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Symbol cleanup for servo vs. battery voltage

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This commit is contained in:
Lorenz Meier
2013-07-26 15:16:48 +02:00
parent 31ded04c80
commit dd3033fa6f
3 changed files with 18 additions and 26 deletions
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src/modules/px4iofirmware/protocol.h
+6 -6
View File
@@ -163,13 +163,13 @@
#define PX4IO_P_SETUP_PWM_ALTRATE 4 /* 'high' PWM frame output rate in Hz */
#define PX4IO_P_SETUP_RELAYS 5 /* bitmask of relay/switch outputs, 0 = off, 1 = on */
#define PX4IO_P_SETUP_RELAYS_POWER1 (1<<0) /* [1] power relay 1 */
#define PX4IO_P_SETUP_RELAYS_POWER2 (1<<1) /* [1] power relay 2 */
#define PX4IO_P_SETUP_RELAYS_ACC1 (1<<2) /* [1] accessory power 1 */
#define PX4IO_P_SETUP_RELAYS_ACC2 (1<<3) /* [1] accessory power 2 */
#define PX4IO_P_SETUP_RELAYS_POWER1 (1<<0) /* hardware rev [1] power relay 1 */
#define PX4IO_P_SETUP_RELAYS_POWER2 (1<<1) /* hardware rev [1] power relay 2 */
#define PX4IO_P_SETUP_RELAYS_ACC1 (1<<2) /* hardware rev [1] accessory power 1 */
#define PX4IO_P_SETUP_RELAYS_ACC2 (1<<3) /* hardware rev [1] accessory power 2 */
#define PX4IO_P_SETUP_VBATT_SCALE 6 /* [1] battery voltage correction factor (float) */
#define PX4IO_P_SETUP_VSERVO_SCALE 6 /* [2] servo voltage correction factor (float) */
#define PX4IO_P_SETUP_VBATT_SCALE 6 /* hardware rev [1] battery voltage correction factor (float) */
#define PX4IO_P_SETUP_VSERVO_SCALE 6 /* hardware rev [2] servo voltage correction factor (float) */
#define PX4IO_P_SETUP_DSM 7 /* DSM bind state */
enum { /* DSM bind states */
dsm_bind_power_down = 0,
src/modules/px4iofirmware/registers.c
+9 -17
View File
@@ -146,7 +146,11 @@ volatile uint16_t r_page_setup[] =
[PX4IO_P_SETUP_PWM_DEFAULTRATE] = 50,
[PX4IO_P_SETUP_PWM_ALTRATE] = 200,
[PX4IO_P_SETUP_RELAYS] = 0,
#ifdef ADC_VSERVO
[PX4IO_P_SETUP_VSERVO_SCALE] = 10000,
#else
[PX4IO_P_SETUP_VBATT_SCALE] = 10000,
#endif
[PX4IO_P_SETUP_SET_DEBUG] = 0,
};
@@ -570,29 +574,17 @@ registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_val
* Coefficients here derived by measurement of the 5-16V
* range on one unit:
*
* V counts
* 5 1001
* 6 1219
* 7 1436
* 8 1653
* 9 1870
* 10 2086
* 11 2303
* 12 2522
* 13 2738
* 14 2956
* 15 3172
* 16 3389
* XXX pending measurements
*
* slope = 0.0046067
* intercept = 0.3863
* slope = xxx
* intercept = xxx
*
* Intercept corrected for best results @ 12V.
* Intercept corrected for best results @ 5.0V.
*/
unsigned counts = adc_measure(ADC_VSERVO);
if (counts != 0xffff) {
unsigned mV = (4150 + (counts * 46)) / 10 - 200;
unsigned corrected = (mV * r_page_setup[PX4IO_P_SETUP_VBATT_SCALE]) / 10000;
unsigned corrected = (mV * r_page_setup[PX4IO_P_SETUP_VSERVO_SCALE]) / 10000;
r_page_status[PX4IO_P_STATUS_VSERVO] = corrected;
}