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px4io: added monitoring of vservo and vrssi

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publish via servorail_status ORB topic
This commit is contained in:
Andrew Tridgell
2013-09-12 09:24:53 +02:00
committed by Lorenz Meier
parent f12794d30e
commit e9e46f9c9d
2 changed files with 52 additions and 19 deletions
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src/modules/px4iofirmware/registers.c
+14 -16
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@@ -678,27 +678,25 @@ registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_val
#ifdef ADC_VSERVO
/* PX4IO_P_STATUS_VSERVO */
{
/*
* Coefficients here derived by measurement of the 5-16V
* range on one unit:
*
* XXX pending measurements
*
* slope = xxx
* intercept = xxx
*
* 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_VSERVO_SCALE]) / 10000;
r_page_status[PX4IO_P_STATUS_VSERVO] = corrected;
// use 3:1 scaling on 3.3V ADC input
unsigned mV = counts * 9900 / 4096;
r_page_status[PX4IO_P_STATUS_VSERVO] = mV;
}
}
#endif
#ifdef ADC_RSSI
/* PX4IO_P_STATUS_VRSSI */
{
unsigned counts = adc_measure(ADC_RSSI);
if (counts != 0xffff) {
// use 1:1 scaling on 3.3V ADC input
unsigned mV = counts * 3300 / 4096;
r_page_status[PX4IO_P_STATUS_VRSSI] = mV;
}
}
#endif
/* XXX PX4IO_P_STATUS_VRSSI */
/* XXX PX4IO_P_STATUS_PRSSI */
SELECT_PAGE(r_page_status);