_transaction* t __attribute__ ((unused))) { return TRUE;} {
void i2c_event(void) { } }
void i2c_setbitrate(struct i2c_periph* p, int bitrate __attribute__ ((unused))) { }
bool_t i2c_idle(struct i2c_periph *p __attribute__((unused)))
{
return TRUE;
}
bool_t i2c_submit(struct i2c_periph *p, struct i2c_transaction *t)
{
int file = (int)p->reg_addr;
// Set the slave address
ioctl(file, I2C_SLAVE, t->slave_addr);
// Switch the different transaction types
switch (t->type) {
// Just transmitting
case I2CTransTx:
if (write(file, (uint8_t *)t->buf, t->len_w) < 0) {
t->status = I2CTransFailed;
return TRUE;
}
break;
// Just reading
case I2CTransRx:
if (read(file, (uint8_t *)t->buf, t->len_r) < 0) {
t->status = I2CTransFailed;
return TRUE;
}
break;
// First Transmit and then read
case I2CTransTxRx:
if (write(file, (uint8_t *)t->buf, t->len_w) < 0 || read(file, (uint8_t *)t->buf, t->len_r) < 0) {
t->status = I2CTransFailed;
return TRUE;
}
break;
default:
break;
}
// Successfull transfer
t->status = I2CTransSuccess;
return TRUE;
}
#if USE_I2C0 #if USE_I2C0
struct i2c_errors i2c0_errors; struct i2c_errors i2c0_errors;
void i2c0_hw_init(void) { void i2c0_hw_init(void)
{
i2c1.reg_addr = (void *)open("/dev/i2c-0", O_RDWR);
i2c0.errors = &i2c0_errors; i2c0.errors = &i2c0_errors;
/* zeros error counter */
ZEROS_ERR_COUNTER(i2c0_errors); ZEROS_ERR_COUNTER(i2c0_errors);
} }
void i2c0_ev_isr(void) {
}
void i2c0_er_isr(void) {
}
#endif #endif
#if USE_I2C1 #if USE_I2C1
struct i2c_errors i2c1_errors; struct i2c_errors i2c1_errors;
void i2c1_hw_init(void) { void i2c1_hw_init(void)
{
i2c1.reg_addr = (void *)open("/dev/i2c-1", O_RDWR);
i2c1.errors = &i2c1_errors; i2c1.errors = &i2c1_errors;
/* zeros error counter */
ZEROS_ERR_COUNTER(i2c1_errors); ZEROS_ERR_COUNTER(i2c1_errors);
} }
void i2c1_ev_isr(void) {
}
void i2c1_er_isr(void) {
}
#endif #endif
#if USE_I2C2 #if USE_I2C2
struct i2c_errors i2c2_errors; struct i2c_errors i2c2_errors;
void i2c2_hw_init(void) { void i2c2_hw_init(void)
{
i2c2.reg_addr = (void *)open("/dev/i2c-2", O_RDWR);
i2c2.errors = &i2c2_errors; i2c2.errors = &i2c2_errors;
/* zeros error counter */
ZEROS_ERR_COUNTER(i2c2_errors); ZEROS_ERR_COUNTER(i2c2_errors);
} }
void i2c2_ev_isr(void) {
}
void i2c2_er_isr(void) {
}
#endif #endif
sw/airborne/arch/omap/mcu_periph/i2c_arch.h
+2 -11
View File
@@ -1,6 +1,6 @@
/* /*
* *
* Copyright (C) 2009-2013 The Paparazzi Team * Copyright (C) 2014 Freek van Tienen <freek.v.tienen@gmail.com>
* *
* This file is part of paparazzi. * This file is part of paparazzi.
