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Add ADC measurements and reporting to PX4IO, including calibration for the battery input.

This commit is contained in:
px4dev 2012-12-31 21:06:26 -08:00
parent 9be1f99935
commit d93fda20fd
3 changed files with 78 additions and 20 deletions
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66
apps/px4io/comms.c
View File

@ -61,8 +61,7 @@
#define FMU_MIN_REPORT_INTERVAL 5000 /* 5ms */
#define FMU_MAX_REPORT_INTERVAL 100000 /* 100ms */
int frame_rx;
int frame_bad;
#define FMU_STATUS_INTERVAL 1000000 /* 100ms */
static int fmu_fd;
static hx_stream_t stream;
@ -87,6 +86,9 @@ comms_init(void)
cfsetspeed(&t, 115200);
t.c_cflag &= ~(CSTOPB | PARENB);
tcsetattr(fmu_fd, TCSANOW, &t);
/* init the ADC */
adc_init();
}
void
@ -135,9 +137,55 @@ comms_main(void)
report.channel_count = system_state.rc_channels;
report.armed = system_state.armed;
report.battery_mv = system_state.battery_mv;
report.adc_in = system_state.adc_in5;
report.overcurrent = system_state.overcurrent;
/* and send it */
hx_stream_send(stream, &report, sizeof(report));
}
/*
* Fetch ADC values, check overcurrent flags, etc.
*/
static hrt_abstime last_status_time;
if ((now - last_status_time) > FMU_STATUS_INTERVAL) {
/*
* Coefficients here derived by measurement of the 5-16V
* range on one unit:
*
* V counts
* 5 1001
* 6 1219
* 7 1436
* 8 1653
* 9 1870
* 10 2086
* 11 2303
* 12 2522
* 13 2738
* 14 2956
* 15 3172
* 16 3389
*
* slope = 0.0046067
* intercept = 0.3863
*
* Intercept corrected for best results @ 12V.
*/
unsigned counts = adc_measure(ADC_VBATT);
system_state.battery_mv = (4150 + (counts * 46)) / 10;
system_state.adc_in5 = adc_measure(ADC_IN5);
system_state.overcurrent =
(OVERCURRENT_SERVO ? (1 << 0) : 0) |
(OVERCURRENT_ACC ? (1 << 1) : 0);
last_status_time = now;
}
}
}
@ -146,12 +194,10 @@ comms_handle_config(const void *buffer, size_t length)
{
const struct px4io_config *cfg = (struct px4io_config *)buffer;
if (length != sizeof(*cfg)) {
frame_bad++;
if (length != sizeof(*cfg))
return;
}
frame_rx++;
/* XXX */
}
static void
@ -159,12 +205,9 @@ comms_handle_command(const void *buffer, size_t length)
{
const struct px4io_command *cmd = (struct px4io_command *)buffer;
if (length != sizeof(*cmd)) {
frame_bad++;
if (length != sizeof(*cmd))
return;
}
frame_rx++;
irqstate_t flags = irqsave();
/* fetch new PWM output values */
@ -209,7 +252,6 @@ comms_handle_frame(void *arg, const void *buffer, size_t length)
comms_handle_config(buffer, length);
break;
default:
frame_bad++;
break;
}
}

4
apps/px4io/protocol.h
View File

@ -73,6 +73,10 @@ struct px4io_report {
uint16_t rc_channel[PX4IO_INPUT_CHANNELS];
bool armed;
uint8_t channel_count;
uint16_t battery_mv;
uint16_t adc_in;
uint8_t overcurrent;
};
#pragma pack(pop)

28
apps/px4io/px4io.h
View File

@ -105,17 +105,25 @@ struct sys_state_s
bool fmu_data_received;
/*
* Current serial interface mode, per the serial_rx_mode parameter
* in the config packet.
* Measured battery voltage in mV
*/
uint8_t serial_rx_mode;
uint16_t battery_mv;
/*
* ADC IN5 measurement
*/
uint16_t adc_in5;
/*
* Power supply overcurrent status bits.
*/
uint8_t overcurrent;
};
extern struct sys_state_s system_state;
extern int frame_rx;
extern int frame_bad;
#if 0
/*
* Software countdown timers.
*
@ -127,6 +135,7 @@ extern int frame_bad;
#define TIMER_SANITY 7
#define TIMER_NUM_TIMERS 8
extern volatile int timers[TIMER_NUM_TIMERS];
#endif
/*
* GPIO handling.
@ -141,10 +150,13 @@ extern volatile int timers[TIMER_NUM_TIMERS];
#define POWER_RELAY1(_s) stm32_gpiowrite(GPIO_RELAY1_EN, (_s))
#define POWER_RELAY2(_s) stm32_gpiowrite(GPIO_RELAY2_EN, (_s))
#define OVERCURRENT_ACC stm32_gpioread(GPIO_ACC_OC_DETECT)
#define OVERCURRENT_SERVO stm32_gpioread(GPIO_SERVO_OC_DETECT
#define OVERCURRENT_ACC (!stm32_gpioread(GPIO_ACC_OC_DETECT))
#define OVERCURRENT_SERVO (!stm32_gpioread(GPIO_SERVO_OC_DETECT))
#define BUTTON_SAFETY stm32_gpioread(GPIO_BTN_SAFETY)
#define ADC_VBATT 4
#define ADC_IN5 5
/*
* Mixer
*/