diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/drivers/drv_accel.h | 1 | ||||
| -rw-r--r-- | src/drivers/drv_baro.h | 1 | ||||
| -rw-r--r-- | src/drivers/drv_gyro.h | 1 | ||||
| -rw-r--r-- | src/drivers/drv_mag.h | 1 | ||||
| -rw-r--r-- | src/drivers/drv_range_finder.h | 1 | ||||
| -rw-r--r-- | src/drivers/px4io/px4io.cpp | 121 | ||||
| -rw-r--r-- | src/modules/px4iofirmware/registers.c | 30 | ||||
| -rw-r--r-- | src/modules/systemlib/perf_counter.c | 26 | ||||
| -rw-r--r-- | src/modules/systemlib/perf_counter.h | 8 | ||||
| -rw-r--r-- | src/modules/uORB/objects_common.cpp | 3 | ||||
| -rw-r--r-- | src/modules/uORB/topics/differential_pressure.h | 1 | ||||
| -rw-r--r-- | src/modules/uORB/topics/servorail_status.h | 67 |
12 files changed, 211 insertions, 50 deletions
diff --git a/src/drivers/drv_accel.h b/src/drivers/drv_accel.h index 794de584b..eff5e7349 100644 --- a/src/drivers/drv_accel.h +++ b/src/drivers/drv_accel.h @@ -52,6 +52,7 @@ */ struct accel_report { uint64_t timestamp; + uint64_t error_count; float x; /**< acceleration in the NED X board axis in m/s^2 */ float y; /**< acceleration in the NED Y board axis in m/s^2 */ float z; /**< acceleration in the NED Z board axis in m/s^2 */ diff --git a/src/drivers/drv_baro.h b/src/drivers/drv_baro.h index 176f798c0..aa251889f 100644 --- a/src/drivers/drv_baro.h +++ b/src/drivers/drv_baro.h @@ -55,6 +55,7 @@ struct baro_report { float altitude; float temperature; uint64_t timestamp; + uint64_t error_count; }; /* diff --git a/src/drivers/drv_gyro.h b/src/drivers/drv_gyro.h index 1d0fef6fc..fefcae50b 100644 --- a/src/drivers/drv_gyro.h +++ b/src/drivers/drv_gyro.h @@ -52,6 +52,7 @@ */ struct gyro_report { uint64_t timestamp; + uint64_t error_count; float x; /**< angular velocity in the NED X board axis in rad/s */ float y; /**< angular velocity in the NED Y board axis in rad/s */ float z; /**< angular velocity in the NED Z board axis in rad/s */ diff --git a/src/drivers/drv_mag.h b/src/drivers/drv_mag.h index 3de5625fd..06107bd3d 100644 --- a/src/drivers/drv_mag.h +++ b/src/drivers/drv_mag.h @@ -54,6 +54,7 @@ */ struct mag_report { uint64_t timestamp; + uint64_t error_count; float x; float y; float z; diff --git a/src/drivers/drv_range_finder.h b/src/drivers/drv_range_finder.h index 03a82ec5d..cf91f7030 100644 --- a/src/drivers/drv_range_finder.h +++ b/src/drivers/drv_range_finder.h @@ -52,6 +52,7 @@ */ struct range_finder_report { uint64_t timestamp; + uint64_t error_count; float distance; /** in meters */ uint8_t valid; /** 1 == within sensor range, 0 = outside sensor range */ }; diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 78d1d3e63..27b6a12da 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -80,6 +80,7 @@ #include <uORB/topics/vehicle_command.h> #include <uORB/topics/rc_channels.h> #include <uORB/topics/battery_status.h> +#include <uORB/topics/servorail_status.h> #include <uORB/topics/parameter_update.h> #include <debug.h> @@ -260,6 +261,7 @@ private: orb_advert_t _to_actuators_effective; ///< effective actuator controls topic orb_advert_t _to_outputs; ///< mixed servo outputs topic orb_advert_t _to_battery; ///< battery status / voltage + orb_advert_t _to_servorail; ///< servorail status orb_advert_t _to_safety; ///< status of safety actuator_outputs_s _outputs; ///<mixed outputs @@ -409,8 +411,27 @@ private: */ int io_handle_alarms(uint16_t alarms); -}; + /** + * Handle a battery update from IO. + * + * Publish IO battery information if necessary. + * + * @param vbatt vbatt register + * @param ibatt ibatt register + */ + void io_handle_battery(uint16_t vbatt, uint16_t ibatt); + /** + * Handle a servorail update from IO. + * + * Publish servo rail information if necessary. + * + * @param vservo vservo register + * @param vrssi vrssi register + */ + void