* *
@@ -22,7 +22,7 @@
*/ */
/** @file arch/omap/mcu_periph/i2c_arch.h /** @file arch/omap/mcu_periph/i2c_arch.h
* I2C functionality (unimplemented) * I2C functionality
*/ */
#ifndef OMAP_MCU_PERIPH_I2C_ARCH_H #ifndef OMAP_MCU_PERIPH_I2C_ARCH_H
@@ -30,27 +30,18 @@
#include "mcu_periph/i2c.h" #include "mcu_periph/i2c.h"
#define I2cSendStart() {}
#if USE_I2C0 #if USE_I2C0
extern void i2c0_hw_init(void); extern void i2c0_hw_init(void);
#endif /* USE_I2C0 */ #endif /* USE_I2C0 */
#if USE_I2C1 #if USE_I2C1
extern void i2c1_hw_init(void); extern void i2c1_hw_init(void);
#endif /* USE_I2C1 */ #endif /* USE_I2C1 */
#if USE_I2C2 #if USE_I2C2
extern void i2c2_hw_init(void); extern void i2c2_hw_init(void);
#endif /* USE_I2C2 */ #endif /* USE_I2C2 */
sw/airborne/boards/ardrone/i2c-dev.h → sw/airborne/arch/omap/mcu_periph/i2c_smbus.h
+79 -78
View File
@@ -31,6 +31,7 @@
#define LIB_I2CDEV_H #define LIB_I2CDEV_H
#include <linux/types.h> #include <linux/types.h>
#include <linux/i2c-dev.h>
#include <sys/ioctl.h> #include <sys/ioctl.h>
/* /*
@@ -39,12 +40,12 @@
struct i2c_msg { struct i2c_msg {
__u16 addr; /* slave address */ __u16 addr; /* slave address */
unsigned short flags; unsigned short flags;
#define I2C_M_TEN 0x10 /* we have a ten bit chip address */ #define I2C_M_TEN 0x10 /* we have a ten bit chip address */
#define I2C_M_RD 0x01 #define I2C_M_RD 0x01
#define I2C_M_NOSTART 0x4000 #define I2C_M_NOSTART 0x4000
#define I2C_M_REV_DIR_ADDR 0x2000 #define I2C_M_REV_DIR_ADDR 0x2000
#define I2C_M_IGNORE_NAK 0x1000 #define I2C_M_IGNORE_NAK 0x1000
#define I2C_M_NO_RD_ACK 0x0800 #define I2C_M_NO_RD_ACK 0x0800
short len; /* msg length */ short len; /* msg length */
char *buf; /* pointer to msg data */ char *buf; /* pointer to msg data */
}; };
@@ -92,7 +93,7 @@ union i2c_smbus_data {
__u8 byte; __u8 byte;
__u16 word; __u16 word;
__u8 block[I2C_SMBUS_BLOCK_MAX + 2]; /* block[0] is used for length */ __u8 block[I2C_SMBUS_BLOCK_MAX + 2]; /* block[0] is used for length */
/* and one more for PEC */ /* and one more for PEC */
}; };
/* smbus_access read or write markers */ /* smbus_access read or write markers */
@@ -117,20 +118,20 @@ union i2c_smbus_data {
* dependent layers - these can be listed here, or see the * dependent layers - these can be listed here, or see the
* corresponding header files. * corresponding header files.
*/ */
/* -> bit-adapter specific ioctls */ /* -> bit-adapter specific ioctls */
#define I2C_RETRIES 0x0701 /* number of times a device address */ #define I2C_RETRIES 0x0701 /* number of times a device address */
/* should be polled when not */ /* should be polled when not */
/* acknowledging */ /* acknowledging */
#define I2C_TIMEOUT 0x0702 /* set timeout - call with int */ #define I2C_TIMEOUT 0x0702 /* set timeout - call with int */
/* this is for i2c-dev.c */ /* this is for i2c-dev.c */
#define I2C_SLAVE 0x0703 /* Change slave address */ #define I2C_SLAVE 0x0703 /* Change slave address */
/* Attn.: Slave address is 7 or 10 bits */ /* Attn.: Slave address is 7 or 10 bits */
#define I2C_SLAVE_FORCE 0x0706 /* Change slave address */ #define I2C_SLAVE_FORCE 0x0706 /* Change slave address */
/* Attn.: Slave address is 7 or 10 bits */ /* Attn.: Slave address is 7 or 10 bits */
