diff options
| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-07-26 15:16:48 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-07-26 15:16:48 +0200 |
| commit | dd3033fa6fa8ea4b84582065ed9c92828d7c5f81 (patch) | |
| tree | ebb852713e96e9ca9c5cd68ec053da028302e652 /src | |
| parent | 31ded04c80f68bd071840770d49eb93d2d9c9fe2 (diff) | |
| download | px4-firmware-dd3033fa6fa8ea4b84582065ed9c92828d7c5f81.tar.gz px4-firmware-dd3033fa6fa8ea4b84582065ed9c92828d7c5f81.tar.bz2 px4-firmware-dd3033fa6fa8ea4b84582065ed9c92828d7c5f81.zip | |
Symbol cleanup for servo vs. battery voltage
Diffstat (limited to 'src')
| -rw-r--r-- | src/drivers/px4io/px4io.cpp | 6 | ||||
| -rw-r--r-- | src/modules/px4iofirmware/protocol.h | 12 | ||||
| -rw-r--r-- | src/modules/px4iofirmware/registers.c | 26 |
3 files changed, 18 insertions, 26 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index b019c4fc5..dd876f903 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -1315,7 +1315,7 @@ PX4IO::print_status() io_reg_set(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS, 0xFFFF); if (_hardware == 1) { - printf("vbatt %u ibatt %u vbatt scale %u\n", + printf("vbatt mV %u ibatt mV %u vbatt scale %u\n", io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_VBATT), io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_IBATT), io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VBATT_SCALE)); @@ -1324,9 +1324,9 @@ PX4IO::print_status() (double)_battery_amp_bias, (double)_battery_mamphour_total); } else if (_hardware == 2) { - printf("vservo %u vservo scale %u\n", + printf("vservo %u mV vservo scale %u\n", io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_VSERVO), - io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VBATT_SCALE)); + io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VSERVO_SCALE)); printf("vrssi %u\n", io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_VRSSI)); } printf("actuators"); diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h index dc5c40638..3c59a75a7 100644 --- a/src/modules/px4iofirmware/protocol.h +++ b/src/modules/px4iofirmware/protocol.h @@ -163,13 +163,13 @@ #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_RELAYS_POWER1 (1<<0) /* [1] power relay 1 */ -#define PX4IO_P_SETUP_RELAYS_POWER2 (1<<1) /* [1] power relay 2 */ -#define PX4IO_P_SETUP_RELAYS_ACC1 (1<<2) /* [1] accessory power 1 */ -#define PX4IO_P_SETUP_RELAYS_ACC2 (1<<3) /* [1] accessory power 2 */ +#define PX4IO_P_SETUP_RELAYS_POWER1 (1<<0) /* hardware rev [1] power relay 1 */ +#define PX4IO_P_SETUP_RELAYS_POWER2 (1<<1) /* hardware rev [1] power relay 2 */ +#define PX4IO_P_SETUP_RELAYS_ACC1 (1<<2) /* hardware rev [1] accessory power 1 */ +#define PX4IO_P_SETUP_RELAYS_ACC2 (1<<3) /* hardware rev [1] accessory power 2 */ -#define PX4IO_P_SETUP_VBATT_SCALE 6 /* [1] battery voltage correction factor (float) */ -#define PX4IO_P_SETUP_VSERVO_SCALE 6 /* [2] servo voltage correction factor (float) */ +#define PX4IO_P_SETUP_VBATT_SCALE 6 /* hardware rev [1] battery voltage correction factor (float) */ +#define PX4IO_P_SETUP_VSERVO_SCALE 6 /* hardware rev [2] servo voltage correction factor (float) */ #define PX4IO_P_SETUP_DSM 7 /* DSM bind state */ enum { /* DSM bind states */ dsm_bind_power_down = 0, diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index 9606faa86..3f241d29c 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -146,7 +146,11 @@ volatile uint16_t r_page_setup[] = [PX4IO_P_SETUP_PWM_DEFAULTRATE] = 50, [PX4IO_P_SETUP_PWM_ALTRATE] = 200, [PX4IO_P_SETUP_RELAYS] = 0, +#ifdef ADC_VSERVO + [PX4IO_P_SETUP_VSERVO_SCALE] = 10000, +#else [PX4IO_P_SETUP_VBATT_SCALE] = 10000, +#endif [PX4IO_P_SETUP_SET_DEBUG] = 0, }; @@ -570,29 +574,17 @@ registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_val * 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 + * XXX pending measurements * - * slope = 0.0046067 - * intercept = 0.3863 + * slope = xxx + * intercept = xxx * - * Intercept corrected for best results @ 12V. + * 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_VBATT_SCALE]) / 10000; + unsigned corrected = (mV * r_page_setup[PX4IO_P_SETUP_VSERVO_SCALE]) / 10000; r_page_status[PX4IO_P_STATUS_VSERVO] = corrected; } |