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px4io: fixed voltage/current output and add discharged_mah calculation

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this integrates the current over time to calculate discharged_mah, and
allows the scaling of the current and the bias to be set with the
px4io command
This commit is contained in:
Andrew Tridgell 2013-05-02 21:28:55 +10:00
parent af27101ffe
commit d7e04a3619
1 changed files with 58 additions and 12 deletions
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70
src/drivers/px4io/px4io.cpp
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@ -108,6 +108,14 @@ public:
*/
int set_update_rate(int rate);
/**
* Set the battery current scaling and bias
*
* @param amp_per_volt
* @param amp_bias
*/
void set_battery_current_scaling(float amp_per_volt, float amp_bias);
/**
* Print the current status of IO
*/
@ -151,6 +159,10 @@ private:
bool _primary_pwm_device; ///< true if we are the default PWM output
float _battery_amp_per_volt;
float _battery_amp_bias;
float _battery_mamphour_total;
uint64_t _battery_last_timestamp;
/**
* Trampoline to the worker task
@ -314,6 +326,10 @@ PX4IO::PX4IO() :
_to_actuators_effective(0),
_to_outputs(0),
_to_battery(0),
_battery_amp_per_volt(90.0f/5.0f), // this matches the 3DR current sensor
_battery_amp_bias(0),
_battery_mamphour_total(0),
_battery_last_timestamp(0),
_primary_pwm_device(false)
{
/* we need this potentially before it could be set in task_main */
@ -884,11 +900,22 @@ PX4IO::io_get_status()
/* voltage is scaled to mV */
battery_status.voltage_v = regs[2] / 1000.0f;
/* current scaling should be to cA in order to avoid limiting at 65A */
battery_status.current_a = regs[3] / 100.f;
/*
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;
/* this requires integration over time - not currently implemented */
battery_status.discharged_mah = -1.0f;
/*
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) {
@ -1245,9 +1272,14 @@ PX4IO::print_status()
((alarms & PX4IO_P_STATUS_ALARMS_FMU_LOST) ? " FMU_LOST" : ""),
((alarms & PX4IO_P_STATUS_ALARMS_RC_LOST) ? " RC_LOST" : ""),
((alarms & PX4IO_P_STATUS_ALARMS_PWM_ERROR) ? " PWM_ERROR" : ""));
printf("vbatt %u ibatt %u\n",
io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_VBATT),
io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_IBATT));
printf("vbatt %u ibatt %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));
printf("amp_per_volt %.3f amp_offset %.3f mAhDischarged %.3f\n",
_battery_amp_per_volt,
_battery_amp_bias,
_battery_mamphour_total);
printf("actuators");
for (unsigned i = 0; i < _max_actuators; i++)
printf(" %u", io_reg_get(PX4IO_PAGE_ACTUATORS, i));
@ -1288,10 +1320,6 @@ PX4IO::print_status()
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_DEFAULTRATE),
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_ALTRATE),
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS));
printf("vbatt scale %u ibatt scale %u ibatt bias %u\n",
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VBATT_SCALE),
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_IBATT_SCALE),
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_IBATT_BIAS));
printf("debuglevel %u\n", io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SET_DEBUG));
printf("controls");
for (unsigned i = 0; i < _max_controls; i++)
@ -1521,6 +1549,12 @@ PX4IO::set_update_rate(int rate)
return 0;
}
void
PX4IO::set_battery_current_scaling(float amp_per_volt, float amp_bias)
{
_battery_amp_per_volt = amp_per_volt;
_battery_amp_bias = amp_bias;
}
extern "C" __EXPORT int px4io_main(int argc, char *argv[]);
@ -1658,6 +1692,18 @@ px4io_main(int argc, char *argv[])
exit(0);
}
if (!strcmp(argv[1], "current")) {
if (g_dev != nullptr) {
if ((argc > 3)) {
g_dev->set_battery_current_scaling(atof(argv[2]), atof(argv[3]));
} else {
errx(1, "missing argument (apm_per_volt, amp_offset)");
return 1;
}
}
exit(0);
}
if (!strcmp(argv[1], "recovery")) {
if (g_dev != nullptr) {
@ -1785,5 +1831,5 @@ px4io_main(int argc, char *argv[])
monitor();
out:
errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug', 'recovery', 'limit' or 'update'");
errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug', 'recovery', 'limit', 'current' or 'update'");
}