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Merge branch 'adc_fix' into paul_estimator_mavlink2

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Lorenz Meier
2014-03-17 16:55:02 +01:00
parent 45cc0262eb 4e6e40e5d8
commit 541e8362cf
14 changed files with 96 additions and 16 deletions
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src/modules/sensors/sensors.cpp
+7 -4
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@@ -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 */
src/modules/uORB/topics/sensor_combined.h
+2 -1
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@@ -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 */