diff options
| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-03-17 16:55:02 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-03-17 16:55:02 +0100 |
| commit | 541e8362cff00ed411b7e3f85a1c347caf6ddec0 (patch) | |
| tree | 2c921d65251245b0b23fbd704953093928103dd2 /src/modules | |
| parent | 45cc0262ebbd95d10d7298eb0bf4e00b5bab3455 (diff) | |
| parent | 4e6e40e5d850f737b25d657630ac89ad1d54e67c (diff) | |
| download | px4-firmware-541e8362cff00ed411b7e3f85a1c347caf6ddec0.tar.gz px4-firmware-541e8362cff00ed411b7e3f85a1c347caf6ddec0.tar.bz2 px4-firmware-541e8362cff00ed411b7e3f85a1c347caf6ddec0.zip | |
Merge branch 'adc_fix' into paul_estimator_mavlink2
Diffstat (limited to 'src/modules')
| -rw-r--r-- | src/modules/sensors/sensors.cpp | 11 | ||||
| -rw-r--r-- | src/modules/uORB/topics/sensor_combined.h | 3 |
2 files changed, 9 insertions, 5 deletions
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index ba75fe82e..8214c6509 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -1171,16 +1171,19 @@ Sensors::adc_poll(struct sensor_combined_s &raw) hrt_abstime t = hrt_absolute_time(); /* rate limit to 100 Hz */ if (t - _last_adc >= 10000) { - /* make space for a maximum of eight channels */ - struct adc_msg_s buf_adc[8]; + /* make space for a maximum of ten channels (to ensure reading all channels at once) */ + struct adc_msg_s buf_adc[10]; /* read all channels available */ int ret = read(_fd_adc, &buf_adc, sizeof(buf_adc)); if (ret >= (int)sizeof(buf_adc[0])) { - for (unsigned i = 0; i < sizeof(buf_adc) / sizeof(buf_adc[0]); i++) { + + /* Read add channels we got */ + for (unsigned i = 0; i < ret / sizeof(buf_adc[0]); i++) { /* Save raw voltage values */ - if (i < (sizeof(raw.adc_voltage_v)) / sizeof(raw.adc_voltage_v[0])) { + if (i < (sizeof(raw.adc_voltage_v) / sizeof(raw.adc_voltage_v[0]))) { raw.adc_voltage_v[i] = buf_adc[i].am_data / (4096.0f / 3.3f); + raw.adc_mapping[i] = buf_adc[i].am_channel; } /* look for specific channels and process the raw voltage to measurement data */ diff --git a/src/modules/uORB/topics/sensor_combined.h b/src/modules/uORB/topics/sensor_combined.h index 92812efd4..a02b6a02c 100644 --- a/src/modules/uORB/topics/sensor_combined.h +++ b/src/modules/uORB/topics/sensor_combined.h @@ -98,7 +98,8 @@ struct sensor_combined_s { float baro_pres_mbar; /**< Barometric pressure, already temp. comp. */ float baro_alt_meter; /**< Altitude, already temp. comp. */ float baro_temp_celcius; /**< Temperature in degrees celsius */ - float adc_voltage_v[4]; /**< ADC voltages of ADC Chan 10/11/12/13 or -1 */ + float adc_voltage_v[9]; /**< ADC voltages of ADC Chan 10/11/12/13 or -1 */ + unsigned adc_mapping[9]; /**< Channel indices of each of these values */ float mcu_temp_celcius; /**< Internal temperature measurement of MCU */ uint64_t baro_timestamp; /**< Barometer timestamp */ |