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ADC: replace ioctl with uorb message (#14087)

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This commit is contained in:
SalimTerryLi
2020-03-20 11:23:32 +01:00
committed by GitHub
parent 40af5b0fbe
commit dc8e775d8f
30 changed files with 345 additions and 486 deletions
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src/modules/battery_status/battery_status.cpp
+37 -47
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@@ -60,7 +60,7 @@
#include <uORB/Publication.hpp>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/adc_report.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include "analog_battery.h"
@@ -99,10 +99,9 @@ public:
private:
void Run() override;
int _adc_fd{-1}; /**< ADC file handle */
uORB::Subscription _actuator_ctrl_0_sub{ORB_ID(actuator_controls_0)}; /**< attitude controls sub */
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)}; /**< notification of parameter updates */
uORB::Subscription _adc_report_sub{ORB_ID(adc_report)};
AnalogBattery _battery1;
@@ -167,21 +166,15 @@ BatteryStatus::parameter_update_poll(bool forced)
void
BatteryStatus::adc_poll()
{
/* make space for a maximum of twelve channels (to ensure reading all channels at once) */
px4_adc_msg_t buf_adc[PX4_MAX_ADC_CHANNELS];
/* read all channels available */
int ret = px4_read(_adc_fd, &buf_adc, sizeof(buf_adc));
/* For legacy support we publish the battery_status for the Battery that is
* associated with the Brick that is the selected source for VDD_5V_IN
* Selection is done in HW ala a LTC4417 or similar, or may be hard coded
* Like in the FMUv4
*/
* associated with the Brick that is the selected source for VDD_5V_IN
* Selection is done in HW ala a LTC4417 or similar, or may be hard coded
* Like in the FMUv4
*/
/* Per Brick readings with default unread channels at 0 */
int32_t bat_current_adc_readings[BOARD_NUMBER_BRICKS] {};
int32_t bat_voltage_adc_readings[BOARD_NUMBER_BRICKS] {};
float bat_current_adc_readings[BOARD_NUMBER_BRICKS] {};
float bat_voltage_adc_readings[BOARD_NUMBER_BRICKS] {};
/* Based on the valid_chan, used to indicate the selected the lowest index
* (highest priority) supply that is the source for the VDD_5V_IN
@@ -190,34 +183,40 @@ BatteryStatus::adc_poll()
int selected_source = -1;
if (ret >= (int)sizeof(buf_adc[0])) {
adc_report_s adc_report;
if (_adc_report_sub.update(&adc_report)) {
/* Read add channels we got */
for (unsigned i = 0; i < ret / sizeof(buf_adc[0]); i++) {
{
for (int b = 0; b < BOARD_NUMBER_BRICKS; b++) {
for (unsigned i = 0; i < PX4_MAX_ADC_CHANNELS; ++i) {
for (int b = 0; b < BOARD_NUMBER_BRICKS; b++) {
/* Once we have subscriptions, Do this once for the lowest (highest priority
* supply on power controller) that is valid.
/* Once we have subscriptions, Do this once for the lowest (highest priority
* supply on power controller) that is valid.
*/
if (selected_source < 0 && _analogBatteries[b]->is_valid()) {
/* Indicate the lowest brick (highest priority supply on power controller)
* that is valid as the one that is the selected source for the
* VDD_5V_IN
*/
if (selected_source < 0 && _analogBatteries[b]->is_valid()) {
/* Indicate the lowest brick (highest priority supply on power controller)
* that is valid as the one that is the selected source for the
* VDD_5V_IN
*/
selected_source = b;
selected_source = b;
}
/* look for specific channels and process the raw voltage to measurement data */
if (_analogBatteries[b]->get_voltage_channel() == buf_adc[i].am_channel) {
/* Voltage in volts */
bat_voltage_adc_readings[b] = buf_adc[i].am_data;
} else if (_analogBatteries[b]->get_current_channel() == buf_adc[i].am_channel) {
bat_current_adc_readings[b] = buf_adc[i].am_data;
}
}
/* look for specific channels and process the raw voltage to measurement data */
if (adc_report.channel_id[i] == _analogBatteries[b]->get_voltage_channel()) {
/* Voltage in volts */
bat_voltage_adc_readings[b] = adc_report.raw_data[i] *
adc_report.v_ref /
adc_report.resolution;
} else if (adc_report.channel_id[i] == _analogBatteries[b]->get_current_channel()) {
bat_current_adc_readings[b] = adc_report.raw_data[i] *
adc_report.v_ref /
adc_report.resolution;
}
}
}
@@ -226,7 +225,7 @@ BatteryStatus::adc_poll()
actuator_controls_s ctrl{};
_actuator_ctrl_0_sub.copy(&ctrl);
_analogBatteries[b]->updateBatteryStatusRawADC(
_analogBatteries[b]->updateBatteryStatusADC(
hrt_absolute_time(),
bat_voltage_adc_readings[b],
bat_current_adc_readings[b],
@@ -249,15 +248,6 @@ BatteryStatus::Run()
perf_begin(_loop_perf);
if (_adc_fd < 0) {
_adc_fd = px4_open(ADC0_DEVICE_PATH, O_RDONLY);
if (_adc_fd < 0) {
PX4_ERR("unable to open ADC: %s", ADC0_DEVICE_PATH);
return;
}
}
/* check parameters for updates */
parameter_update_poll();