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WIP Digital PM Support

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This commit is contained in:
David Sidrane
2019-05-31 12:03:57 -07:00
committed by Daniel Agar
parent 1cf4a2d953
commit 6fcc4cc6a2
3 changed files with 17 additions and 7 deletions
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8
src/drivers/boards/common/board_common.h
View File

@@ -178,9 +178,11 @@
# define BOARD_BATT_I_LIST {ADC_BATTERY_CURRENT_CHANNEL}
# define BOARD_BRICK_VALID_LIST {BOARD_ADC_BRICK_VALID}
#elif BOARD_NUMBER_BRICKS == 2
# define BOARD_BATT_V_LIST {ADC_BATTERY1_VOLTAGE_CHANNEL, ADC_BATTERY2_VOLTAGE_CHANNEL}
# define BOARD_BATT_I_LIST {ADC_BATTERY1_CURRENT_CHANNEL, ADC_BATTERY2_CURRENT_CHANNEL}
# define BOARD_BRICK_VALID_LIST {BOARD_ADC_BRICK1_VALID, BOARD_ADC_BRICK2_VALID}
# if !defined(BOARD_NUMBER_DIGITAL_BRICKS)
# define BOARD_BATT_V_LIST {ADC_BATTERY1_VOLTAGE_CHANNEL, ADC_BATTERY2_VOLTAGE_CHANNEL}
# define BOARD_BATT_I_LIST {ADC_BATTERY1_CURRENT_CHANNEL, ADC_BATTERY2_CURRENT_CHANNEL}
# endif
#define BOARD_BRICK_VALID_LIST {BOARD_ADC_BRICK1_VALID, BOARD_ADC_BRICK2_VALID}
#elif BOARD_NUMBER_BRICKS == 3
# define BOARD_BATT_V_LIST {ADC_BATTERY1_VOLTAGE_CHANNEL, ADC_BATTERY2_VOLTAGE_CHANNEL, ADC_BATTERY3_VOLTAGE_CHANNEL}
# define BOARD_BATT_I_LIST {ADC_BATTERY1_CURRENT_CHANNEL, ADC_BATTERY2_CURRENT_CHANNEL, ADC_BATTERY3_CURRENT_CHANNEL}

4
src/drivers/stm32/adc/adc.cpp
View File

@@ -440,7 +440,7 @@ ADC::update_system_power(hrt_abstime now)
#endif
/* The valid signals (HW dependent) are associated with each brick */
#if !defined(BOARD_NUMBER_DIGITAL_BRICKS)
bool valid_chan[BOARD_NUMBER_BRICKS] = BOARD_BRICK_VALID_LIST;
system_power.brick_valid = 0;
@@ -448,6 +448,8 @@ ADC::update_system_power(hrt_abstime now)
system_power.brick_valid |= valid_chan[b] ? 1 << b : 0;
}
#endif
system_power.servo_valid = BOARD_ADC_SERVO_VALID;
// OC pins are active low

12
src/modules/sensors/sensors.cpp
View File

@@ -404,7 +404,7 @@ Sensors::adc_poll()
* Selection is done in HW ala a LTC4417 or similar, or may be hard coded
* Like in the FMUv4
*/
#if !defined(BOARD_NUMBER_DIGITAL_BRICKS)
/* The ADC channels that are associated with each brick, in power controller
* priority order highest to lowest, as defined by the board config.
*/
@@ -415,6 +415,8 @@ Sensors::adc_poll()
bat_voltage_v_chan[0] = _parameters.battery_adc_channel;
}
#endif
/* The valid signals (HW dependent) are associated with each brick */
bool valid_chan[BOARD_NUMBER_BRICKS] = BOARD_BRICK_VALID_LIST;
@@ -479,7 +481,7 @@ Sensors::adc_poll()
*/
selected_source = b;
#if BOARD_NUMBER_BRICKS > 1
# if BOARD_NUMBER_BRICKS > 1
/* Move the selected_source to instance 0 */
if (_battery_pub_intance0ndx != selected_source) {
@@ -490,9 +492,11 @@ Sensors::adc_poll()
_battery_pub_intance0ndx = selected_source;
}
#endif /* BOARD_NUMBER_BRICKS > 1 */
# endif /* BOARD_NUMBER_BRICKS > 1 */
}
# if !defined(BOARD_NUMBER_DIGITAL_BRICKS)
// todo:per brick scaling
/* look for specific channels and process the raw voltage to measurement data */
if (bat_voltage_v_chan[b] == buf_adc[i].am_channel) {
@@ -503,6 +507,8 @@ Sensors::adc_poll()
bat_current_a[b] = ((buf_adc[i].am_data * _parameters.battery_current_scaling)
- _parameters.battery_current_offset) * _parameters.battery_a_per_v;
}
# endif /* !defined(BOARD_NUMBER_DIGITAL_BRICKS) */
}
#endif /* BOARD_NUMBER_BRICKS > 0 */