mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-24 17:20:34 +08:00
Daniel Agar
118 lines
4.6 KiB
C++
118 lines
4.6 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2016-2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file parameters.cpp
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*
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* @author Beat Kueng <beat-kueng@gmx.net>
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*/
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#include "parameters.h"
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#include <px4_log.h>
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namespace battery_status
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{
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void initialize_parameter_handles(ParameterHandles ¶meter_handles)
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{
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parameter_handles.battery_voltage_scaling = param_find("BAT_CNT_V_VOLT");
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parameter_handles.battery_current_scaling = param_find("BAT_CNT_V_CURR");
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parameter_handles.battery_current_offset = param_find("BAT_V_OFFS_CURR");
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parameter_handles.battery_v_div = param_find("BAT_V_DIV");
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parameter_handles.battery_a_per_v = param_find("BAT_A_PER_V");
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parameter_handles.battery_source = param_find("BAT_SOURCE");
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parameter_handles.battery_adc_channel = param_find("BAT_ADC_CHANNEL");
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}
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int update_parameters(const ParameterHandles ¶meter_handles, Parameters ¶meters)
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{
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int ret = PX4_OK;
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const char *paramerr = "FAIL PARM LOAD";
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/* scaling of ADC ticks to battery voltage */
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if (param_get(parameter_handles.battery_voltage_scaling, &(parameters.battery_voltage_scaling)) != OK) {
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PX4_WARN("%s", paramerr);
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} else if (parameters.battery_voltage_scaling < 0.0f) {
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/* apply scaling according to defaults if set to default */
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parameters.battery_voltage_scaling = (3.3f / 4096);
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param_set_no_notification(parameter_handles.battery_voltage_scaling, ¶meters.battery_voltage_scaling);
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}
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/* scaling of ADC ticks to battery current */
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if (param_get(parameter_handles.battery_current_scaling, &(parameters.battery_current_scaling)) != OK) {
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PX4_WARN("%s", paramerr);
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} else if (parameters.battery_current_scaling < 0.0f) {
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/* apply scaling according to defaults if set to default */
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parameters.battery_current_scaling = (3.3f / 4096);
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param_set_no_notification(parameter_handles.battery_current_scaling, ¶meters.battery_current_scaling);
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}
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if (param_get(parameter_handles.battery_current_offset, &(parameters.battery_current_offset)) != OK) {
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PX4_WARN("%s", paramerr);
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}
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if (param_get(parameter_handles.battery_v_div, &(parameters.battery_v_div)) != OK) {
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PX4_WARN("%s", paramerr);
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parameters.battery_v_div = 0.0f;
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} else if (parameters.battery_v_div <= 0.0f) {
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/* apply scaling according to defaults if set to default */
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parameters.battery_v_div = BOARD_BATTERY1_V_DIV;
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param_set_no_notification(parameter_handles.battery_v_div, ¶meters.battery_v_div);
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}
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if (param_get(parameter_handles.battery_a_per_v, &(parameters.battery_a_per_v)) != OK) {
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PX4_WARN("%s", paramerr);
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parameters.battery_a_per_v = 0.0f;
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} else if (parameters.battery_a_per_v <= 0.0f) {
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/* apply scaling according to defaults if set to default */
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parameters.battery_a_per_v = BOARD_BATTERY1_A_PER_V;
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param_set_no_notification(parameter_handles.battery_a_per_v, ¶meters.battery_a_per_v);
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}
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param_get(parameter_handles.battery_source, &(parameters.battery_source));
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param_get(parameter_handles.battery_adc_channel, &(parameters.battery_adc_channel));
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return ret;
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}
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} /* namespace battery_status */
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