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ADC driver: Publish via uORB

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This commit is contained in:
Lorenz Meier
2016-05-01 15:48:50 +02:00
parent ca3b1478ce
commit 3335d32c0a
1 changed files with 34 additions and 5 deletions
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src/drivers/stm32/adc/adc.cpp
+34 -5
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@@ -66,6 +66,7 @@
#include <systemlib/perf_counter.h>
#include <uORB/topics/system_power.h>
#include <uORB/topics/adc_report.h>
/*
* Register accessors.
@@ -123,6 +124,7 @@ private:
adc_msg_s *_samples; /**< sample buffer */
orb_advert_t _to_system_power;
orb_advert_t _to_adc_report;
/** work trampoline */
static void _tick_trampoline(void *arg);
@@ -140,7 +142,9 @@ private:
uint16_t _sample(unsigned channel);
// update system_power ORB topic, only on FMUv2
void update_system_power(void);
void update_system_power(hrt_abstime now);
void update_adc_report(hrt_abstime now);
};
ADC::ADC(uint32_t channels) :
@@ -148,7 +152,8 @@ ADC::ADC(uint32_t channels) :
_sample_perf(perf_alloc(PC_ELAPSED, "adc_samples")),
_channel_count(0),
_samples(nullptr),
_to_system_power(nullptr)
_to_system_power(nullptr),
_to_adc_report(nullptr)
{
_debug_enabled = true;
@@ -303,22 +308,46 @@ ADC::_tick_trampoline(void *arg)
void
ADC::_tick()
{
hrt_abstime now = hrt_absolute_time();
/* scan the channel set and sample each */
for (unsigned i = 0; i < _channel_count; i++) {
_samples[i].am_data = _sample(_samples[i].am_channel);
}
update_system_power();
update_adc_report(now);
update_system_power(now);
}
void
ADC::update_system_power(void)
ADC::update_adc_report(hrt_abstime now)
{
adc_report_s adc = {};
adc.timestamp = now;
unsigned max_num = _channel_count;
if (max_num > (sizeof(adc.channel_id) / sizeof(adc.channel_id[0]))) {
max_num = (sizeof(adc.channel_id) / sizeof(adc.channel_id[0]));
}
for (unsigned i = 0; i < max_num; i++) {
adc.channel_id[i] = _samples[i].am_channel;
adc.channel_value[i] = _samples[i].am_data * 3.3f / 4096.0f;
}
int instance;
orb_publish_auto(ORB_ID(adc_report), &_to_adc_report, &adc, &instance, ORB_PRIO_HIGH);
}
void
ADC::update_system_power(hrt_abstime now)
{
#if defined (CONFIG_ARCH_BOARD_PX4FMU_V2) || \
defined (CONFIG_ARCH_BOARD_MINDPX_V2) || \
defined (CONFIG_ARCH_BOARD_PX4FMU_V4)
system_power_s system_power = {};
system_power.timestamp = hrt_absolute_time();
system_power.timestamp = now;
system_power.voltage5V_v = 0;