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HAL_ChibiOS: fixed RSSI voltage from IOMCU

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This commit is contained in:
Andrew Tridgell 2018-09-15 15:43:54 +10:00
parent e78dab1d10
commit 340f1b43e6
2 changed files with 18 additions and 16 deletions
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32
libraries/AP_HAL_ChibiOS/AnalogIn.cpp
View File

@ -51,6 +51,9 @@ extern const AP_HAL::HAL& hal;
using namespace ChibiOS;
// special pins
#define ANALOG_SERVO_VRSSI_PIN 103
/*
scaling table between ADC count and actual input voltage, to account
for voltage dividers on the board.
@ -183,13 +186,6 @@ void AnalogSource::_add_value(float v, float vcc5V)
}
AnalogIn::AnalogIn() :
_board_voltage(0),
_servorail_voltage(0),
_power_flags(0)
{
}
/*
callback from ADC driver when sample buffer is filled
*/
@ -290,24 +286,30 @@ void AnalogIn::_timer_tick(void)
}
#endif
}
#if HAL_WITH_IO_MCU
// now handle special inputs from IOMCU
_servorail_voltage = iomcu.get_vservo();
_rssi_voltage = iomcu.get_vrssi();
#endif
for (uint8_t i=0; i<ADC_GRP1_NUM_CHANNELS; i++) {
Debug("chan %u value=%u\n",
(unsigned)pin_config[i].channel,
(unsigned)buf_adc[i]);
for (uint8_t j=0; j < ANALOG_MAX_CHANNELS; j++) {
ChibiOS::AnalogSource *c = _channels[j];
if (c != nullptr && pin_config[i].channel == c->_pin) {
// add a value
c->_add_value(buf_adc[i], _board_voltage);
if (c != nullptr) {
if (pin_config[i].channel == c->_pin) {
// add a value
c->_add_value(buf_adc[i], _board_voltage);
} else if (c->_pin == ANALOG_SERVO_VRSSI_PIN) {
c->_add_value(_rssi_voltage / VOLTAGE_SCALING, 0);
}
}
}
}
#if HAL_WITH_IO_MCU
// now handle special inputs from IOMCU
_servorail_voltage = iomcu.get_vservo();
#endif
#if CHIBIOS_ADC_MAVLINK_DEBUG
static uint8_t count;
if (AP_HAL::millis() > 5000 && count++ == 10) {

2
libraries/AP_HAL_ChibiOS/AnalogIn.h
View File

@ -57,7 +57,6 @@ class ChibiOS::AnalogIn : public AP_HAL::AnalogIn {
public:
friend class AnalogSource;
AnalogIn();
void init() override;
AP_HAL::AnalogSource* channel(int16_t pin) override;
void _timer_tick(void);
@ -80,6 +79,7 @@ private:
uint32_t _last_run;
float _board_voltage;
float _servorail_voltage;
float _rssi_voltage;
uint16_t _power_flags;
ADCConversionGroup adcgrpcfg;