/* This changes the address, even if it */ /* This changes the address, even if it */
/* is already taken! */ /* is already taken! */
#define I2C_TENBIT 0x0704 /* 0 for 7 bit addrs, != 0 for 10 bit */ #define I2C_TENBIT 0x0704 /* 0 for 7 bit addrs, != 0 for 10 bit */
#define I2C_FUNCS 0x0705 /* Get the adapter functionality */ #define I2C_FUNCS 0x0705 /* Get the adapter functionality */
@@ -144,20 +145,6 @@ union i2c_smbus_data {
/* Note: 10-bit addresses are NOT supported! */ /* Note: 10-bit addresses are NOT supported! */
/* This is the structure as used in the I2C_SMBUS ioctl call */
struct i2c_smbus_ioctl_data {
char read_write;
__u8 command;
int size;
union i2c_smbus_data *data;
};
/* This is the structure as used in the I2C_RDWR ioctl call */
struct i2c_rdwr_ioctl_data {
struct i2c_msg *msgs; /* pointers to i2c_msgs */
int nmsgs; /* number of i2c_msgs */
};
static inline __s32 i2c_smbus_access(int file, char read_write, __u8 command, static inline __s32 i2c_smbus_access(int file, char read_write, __u8 command,
int size, union i2c_smbus_data *data) int size, union i2c_smbus_data *data)
@@ -168,65 +155,68 @@ static inline __s32 i2c_smbus_access(int file, char read_write, __u8 command,
args.command = command; args.command = command;
args.size = size; args.size = size;
args.data = data; args.data = data;
return ioctl(file,I2C_SMBUS,&args); return ioctl(file, I2C_SMBUS, &args);
} }
static inline __s32 i2c_smbus_write_quick(int file, __u8 value) static inline __s32 i2c_smbus_write_quick(int file, __u8 value)
{ {
return i2c_smbus_access(file,value,0,I2C_SMBUS_QUICK,NULL); return i2c_smbus_access(file, value, 0, I2C_SMBUS_QUICK, NULL);
} }
static inline __s32 i2c_smbus_read_byte(int file) static inline __s32 i2c_smbus_read_byte(int file)
{ {
union i2c_smbus_data data; union i2c_smbus_data data;
if (i2c_smbus_access(file,I2C_SMBUS_READ,0,I2C_SMBUS_BYTE,&data)) if (i2c_smbus_access(file, I2C_SMBUS_READ, 0, I2C_SMBUS_BYTE, &data)) {
return -1; return -1;
else } else {
return 0x0FF & data.byte; return 0x0FF & data.byte;
}
} }
static inline __s32 i2c_smbus_write_byte(int file, __u8 value) static inline __s32 i2c_smbus_write_byte(int file, __u8 value)
{ {
return i2c_smbus_access(file,I2C_SMBUS_WRITE,value, return i2c_smbus_access(file, I2C_SMBUS_WRITE, value,
I2C_SMBUS_BYTE,NULL); I2C_SMBUS_BYTE, NULL);
} }
static inline __s32 i2c_smbus_read_byte_data(int file, __u8 command) static inline __s32 i2c_smbus_read_byte_data(int file, __u8 command)
{ {
union i2c_smbus_data data; union i2c_smbus_data data;
if (i2c_smbus_access(file,I2C_SMBUS_READ,command, if (i2c_smbus_access(file, I2C_SMBUS_READ, command,
I2C_SMBUS_BYTE_DATA,&data)) I2C_SMBUS_BYTE_DATA, &data)) {
return -1; return -1;
else } else {
return 0x0FF & data.byte; return 0x0FF & data.byte;
}
} }
static inline __s32 i2c_smbus_write_byte_data(int file, __u8 command, static inline __s32 i2c_smbus_write_byte_data(int file, __u8 command,
__u8 value) __u8 value)
{ {
union i2c_smbus_data data; union i2c_smbus_data data;
data.byte = value; data.byte = value;
return i2c_smbus_access(file,I2C_SMBUS_WRITE,command, return i2c_smbus_access(file, I2C_SMBUS_WRITE, command,
I2C_SMBUS_BYTE_DATA, &data); I2C_SMBUS_BYTE_DATA, &data);
} }
static inline __s32 i2c_smbus_read_word_data(int file, __u8 command) static inline __s32 i2c_smbus_read_word_data(int file, __u8 command)
