mirror of https://github.com/ArduPilot/ardupilot
AP_HAL: added servorail_voltage and power_status_flags() API on AnalogIn
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@ -44,6 +44,12 @@ public:
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// board 5V rail voltage in volts
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virtual float board_voltage(void) = 0;
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// servo rail voltage in volts, or 0 if unknown
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virtual float servorail_voltage(void) { return 0; }
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// power supply status flags, see MAV_POWER_STATUS
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virtual uint16_t power_status_flags(void) { return 0; }
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};
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#define ANALOG_INPUT_BOARD_VCC 254
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@ -15,6 +15,9 @@
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#include <arch/board/board.h>
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#include <uORB/topics/battery_status.h>
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#include <uORB/topics/servorail_status.h>
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#include <uORB/topics/system_power.h>
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#include <GCS_MAVLink.h>
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#include <errno.h>
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#define ANLOGIN_DEBUGGING 0
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@ -181,7 +184,9 @@ void PX4AnalogSource::_add_value(float v, float vcc5V)
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PX4AnalogIn::PX4AnalogIn() :
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_board_voltage(0)
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_board_voltage(0),
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_servorail_voltage(0),
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_power_flags(0)
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{}
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void PX4AnalogIn::init(void* machtnichts)
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@ -192,6 +197,7 @@ void PX4AnalogIn::init(void* machtnichts)
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}
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_battery_handle = orb_subscribe(ORB_ID(battery_status));
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_servorail_handle = orb_subscribe(ORB_ID(servorail_status));
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_system_power_handle = orb_subscribe(ORB_ID(system_power));
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}
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/*
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@ -239,19 +245,22 @@ void PX4AnalogIn::_timer_tick(void)
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// check for new battery data on FMUv1
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if (_battery_handle != -1) {
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struct battery_status_s battery;
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if (orb_copy(ORB_ID(battery_status), _battery_handle, &battery) == OK &&
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battery.timestamp != _battery_timestamp) {
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_battery_timestamp = battery.timestamp;
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for (uint8_t j=0; j<PX4_ANALOG_MAX_CHANNELS; j++) {
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PX4::PX4AnalogSource *c = _channels[j];
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if (c == NULL) continue;
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if (c->_pin == PX4_ANALOG_ORB_BATTERY_VOLTAGE_PIN) {
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c->_add_value(battery.voltage_v / PX4_VOLTAGE_SCALING, 0);
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}
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if (c->_pin == PX4_ANALOG_ORB_BATTERY_CURRENT_PIN) {
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// scale it back to voltage, knowing that the
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// px4io code scales by 90.0/5.0
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c->_add_value(battery.current_a * (5.0f/90.0f) / PX4_VOLTAGE_SCALING, 0);
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bool updated = false;
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if (orb_check(_battery_handle, &updated) == 0 && updated) {
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orb_copy(ORB_ID(battery_status), _battery_handle, &battery);
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if (battery.timestamp != _battery_timestamp) {
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_battery_timestamp = battery.timestamp;
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for (uint8_t j=0; j<PX4_ANALOG_MAX_CHANNELS; j++) {
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PX4::PX4AnalogSource *c = _channels[j];
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if (c == NULL) continue;
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if (c->_pin == PX4_ANALOG_ORB_BATTERY_VOLTAGE_PIN) {
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c->_add_value(battery.voltage_v / PX4_VOLTAGE_SCALING, 0);
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}
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if (c->_pin == PX4_ANALOG_ORB_BATTERY_CURRENT_PIN) {
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// scale it back to voltage, knowing that the
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// px4io code scales by 90.0/5.0
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c->_add_value(battery.current_a * (5.0f/90.0f) / PX4_VOLTAGE_SCALING, 0);
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}
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}
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}
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}
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@ -262,21 +271,43 @@ void PX4AnalogIn::_timer_tick(void)
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// check for new servorail data on FMUv2
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if (_servorail_handle != -1) {
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struct servorail_status_s servorail;
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if (orb_copy(ORB_ID(servorail_status), _servorail_handle, &servorail) == OK &&
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servorail.timestamp != _servorail_timestamp) {
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_servorail_timestamp = servorail.timestamp;
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for (uint8_t j=0; j<PX4_ANALOG_MAX_CHANNELS; j++) {
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PX4::PX4AnalogSource *c = _channels[j];
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if (c == NULL) continue;
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if (c->_pin == PX4_ANALOG_ORB_SERVO_VOLTAGE_PIN) {
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c->_add_value(servorail.voltage_v / PX4_VOLTAGE_SCALING, 0);
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}
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if (c->_pin == PX4_ANALOG_ORB_SERVO_VRSSI_PIN) {
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c->_add_value(servorail.rssi_v / PX4_VOLTAGE_SCALING, 0);
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bool updated = false;
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if (orb_check(_servorail_handle, &updated) == 0 && updated) {
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orb_copy(ORB_ID(servorail_status), _servorail_handle, &servorail);
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if (servorail.timestamp != _servorail_timestamp) {
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_servorail_timestamp = servorail.timestamp;
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_servorail_voltage = servorail.voltage_v;
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for (uint8_t j=0; j<PX4_ANALOG_MAX_CHANNELS; j++) {
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PX4::PX4AnalogSource *c = _channels[j];
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if (c == NULL) continue;
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if (c->_pin == PX4_ANALOG_ORB_SERVO_VOLTAGE_PIN) {
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c->_add_value(servorail.voltage_v / PX4_VOLTAGE_SCALING, 0);
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}
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if (c->_pin == PX4_ANALOG_ORB_SERVO_VRSSI_PIN) {
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c->_add_value(servorail.rssi_v / PX4_VOLTAGE_SCALING, 0);
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}
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}
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}
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}
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}
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if (_system_power_handle != -1) {
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struct system_power_s system_power;
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bool updated = false;
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if (orb_check(_system_power_handle, &updated) == 0 && updated) {
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orb_copy(ORB_ID(system_power), _system_power_handle, &system_power);
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uint16_t flags = 0;
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if (system_power.usb_connected) flags |= MAV_POWER_STATUS_USB_CONNECTED;
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if (system_power.brick_valid) flags |= MAV_POWER_STATUS_BRICK_VALID;
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if (system_power.servo_valid) flags |= MAV_POWER_STATUS_SERVO_VALID;
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if (system_power.periph_5V_OC) flags |= MAV_POWER_STATUS_PERIPH_OVERCURRENT;
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if (system_power.hipower_5V_OC) flags |= MAV_POWER_STATUS_PERIPH_HIPOWER_OVERCURRENT;
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if (_power_flags != 0 && _power_flags != flags) {
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// the power status has changed since boot
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flags |= MAV_POWER_STATUS_CHANGED;
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}
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_power_flags = flags;
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}
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}
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#endif
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}
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@ -57,15 +57,20 @@ public:
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AP_HAL::AnalogSource* channel(int16_t pin);
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void _timer_tick(void);
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float board_voltage(void) { return _board_voltage; }
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float servorail_voltage(void) { return _servorail_voltage; }
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uint16_t power_status_flags(void) { return _power_flags; }
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private:
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int _adc_fd;
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int _battery_handle;
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int _servorail_handle;
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int _system_power_handle;
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uint64_t _battery_timestamp;
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uint64_t _servorail_timestamp;
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PX4::PX4AnalogSource* _channels[PX4_ANALOG_MAX_CHANNELS];
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uint32_t _last_run;
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float _board_voltage;
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float _servorail_voltage;
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uint16_t _power_flags;
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};
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#endif // __AP_HAL_PX4_ANALOGIN_H__
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