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ADC: replace ioctl with uorb message (#14087)

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This commit is contained in:
SalimTerryLi
2020-03-20 18:23:32 +08:00
committed by GitHub
parent 40af5b0fbe
commit dc8e775d8f
30 changed files with 345 additions and 486 deletions
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src/modules/battery_status/analog_battery.cpp
+21 -35
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@@ -15,17 +15,11 @@ static constexpr int DEFAULT_V_CHANNEL[1] = {0};
static constexpr int DEFAULT_I_CHANNEL[1] = {0};
#endif
static constexpr float DEFAULT_VOLTS_PER_COUNT = 3.3f / 4096.0f;
AnalogBattery::AnalogBattery(int index, ModuleParams *parent) :
Battery(index, parent)
{
char param_name[17];
_analog_param_handles.cnt_v_volt = param_find("BAT_CNT_V_VOLT");
_analog_param_handles.cnt_v_curr = param_find("BAT_CNT_V_CURR");
_analog_param_handles.v_offs_cur = param_find("BAT_V_OFFS_CURR");
snprintf(param_name, sizeof(param_name), "BAT%d_V_DIV", index);
@@ -34,8 +28,11 @@ AnalogBattery::AnalogBattery(int index, ModuleParams *parent) :
snprintf(param_name, sizeof(param_name), "BAT%d_A_PER_V", index);
_analog_param_handles.a_per_v = param_find(param_name);
snprintf(param_name, sizeof(param_name), "BAT%d_ADC_CHANNEL", index);
_analog_param_handles.adc_channel = param_find(param_name);
snprintf(param_name, sizeof(param_name), "BAT%d_V_CHANNEL", index);
_analog_param_handles.v_channel = param_find(param_name);
snprintf(param_name, sizeof(param_name), "BAT%d_I_CHANNEL", index);
_analog_param_handles.i_channel = param_find(param_name);
_analog_param_handles.v_div_old = param_find("BAT_V_DIV");
_analog_param_handles.a_per_v_old = param_find("BAT_A_PER_V");
@@ -43,11 +40,11 @@ AnalogBattery::AnalogBattery(int index, ModuleParams *parent) :
}
void
AnalogBattery::updateBatteryStatusRawADC(hrt_abstime timestamp, int32_t voltage_raw, int32_t current_raw,
bool selected_source, int priority, float throttle_normalized)
AnalogBattery::updateBatteryStatusADC(hrt_abstime timestamp, float voltage_raw, float current_raw,
bool selected_source, int priority, float throttle_normalized)
{
float voltage_v = (voltage_raw * _analog_params.cnt_v_volt) * _analog_params.v_div;
float current_a = ((current_raw * _analog_params.cnt_v_curr) - _analog_params.v_offs_cur) * _analog_params.a_per_v;
float voltage_v = voltage_raw * _analog_params.v_div;
float current_a = (current_raw - _analog_params.v_offs_cur) * _analog_params.a_per_v;
bool connected = voltage_v > BOARD_ADC_OPEN_CIRCUIT_V &&
(BOARD_ADC_OPEN_CIRCUIT_V <= BOARD_VALID_UV || is_valid());
@@ -70,8 +67,8 @@ bool AnalogBattery::is_valid()
int AnalogBattery::get_voltage_channel()
{
if (_analog_params.adc_channel >= 0) {
return _analog_params.adc_channel;
if (_analog_params.v_channel >= 0) {
return _analog_params.v_channel;
} else {
return DEFAULT_V_CHANNEL[_index - 1];
@@ -80,8 +77,12 @@ int AnalogBattery::get_voltage_channel()
int AnalogBattery::get_current_channel()
{
// TODO: Possibly implement parameter for current sense channel
return DEFAULT_I_CHANNEL[_index - 1];
if (_analog_params.i_channel >= 0) {
return _analog_params.i_channel;
} else {
return DEFAULT_I_CHANNEL[_index - 1];
}
}
void
@@ -92,33 +93,18 @@ AnalogBattery::updateParams()
&_analog_params.v_div, _first_parameter_update);
migrateParam<float>(_analog_param_handles.a_per_v_old, _analog_param_handles.a_per_v, &_analog_params.a_per_v_old,
&_analog_params.a_per_v, _first_parameter_update);
migrateParam<int>(_analog_param_handles.adc_channel_old, _analog_param_handles.adc_channel,
&_analog_params.adc_channel_old, &_analog_params.adc_channel, _first_parameter_update);
migrateParam<int>(_analog_param_handles.adc_channel_old, _analog_param_handles.v_channel,
&_analog_params.adc_channel_old, &_analog_params.v_channel, _first_parameter_update);
} else {
param_get(_analog_param_handles.v_div, &_analog_params.v_div);
param_get(_analog_param_handles.a_per_v, &_analog_params.a_per_v);
param_get(_analog_param_handles.adc_channel, &_analog_params.adc_channel);
param_get(_analog_param_handles.v_channel, &_analog_params.v_channel);
}
param_get(_analog_param_handles.cnt_v_volt, &_analog_params.cnt_v_volt);
param_get(_analog_param_handles.cnt_v_curr, &_analog_params.cnt_v_curr);
param_get(_analog_param_handles.i_channel, &_analog_params.i_channel);
param_get(_analog_param_handles.v_offs_cur, &_analog_params.v_offs_cur);
/* scaling of ADC ticks to battery voltage */
if (_analog_params.cnt_v_volt < 0.0f) {
/* apply scaling according to defaults if set to default */
_analog_params.cnt_v_volt = (BOARD_ADC_POS_REF_V_FOR_VOLTAGE_CHAN / px4_arch_adc_dn_fullcount());
param_set_no_notification(_analog_param_handles.cnt_v_volt, &_analog_params.cnt_v_volt);
}
/* scaling of ADC ticks to battery current */
if (_analog_params.cnt_v_curr < 0.0f) {
/* apply scaling according to defaults if set to default */
_analog_params.cnt_v_curr = (BOARD_ADC_POS_REF_V_FOR_CURRENT_CHAN / px4_arch_adc_dn_fullcount());
param_set_no_notification(_analog_param_handles.cnt_v_curr, &_analog_params.cnt_v_curr);
}
if (_analog_params.v_div <= 0.0f) {
/* apply scaling according to defaults if set to default */
_analog_params.v_div = BOARD_BATTERY1_V_DIV;