{ {
union i2c_smbus_data data; union i2c_smbus_data data;
if (i2c_smbus_access(file,I2C_SMBUS_READ,command, if (i2c_smbus_access(file, I2C_SMBUS_READ, command,
I2C_SMBUS_WORD_DATA,&data)) I2C_SMBUS_WORD_DATA, &data)) {
return -1; return -1;
else } else {
return 0x0FFFF & data.word; return 0x0FFFF & data.word;
}
} }
static inline __s32 i2c_smbus_write_word_data(int file, __u8 command, static inline __s32 i2c_smbus_write_word_data(int file, __u8 command,
__u16 value) __u16 value)
{ {
union i2c_smbus_data data; union i2c_smbus_data data;
data.word = value; data.word = value;
return i2c_smbus_access(file,I2C_SMBUS_WRITE,command, return i2c_smbus_access(file, I2C_SMBUS_WRITE, command,
I2C_SMBUS_WORD_DATA, &data); I2C_SMBUS_WORD_DATA, &data);
} }
@@ -234,41 +224,45 @@ static inline __s32 i2c_smbus_process_call(int file, __u8 command, __u16 value)
{ {
union i2c_smbus_data data; union i2c_smbus_data data;
data.word = value; data.word = value;
if (i2c_smbus_access(file,I2C_SMBUS_WRITE,command, if (i2c_smbus_access(file, I2C_SMBUS_WRITE, command,
I2C_SMBUS_PROC_CALL,&data)) I2C_SMBUS_PROC_CALL, &data)) {
return -1; return -1;
else } else {
return 0x0FFFF & data.word; return 0x0FFFF & data.word;
}
} }
/* Returns the number of read bytes */ /* Returns the number of read bytes */
static inline __s32 i2c_smbus_read_block_data(int file, __u8 command, static inline __s32 i2c_smbus_read_block_data(int file, __u8 command,
__u8 *values) __u8 *values)
{ {
union i2c_smbus_data data; union i2c_smbus_data data;
int i; int i;
if (i2c_smbus_access(file,I2C_SMBUS_READ,command, if (i2c_smbus_access(file, I2C_SMBUS_READ, command,
I2C_SMBUS_BLOCK_DATA,&data)) I2C_SMBUS_BLOCK_DATA, &data)) {
return -1; return -1;
else { } else {
for (i = 1; i <= data.block[0]; i++) for (i = 1; i <= data.block[0]; i++) {
values[i-1] = data.block[i]; values[i - 1] = data.block[i];
}
return data.block[0]; return data.block[0];
} }
} }
static inline __s32 i2c_smbus_write_block_data(int file, __u8 command, static inline __s32 i2c_smbus_write_block_data(int file, __u8 command,
__u8 length, __u8 *values) __u8 length, __u8 *values)
{ {
union i2c_smbus_data data; union i2c_smbus_data data;
int i; int i;
if (length > 32) if (length > 32) {
length = 32; length = 32;
for (i = 1; i <= length; i++) }
data.block[i] = values[i-1]; for (i = 1; i <= length; i++) {
data.block[i] = values[i - 1];
}
data.block[0] = length; data.block[0] = length;
return i2c_smbus_access(file,I2C_SMBUS_WRITE,command, return i2c_smbus_access(file, I2C_SMBUS_WRITE, command,
I2C_SMBUS_BLOCK_DATA, &data); I2C_SMBUS_BLOCK_DATA, &data);
} }
@@ -277,56 +271,63 @@ static inline __s32 i2c_smbus_write_block_data(int file, __u8 command,
ask for less than 32 bytes, your code will only work with kernels ask for less than 32 bytes, your code will only work with kernels
2.6.23 and later. */ 2.6.23 and later. */
static inline __s32 i2c_smbus_read_i2c_block_data(int file, __u8 command, static inline __s32 i2c_smbus_read_i2c_block_data(int file, __u8 command,
__u8 length, __u8 *values) __u8 length, __u8 *values)
{ {
union i2c_smbus_data data; union i2c_smbus_data data;
int i; int i;
if (length > 32) if (length > 32) {
length = 32; length = 32;
}
