Merged status changes

6 files changed, 119 insertions, 16 deletions

diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c
index 8cb21e54f..9d9ef7c6d 100644
--- a/src/modules/px4iofirmware/registers.c
+++ b/src/modules/px4iofirmware/registers.c
@@ -674,27 +674,25 @@ registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_val
 #ifdef ADC_VSERVO
 		/* PX4IO_P_STATUS_VSERVO */
 		{
-			/*
-			 * Coefficients here derived by measurement of the 5-16V
-			 * range on one unit:
-			 *
-			 * XXX pending measurements
-			 *
-			 * slope = xxx
-			 * intercept = xxx
-			 *
-			 * Intercept corrected for best results @ 5.0V.
-			 */
 			unsigned counts = adc_measure(ADC_VSERVO);
 			if (counts != 0xffff) {
-				unsigned mV = (4150 + (counts * 46)) / 10 - 200;
-				unsigned corrected = (mV * r_page_setup[PX4IO_P_SETUP_VSERVO_SCALE]) / 10000;
-
-				r_page_status[PX4IO_P_STATUS_VSERVO] = corrected;
+				// use 3:1 scaling on 3.3V ADC input
+				unsigned mV = counts * 9900 / 4096;
+				r_page_status[PX4IO_P_STATUS_VSERVO] = mV;
+			}
+		}
+#endif
+#ifdef ADC_RSSI
+		/* PX4IO_P_STATUS_VRSSI */
+		{
+			unsigned counts = adc_measure(ADC_RSSI);
+			if (counts != 0xffff) {
+				// use 1:1 scaling on 3.3V ADC input
+				unsigned mV = counts * 3300 / 4096;
+				r_page_status[PX4IO_P_STATUS_VRSSI] = mV;
 			}
 		}
 #endif
-		/* XXX PX4IO_P_STATUS_VRSSI */
 		/* XXX PX4IO_P_STATUS_PRSSI */
 
 		SELECT_PAGE(r_page_status);
diff --git a/src/modules/systemlib/perf_counter.c b/src/modules/systemlib/perf_counter.c
index 3c1e10287..bf84b7945 100644
--- a/src/modules/systemlib/perf_counter.c
+++ b/src/modules/systemlib/perf_counter.c
@@ -321,6 +321,32 @@ perf_print_counter(perf_counter_t handle)
 	}
 }
 
+uint64_t
+perf_event_count(perf_counter_t handle)
+{
+	if (handle == NULL)
+		return 0;
+
+	switch (handle->type) {
+	case PC_COUNT:
+		return ((struct perf_ctr_count *)handle)->event_count;
+
+	case PC_ELAPSED: {
+		struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle;
+		return pce->event_count;
+	}
+
+	case PC_INTERVAL: {
+		struct perf_ctr_interval *pci = (struct perf_ctr_interval *)handle;
+		return pci->event_count;
+	}
+
+	default:
+		break;
+	}
+	return 0;
+}
+
 void
 perf_print_all(void)
 {
diff --git a/src/modules/systemlib/perf_counter.h b/src/modules/systemlib/perf_counter.h
index 4cd8b67a1..e1e3cbe95 100644
--- a/src/modules/systemlib/perf_counter.h
+++ b/src/modules/systemlib/perf_counter.h
@@ -135,6 +135,14 @@ __EXPORT extern void		perf_print_all(void);
  */
 __EXPORT extern void		perf_reset_all(void);
 
+/**
+ * Return current event_count
+ *
+ * @param handle		The counter returned from perf_alloc.
+ * @return			event_count
+ */
+__EXPORT extern uint64_t	perf_event_count(perf_counter_t handle);
+
 __END_DECLS
 
 #endif
diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp
index 1eb63a799..3514dca24 100644
--- a/src/modules/uORB/objects_common.cpp
+++ b/src/modules/uORB/objects_common.cpp
@@ -87,6 +87,9 @@ ORB_DEFINE(safety, struct safety_s);
 #include "topics/battery_status.h"
 ORB_DEFINE(battery_status, struct battery_status_s);
 
+#include "topics/servorail_status.h"
+ORB_DEFINE(servorail_status, struct servorail_status_s);
+
 #include "topics/vehicle_global_position.h"
 ORB_DEFINE(vehicle_global_position, struct vehicle_global_position_s);
 
diff --git a/src/modules/uORB/topics/differential_pressure.h b/src/modules/uORB/topics/differential_pressure.h
index 1ffeda764..e4d2c92ce 100644
--- a/src/modules/uORB/topics/differential_pressure.h
+++ b/src/modules/uORB/topics/differential_pressure.h
@@ -53,6 +53,7 @@
  */
 struct differential_pressure_s {
 	uint64_t	timestamp;			/**< microseconds since system boot, needed to integrate */
+	uint64_t	error_count;
 	uint16_t	differential_pressure_pa;	/**< Differential pressure reading */
 	uint16_t	max_differential_pressure_pa;	/**< Maximum differential pressure reading */
 	float		voltage;			/**< Voltage from analog airspeed sensors (voltage divider already compensated) */
diff --git a/src/modules/uORB/topics/servorail_status.h b/src/modules/uORB/topics/servorail_status.h
new file mode 100644
index 000000000..55668790b
--- /dev/null
+++ b/src/modules/uORB/topics/servorail_status.h
@@ -0,0 +1,67 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file servorail_status.h
+ *
+ * Definition of the servorail status uORB topic.
+ */
+
+#ifndef SERVORAIL_STATUS_H_
+#define SERVORAIL_STATUS_H_
+
+#include "../uORB.h"
+#include <stdint.h>
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * Servorail voltages and status
+ */
+struct servorail_status_s {
+	uint64_t	timestamp;		/**< microseconds since system boot */
+	float   	voltage_v;		/**< Servo rail voltage in volts */
+	float   	rssi_v;			/**< RSSI pin voltage in volts */
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(servorail_status);
+
+#endif