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delete unused ADCSIM

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- set BOARD_NUMBER_BRICKS to 0 for boards without analog power bricks
This commit is contained in:
Daniel Agar
2018-04-29 21:48:54 -04:00
parent ea3acb7121
commit 8404889098
42 changed files with 43 additions and 350 deletions
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src/modules/sensors/sensors.cpp
+26 -10
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@@ -173,14 +173,18 @@ private:
orb_advert_t _sensor_pub{nullptr}; /**< combined sensor data topic */
orb_advert_t _airdata_pub{nullptr}; /**< combined sensor data topic */
orb_advert_t _magnetometer_pub{nullptr}; /**< combined sensor data topic */
#if BOARD_NUMBER_BRICKS > 0
orb_advert_t _battery_pub[BOARD_NUMBER_BRICKS] {}; /**< battery status */
Battery _battery[BOARD_NUMBER_BRICKS]; /**< Helper lib to publish battery_status topic. */
#endif /* BOARD_NUMBER_BRICKS > 0 */
#if BOARD_NUMBER_BRICKS > 1
int _battery_pub_intance0ndx {0}; /**< track the index of instance 0 */
#endif
#endif /* BOARD_NUMBER_BRICKS > 1 */
orb_advert_t _airspeed_pub{nullptr}; /**< airspeed */
orb_advert_t _diff_pres_pub{nullptr}; /**< differential_pressure */
orb_advert_t _sensor_preflight{nullptr}; /**< sensor preflight topic */
perf_counter_t _loop_perf; /**< loop performance counter */
@@ -189,9 +193,9 @@ private:
#ifdef ADC_AIRSPEED_VOLTAGE_CHANNEL
differential_pressure_s _diff_pres {};
#endif /* ADC_AIRSPEED_VOLTAGE_CHANNEL */
Battery _battery[BOARD_NUMBER_BRICKS]; /**< Helper lib to publish battery_status topic. */
orb_advert_t _diff_pres_pub{nullptr}; /**< differential_pressure */
#endif /* ADC_AIRSPEED_VOLTAGE_CHANNEL */
Parameters _parameters{}; /**< local copies of interesting parameters */
ParameterHandles _parameter_handles{}; /**< handles for interesting parameters */
@@ -249,9 +253,13 @@ Sensors::Sensors(bool hil_enabled) :
_airspeed_validator.set_timeout(300000);
_airspeed_validator.set_equal_value_threshold(100);
#if BOARD_NUMBER_BRICKS > 0
for (int b = 0; b < BOARD_NUMBER_BRICKS; b++) {
_battery[b].setParent(this);
}
#endif /* BOARD_NUMBER_BRICKS > 0 */
}
int
@@ -425,6 +433,7 @@ Sensors::adc_poll()
/* read all channels available */
int ret = _h_adc.read(&buf_adc, sizeof(buf_adc));
#if BOARD_NUMBER_BRICKS > 0
//todo:abosorb into new class Power
/* For legacy support we publish the battery_status for the Battery that is
@@ -433,19 +442,16 @@ Sensors::adc_poll()
* Like in the FMUv4
*/
/* The ADC channela that are associated with each brick, in power controller
/* The ADC channels that are associated with each brick, in power controller
* priority order highest to lowest, as defined by the board config.
*/
int bat_voltage_v_chan[BOARD_NUMBER_BRICKS] = BOARD_BATT_V_LIST;
int bat_voltage_i_chan[BOARD_NUMBER_BRICKS] = BOARD_BATT_I_LIST;
/* The valid signals (HW dependent) are associated with each brick */
bool valid_chan[BOARD_NUMBER_BRICKS] = BOARD_BRICK_VALID_LIST;
/* Per Brick readings with default unread channels at 0 */
float bat_current_a[BOARD_NUMBER_BRICKS] = {0.0f};
float bat_voltage_v[BOARD_NUMBER_BRICKS] = {0.0f};
@@ -456,6 +462,8 @@ Sensors::adc_poll()
int selected_source = -1;
#endif /* BOARD_NUMBER_BRICKS > 0 */
if (ret >= (int)sizeof(buf_adc[0])) {
/* Read add channels we got */
@@ -489,6 +497,9 @@ Sensors::adc_poll()
} else
#endif /* ADC_AIRSPEED_VOLTAGE_CHANNEL */
{
#if BOARD_NUMBER_BRICKS > 0
for (int b = 0; b < BOARD_NUMBER_BRICKS; b++) {
/* Once we have subscriptions, Do this once for the lowest (highest priority
@@ -512,7 +523,7 @@ Sensors::adc_poll()
_battery_pub_intance0ndx = selected_source;
}
#endif
#endif /* BOARD_NUMBER_BRICKS > 1 */
}
// todo:per brick scaling
@@ -526,9 +537,13 @@ Sensors::adc_poll()
- _parameters.battery_current_offset) * _parameters.battery_a_per_v;
}
}
#endif /* BOARD_NUMBER_BRICKS > 0 */
}
}
#if BOARD_NUMBER_BRICKS > 0
if (_parameters.battery_source == 0) {
for (int b = 0; b < BOARD_NUMBER_BRICKS; b++) {
@@ -557,8 +572,9 @@ Sensors::adc_poll()
}
}
_last_adc = t;
#endif /* BOARD_NUMBER_BRICKS > 0 */
_last_adc = t;
}
}
}