data.block[0] = length; data.block[0] = length;
if (i2c_smbus_access(file,I2C_SMBUS_READ,command, if (i2c_smbus_access(file, I2C_SMBUS_READ, command,
length == 32 ? I2C_SMBUS_I2C_BLOCK_BROKEN : length == 32 ? I2C_SMBUS_I2C_BLOCK_BROKEN :
I2C_SMBUS_I2C_BLOCK_DATA,&data)) I2C_SMBUS_I2C_BLOCK_DATA, &data)) {
return -1; return -1;
else { } else {
for (i = 1; i <= data.block[0]; i++) for (i = 1; i <= data.block[0]; i++) {
values[i-1] = data.block[i]; values[i - 1] = data.block[i];
}
return data.block[0]; return data.block[0];
} }
} }
static inline __s32 i2c_smbus_write_i2c_block_data(int file, __u8 command, static inline __s32 i2c_smbus_write_i2c_block_data(int file, __u8 command,
__u8 length, __u8 *values) __u8 length, __u8 *values)
{ {
union i2c_smbus_data data; union i2c_smbus_data data;
int i; int i;
if (length > 32) if (length > 32) {
length = 32; length = 32;
for (i = 1; i <= length; i++) }
data.block[i] = values[i-1]; for (i = 1; i <= length; i++) {
data.block[i] = values[i - 1];
}
data.block[0] = length; data.block[0] = length;
return i2c_smbus_access(file,I2C_SMBUS_WRITE,command, return i2c_smbus_access(file, I2C_SMBUS_WRITE, command,
I2C_SMBUS_I2C_BLOCK_BROKEN, &data); I2C_SMBUS_I2C_BLOCK_BROKEN, &data);
} }
/* Returns the number of read bytes */ /* Returns the number of read bytes */
static inline __s32 i2c_smbus_block_process_call(int file, __u8 command, static inline __s32 i2c_smbus_block_process_call(int file, __u8 command,
__u8 length, __u8 *values) __u8 length, __u8 *values)
{ {
union i2c_smbus_data data; union i2c_smbus_data data;
int i; int i;
if (length > 32) if (length > 32) {
length = 32; length = 32;
for (i = 1; i <= length; i++) }
data.block[i] = values[i-1]; for (i = 1; i <= length; i++) {
data.block[i] = values[i - 1];
}
data.block[0] = length; data.block[0] = length;
if (i2c_smbus_access(file,I2C_SMBUS_WRITE,command, if (i2c_smbus_access(file, I2C_SMBUS_WRITE, command,
I2C_SMBUS_BLOCK_PROC_CALL,&data)) I2C_SMBUS_BLOCK_PROC_CALL, &data)) {
return -1; return -1;
else { } else {
for (i = 1; i <= data.block[0]; i++) for (i = 1; i <= data.block[0]; i++) {
values[i-1] = data.block[i]; values[i - 1] = data.block[i];
}
return data.block[0]; return data.block[0];
} }
} }
sw/airborne/boards/ardrone/electrical_raw.c
+22 -19
View File
@@ -35,7 +35,7 @@
#include <sys/time.h> #include <sys/time.h>
#include <unistd.h> #include <unistd.h>
#include <math.h> #include <math.h>
#include "i2c-dev.h" #include "mcu_periph/i2c_smbus.h"
#include "subsystems/commands.h" #include "subsystems/commands.h"
#include "generated/airframe.h" #include "generated/airframe.h"
@@ -67,45 +67,48 @@ static struct {
int fd; int fd;
void electrical_init(void) { void electrical_init(void)
{
// First we try to kill the program.elf and its respawner if it is running (done here because initializes first) // First we try to kill the program.elf and its respawner if it is running (done here because initializes first)
int ret = system("killall -9 program.elf.respawner.sh; killall -9 program.elf"); int ret = system("killall -9 program.elf.respawner.sh; killall -9 program.elf");
(void) ret; (void) ret;
// Initialize 12c device for power // Initialize 12c device for power
fd = open( "/dev/i2c-1", O_RDWR ); fd = open("/dev/i2c-1", O_RDWR);