io_handle_vservo(uint16_t vbatt, uint16_t ibatt); + +}; namespace { @@ -444,6 +465,7 @@ PX4IO::PX4IO(device::Device *interface) : _to_actuators_effective(0), _to_outputs(0), _to_battery(0), + _to_servorail(0), _to_safety(0), _primary_pwm_device(false), _battery_amp_per_volt(90.0f/5.0f), // this matches the 3DR current sensor @@ -1158,10 +1180,67 @@ PX4IO::io_handle_alarms(uint16_t alarms) return 0; } +void +PX4IO::io_handle_battery(uint16_t vbatt, uint16_t ibatt) +{ + /* only publish if battery has a valid minimum voltage */ + if (vbatt <= 3300) { + return; + } + + battery_status_s battery_status; + battery_status.timestamp = hrt_absolute_time(); + + /* voltage is scaled to mV */ + battery_status.voltage_v = vbatt / 1000.0f; + + /* + ibatt contains the raw ADC count, as 12 bit ADC + value, with full range being 3.3v + */ + battery_status.current_a = ibatt * (3.3f/4096.0f) * _battery_amp_per_volt; + battery_status.current_a += _battery_amp_bias; + + /* + integrate battery over time to get total mAh used + */ + if (_battery_last_timestamp != 0) { + _battery_mamphour_total += battery_status.current_a * + (battery_status.timestamp - _battery_last_timestamp) * 1.0e-3f / 3600; + } + battery_status.discharged_mah = _battery_mamphour_total; + _battery_last_timestamp = battery_status.timestamp; + + /* lazily publish the battery voltage */ + if (_to_battery > 0) { + orb_publish(ORB_ID(battery_status), _to_battery, &battery_status); + } else { + _to_battery = orb_advertise(ORB_ID(battery_status), &battery_status); + } +} + +void +PX4IO::io_handle_vservo(uint16_t vservo, uint16_t vrssi) +{ + servorail_status_s servorail_status; + servorail_status.timestamp = hrt_absolute_time(); + + /* voltage is scaled to mV */ + servorail_status.voltage_v = vservo * 0.001f; + servorail_status.rssi_v = vrssi * 0.001f; + + /* lazily publish the servorail voltages */ + if (_to_servorail > 0) { + orb_publish(ORB_ID(servorail_status), _to_servorail, &servorail_status); + } else { + _to_servorail = orb_advertise(ORB_ID(servorail_status), &servorail_status); + } +} + int PX4IO::io_get_status() { - uint16_t regs[4]; + uint16_t regs[6]; int ret; /* get STATUS_FLAGS, STATUS_ALARMS, STATUS_VBATT, STATUS_IBATT in that order */ @@ -1171,40 +1250,14 @@ PX4IO::io_get_status() io_handle_status(regs[0]); io_handle_alarms(regs[1]); - - /* only publish if battery has a valid minimum voltage */ - if (regs[2] > 3300) { - battery_status_s battery_status; - - battery_status.timestamp = hrt_absolute_time(); - /* voltage is scaled to mV */ - battery_status.voltage_v = regs[2] / 1000.0f; - - /* - regs[3] contains the raw ADC count, as 12 bit ADC - value, with full range being 3.3v - */ - battery_status.current_a = regs[3] * (3.3f/4096.0f) * _battery_amp_per_volt; - battery_status.current_a += _battery_amp_bias; - - /* - integrate battery over time to get total mAh used - */ - if (_battery_last_timestamp != 0) { - _battery_mamphour_total += battery_status.current_a * - (battery_status.timestamp - _battery_last_timestamp) * 1.0e-3f / 3600; - } - battery_status.discharged_mah = _battery_mamphour_total; - _battery_last_timestamp = battery_status.timestamp; +#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1 + io_handle_battery(regs[2], regs[3]); +#endif - /* lazily publish the battery voltage */ - if (_to_battery > 0) { - orb_publish(ORB_ID(battery_status), _to_battery, &battery_status); - } else { - _to_battery = orb_advertise(ORB_ID(battery_status), &battery_status); - } - } +#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2 + io_handle_vservo(regs[4], regs[5]); +#endif return ret; } diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index 9c95fd1c5..30ef0ccea 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -678,27 +678,25 @@ 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 |