diff options
| author | Andrew Tridgell <tridge@samba.org> | 2013-05-01 15:06:13 +1000 |
|---|---|---|
| committer | Andrew Tridgell <tridge@samba.org> | 2013-05-04 19:18:47 +1000 |
| commit | 44015d69154062d42ecc3aa0c9b25d7019bd5a71 (patch) | |
| tree | ef8374c54c093d43ce0c07b82245a3590fda20fb /src | |
| parent | 5b3844621ca1c0a6181e49166c5c12f3000f6802 (diff) | |
| download | px4-firmware-44015d69154062d42ecc3aa0c9b25d7019bd5a71.tar.gz px4-firmware-44015d69154062d42ecc3aa0c9b25d7019bd5a71.tar.bz2 px4-firmware-44015d69154062d42ecc3aa0c9b25d7019bd5a71.zip | |
px4io: return raw ADC value for current
we don't know how to scale it as we have no info on what sensor is
attached. As we are returning a uint16_t it is better to let the FMU
sort it out or we'll just lose precision.
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/px4iofirmware/protocol.h | 4 | ||||
| -rw-r--r-- | src/modules/px4iofirmware/registers.c | 16 |
2 files changed, 9 insertions, 11 deletions
diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h index 8d8b7e941..b80551a07 100644 --- a/src/modules/px4iofirmware/protocol.h +++ b/src/modules/px4iofirmware/protocol.h @@ -115,7 +115,7 @@ #define PX4IO_P_STATUS_ALARMS_PWM_ERROR (1 << 6) /* PWM configuration or output was bad */ #define PX4IO_P_STATUS_VBATT 4 /* battery voltage in mV */ -#define PX4IO_P_STATUS_IBATT 5 /* battery current in cA */ +#define PX4IO_P_STATUS_IBATT 5 /* battery current (raw ADC) */ /* array of post-mix actuator outputs, -10000..10000 */ #define PX4IO_PAGE_ACTUATORS 2 /* 0..CONFIG_ACTUATOR_COUNT-1 */ @@ -155,8 +155,6 @@ #define PX4IO_P_SETUP_PWM_ALTRATE 4 /* 'high' PWM frame output rate in Hz */ #define PX4IO_P_SETUP_RELAYS 5 /* bitmask of relay/switch outputs, 0 = off, 1 = on */ #define PX4IO_P_SETUP_VBATT_SCALE 6 /* battery voltage correction factor (float) */ -#define PX4IO_P_SETUP_IBATT_SCALE 7 /* battery current scaling factor (float) */ -#define PX4IO_P_SETUP_IBATT_BIAS 8 /* battery current bias value */ #define PX4IO_P_SETUP_SET_DEBUG 9 /* debug level for IO board */ /* autopilot control values, -10000..10000 */ diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index 6c09def9e..9f9c50048 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -138,8 +138,6 @@ volatile uint16_t r_page_setup[] = [PX4IO_P_SETUP_PWM_ALTRATE] = 200, [PX4IO_P_SETUP_RELAYS] = 0, [PX4IO_P_SETUP_VBATT_SCALE] = 10000, - [PX4IO_P_SETUP_IBATT_SCALE] = 0, - [PX4IO_P_SETUP_IBATT_BIAS] = 0, [PX4IO_P_SETUP_SET_DEBUG] = 0, }; @@ -516,12 +514,14 @@ registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_val /* 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; + /* + note that we have no idea what sort of + current sensor is attached, so we just + return the raw 12 bit ADC value and let the + FMU sort it out, with user selectable + configuration for their sensor + */ + r_page_status[PX4IO_P_STATUS_IBATT] = adc_measure(ADC_IN5); } SELECT_PAGE(r_page_status); |