if ( ioctl( fd, I2C_SLAVE_FORCE, 0x4a) < 0 ) { if (ioctl(fd, I2C_SLAVE_FORCE, 0x4a) < 0) {
fprintf( stderr, "Failed to set slave address: %m\n" ); fprintf(stderr, "Failed to set slave address: %m\n");
} }
electrical_setup(); electrical_setup();
electrical_priv.nonlin_factor = CURRENT_ESTIMATION_NONLINEARITY; electrical_priv.nonlin_factor = CURRENT_ESTIMATION_NONLINEARITY;
} }
void electrical_setup(void) { void electrical_setup(void)
{
// Turn on MADC in CTRL1 // Turn on MADC in CTRL1
if( i2c_smbus_write_byte_data( fd, 0x00, 0x01)) { if (i2c_smbus_write_byte_data(fd, 0x00, 0x01)) {
fprintf( stderr, "Failed to write to I2C device. 1\n" ); fprintf(stderr, "Failed to write to I2C device. 1\n");
} }
// Select ADCIN0 for conversion in SW1SELECT_LSB // Select ADCIN0 for conversion in SW1SELECT_LSB
if( i2c_smbus_write_byte_data( fd, 0x06, 0xff)){ if (i2c_smbus_write_byte_data(fd, 0x06, 0xff)) {
fprintf( stderr, "Failed to write to I2C device. 2\n" ); fprintf(stderr, "Failed to write to I2C device. 2\n");
} }
// Select ADCIN12 for conversion in SW1SELECT_MSB // Select ADCIN12 for conversion in SW1SELECT_MSB
if( i2c_smbus_write_byte_data( fd, 0x07, 0xff)) { if (i2c_smbus_write_byte_data(fd, 0x07, 0xff)) {
fprintf( stderr, "Failed to write to I2C device. 3\n" ); fprintf(stderr, "Failed to write to I2C device. 3\n");
} }
// Setup register for averaging // Setup register for averaging
if( i2c_smbus_write_byte_data( fd, 0x08, 0xff)) { if (i2c_smbus_write_byte_data(fd, 0x08, 0xff)) {
fprintf( stderr, "Failed to write to I2C device. 4\n" ); fprintf(stderr, "Failed to write to I2C device. 4\n");
} }
// Start all channel conversion by setting bit 5 to one in CTRL_SW1 // Start all channel conversion by setting bit 5 to one in CTRL_SW1
if( i2c_smbus_write_byte_data( fd, 0x12, 0x20)) { if (i2c_smbus_write_byte_data(fd, 0x12, 0x20)) {
fprintf( stderr, "Failed to write to I2C device. 5\n" ); fprintf(stderr, "Failed to write to I2C device. 5\n");
} }
} }
void electrical_periodic(void) { void electrical_periodic(void)
{
electrical_setup(); electrical_setup();
@@ -122,7 +125,7 @@ void electrical_periodic(void) {
//from raw measurement we got quite a lineair response //from raw measurement we got quite a lineair response
//9.0V=662, 9.5V=698, 10.0V=737,10.5V=774, 11.0V=811, 11.5V=848, 12.0V=886, 12.5V=923 //9.0V=662, 9.5V=698, 10.0V=737,10.5V=774, 11.0V=811, 11.5V=848, 12.0V=886, 12.5V=923
//leading to our 0.13595166 magic number for decivolts conversion //leading to our 0.13595166 magic number for decivolts conversion
electrical.vsupply = raw_voltage*0.13595166; electrical.vsupply = raw_voltage * 0.13595166;
/* /*
* Superellipse: abs(x/a)^n + abs(y/b)^n = 1 * Superellipse: abs(x/a)^n + abs(y/b)^n = 1
@@ -139,5 +142,5 @@ void electrical_periodic(void) {
/* electrical.current y = ( b^n - (b* x/a)^n )^1/n /* electrical.current y = ( b^n - (b* x/a)^n )^1/n
* a=1, n = electrical_priv.nonlin_factor * a=1, n = electrical_priv.nonlin_factor
*/ */
electrical.current = b - pow((pow(b,electrical_priv.nonlin_factor)-pow((b*x),electrical_priv.nonlin_factor)), (1./electrical_priv.nonlin_factor)); electrical.current = b - pow((pow(b, electrical_priv.nonlin_factor) - pow((b * x), electrical_priv.nonlin_factor)), (1. / electrical_priv.nonlin_factor));
} }