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| author | px4dev <px4@purgatory.org> | 2013-01-15 22:22:15 -0800 |
|---|---|---|
| committer | px4dev <px4@purgatory.org> | 2013-01-15 22:22:15 -0800 |
| commit | b4dcdae03d597b71f02850bec24c80134c10ae53 (patch) | |
| tree | 15a97496fd182f628113fb3c5631d1bf3ea11a62 /apps/px4io/registers.c | |
| parent | 0eb5a070f165fe311dd5bdf4c40635276b000787 (diff) | |
| download | px4-firmware-b4dcdae03d597b71f02850bec24c80134c10ae53.tar.gz px4-firmware-b4dcdae03d597b71f02850bec24c80134c10ae53.tar.bz2 px4-firmware-b4dcdae03d597b71f02850bec24c80134c10ae53.zip | |
Add support for battery current scaling. Add feedback for mixer load operations.
Diffstat (limited to 'apps/px4io/registers.c')
| -rw-r--r-- | apps/px4io/registers.c | 22 |
1 files changed, 18 insertions, 4 deletions
diff --git a/apps/px4io/registers.c b/apps/px4io/registers.c index 2f411eebf..0206e0db0 100644 --- a/apps/px4io/registers.c +++ b/apps/px4io/registers.c @@ -60,6 +60,9 @@ volatile uint16_t r_page_setup[] = [PX4IO_P_SETUP_PWM_LOWRATE] = 50, [PX4IO_P_SETUP_PWM_HIGHRATE] = 200, [PX4IO_P_SETUP_RELAYS] = 0, + [PX4IO_P_SETUP_VBATT_SCALE] = 10000, + [PX4IO_P_SETUP_IBATT_SCALE] = 0, + [PX4IO_P_SETUP_IBATT_BIAS] = 0 }; #define PX4IO_P_SETUP_FEATURES_VALID (PX4IO_P_FEAT_ARMING_MANUAL_OVERRIDE_OK) @@ -80,7 +83,7 @@ static const uint16_t r_page_config[] = { [PX4IO_P_CONFIG_PROTOCOL_VERSION] = 0, [PX4IO_P_CONFIG_SOFTWARE_VERSION] = 0, [PX4IO_P_CONFIG_BOOTLOADER_VERSION] = 0, - [PX4IO_P_CONFIG_MAX_TRANSFER] = 64, + [PX4IO_P_CONFIG_MAX_TRANSFER] = 64, /* XXX hardcoded magic number */ [PX4IO_P_CONFIG_CONTROL_COUNT] = PX4IO_CONTROL_CHANNELS, [PX4IO_P_CONFIG_ACTUATOR_COUNT] = IO_SERVO_COUNT, [PX4IO_P_CONFIG_RC_INPUT_COUNT] = MAX_CONTROL_CHANNELS, @@ -97,7 +100,7 @@ uint16_t r_page_status[] = { [PX4IO_P_STATUS_FLAGS] = 0, [PX4IO_P_STATUS_ALARMS] = 0, [PX4IO_P_STATUS_VBATT] = 0, - [PX4IO_P_STATUS_TEMPERATURE] = 0 + [PX4IO_P_STATUS_IBATT] = 0 }; /** @@ -396,10 +399,21 @@ registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_val * Intercept corrected for best results @ 12V. */ unsigned counts = adc_measure(ADC_VBATT); - r_page_status[PX4IO_P_STATUS_VBATT] = (4150 + (counts * 46)) / 10; + unsigned mV = (4150 + (counts * 46)) / 10; + unsigned corrected = (mV * r_page_setup[PX4IO_P_SETUP_VBATT_SCALE]) / 10000; + + r_page_status[PX4IO_P_STATUS_VBATT] = corrected; } - /* XXX PX4IO_P_STATUS_TEMPERATURE */ + /* PX4IO_P_STATUS_IBATT */ + { + unsigned counts = adc_measure(ADC_VBATT); + unsigned scaled = (counts * r_page_setup[PX4IO_P_SETUP_IBATT_SCALE]) / 10000; + int corrected = scaled + REG_TO_SIGNED(r_page_setup[PX4IO_P_SETUP_IBATT_BIAS]); + if (corrected < 0) + corrected = 0; + r_page_status[PX4IO_P_STATUS_IBATT] = corrected; + } SELECT_PAGE(r_page_status); break; |