/*
called at 1kHz
*/
void VRBRAINAnalogIn::_timer_tick(void)
{
if (_adc_fd == -1) {
// not initialised yet
return;
}
// read adc at 100Hz
uint32_t now = AP_HAL::micros();
uint32_t delta_t = now - _last_run;
if (delta_t < 10000) {
return;
}
_last_run = now;
struct adc_msg_s buf_adc[VRBRAIN_ANALOG_MAX_CHANNELS];
// cope with initial setup of stop pin
if (_channels[_current_stop_pin_i] == nullptr ||
_channels[_current_stop_pin_i]->_stop_pin == -1) {
next_stop_pin();
}
/* read all channels available */
int ret = read(_adc_fd, &buf_adc, sizeof(buf_adc));
if (ret > 0) {
// match the incoming channels to the currently active pins
for (uint8_t i=0; i<ret/sizeof(buf_adc[0]); i++) {
Debug("chan %u value=%u\n",
(unsigned)buf_adc[i].am_channel,
(unsigned)buf_adc[i].am_data);
for (uint8_t j=0; j<VRBRAIN_ANALOG_MAX_CHANNELS; j++) {
VRBRAIN::VRBRAINAnalogSource *c = _channels[j];
if (c != nullptr && buf_adc[i].am_channel == c->_pin) {
// add a value if either there is no stop pin, or
// the stop pin has been settling for enough time
if (c->_stop_pin == -1 ||
(_current_stop_pin_i == j &&
AP_HAL::millis() - _stop_pin_change_time > c->_settle_time_ms)) {
c->_add_value(buf_adc[i].am_data, _board_voltage);
if (c->_stop_pin != -1 && _current_stop_pin_i == j) {
next_stop_pin();
}
}
}
}
}
}
}
/*
called at 1kHz
*/
void VRBRAINAnalogIn::_timer_tick(void)
{
// read adc at 100Hz
uint32_t now = AP_HAL::micros();
uint32_t delta_t = now - _last_run;
if (delta_t < 10000) {
return;
}
_last_run = now;
struct adc_msg_s buf_adc[VRBRAIN_ANALOG_MAX_CHANNELS];
// cope with initial setup of stop pin
if (_channels[_current_stop_pin_i] == NULL ||
_channels[_current_stop_pin_i]->_stop_pin == -1) {
next_stop_pin();
}
/* read all channels available */
int ret = read(_adc_fd, &buf_adc, sizeof(buf_adc));
if (ret > 0) {
// match the incoming channels to the currently active pins
for (uint8_t i=0; i<ret/sizeof(buf_adc[0]); i++) {
Debug("chan %u value=%u\n",
(unsigned)buf_adc[i].am_channel,
(unsigned)buf_adc[i].am_data);
for (uint8_t j=0; j<VRBRAIN_ANALOG_MAX_CHANNELS; j++) {
VRBRAIN::VRBRAINAnalogSource *c = _channels[j];
if (c != NULL && buf_adc[i].am_channel == c->_pin) {
// add a value if either there is no stop pin, or
// the stop pin has been settling for enough time
if (c->_stop_pin == -1 ||
(_current_stop_pin_i == j &&
AP_HAL::millis() - _stop_pin_change_time > c->_settle_time_ms)) {
c->_add_value(buf_adc[i].am_data, _board_voltage);
if (c->_stop_pin != -1 && _current_stop_pin_i == j) {
next_stop_pin();
}
}
}
}
}
}
// check for new battery data on FMUv1
if (_battery_handle != -1) {
struct battery_status_s battery;
bool updated = false;
if (orb_check(_battery_handle, &updated) == 0 && updated) {
orb_copy(ORB_ID(battery_status), _battery_handle, &battery);
if (battery.timestamp != _battery_timestamp) {
_battery_timestamp = battery.timestamp;
for (uint8_t j=0; j<VRBRAIN_ANALOG_MAX_CHANNELS; j++) {
VRBRAIN::VRBRAINAnalogSource *c = _channels[j];
if (c == NULL) continue;
if (c->_pin == VRBRAIN_ANALOG_ORB_BATTERY_VOLTAGE_PIN) {
c->_add_value(battery.voltage_v / VRBRAIN_VOLTAGE_SCALING, 0);
}
if (c->_pin == VRBRAIN_ANALOG_ORB_BATTERY_CURRENT_PIN) {
// scale it back to voltage, knowing that the
// px4io code scales by 90.0/5.0
c->_add_value(battery.current_a * (5.0f/90.0f) / VRBRAIN_VOLTAGE_SCALING, 0);
}
}
}
}
}
}
/*
called at 1kHz
*/
void VRBRAINAnalogIn::_timer_tick(void)
{
// read adc at 100Hz
uint32_t now = hal.scheduler->micros();
uint32_t delta_t = now - _last_run;
if (delta_t < 10000) {
return;
}
_last_run = now;
struct adc_msg_s buf_adc[VRBRAIN_ANALOG_MAX_CHANNELS];
/* read all channels available */
int ret = read(_adc_fd, &buf_adc, sizeof(buf_adc));
if (ret > 0) {
// match the incoming channels to the currently active pins
for (uint8_t i=0; i<ret/sizeof(buf_adc[0]); i++) {
}
for (uint8_t i=0; i<ret/sizeof(buf_adc[0]); i++) {
Debug("chan %u value=%u\n",
(unsigned)buf_adc[i].am_channel,
(unsigned)buf_adc[i].am_data);
for (uint8_t j=0; j<VRBRAIN_ANALOG_MAX_CHANNELS; j++) {
VRBRAIN::VRBRAINAnalogSource *c = _channels[j];
if (c != NULL && buf_adc[i].am_channel == c->_pin) {
c->_add_value(buf_adc[i].am_data, _board_voltage);
}
}
}
}
// check for new battery data on FMUv1
if (_battery_handle != -1) {
struct battery_status_s battery;
bool updated = false;
if (orb_check(_battery_handle, &updated) == 0 && updated) {
orb_copy(ORB_ID(battery_status), _battery_handle, &battery);
if (battery.timestamp != _battery_timestamp) {
_battery_timestamp = battery.timestamp;
for (uint8_t j=0; j<VRBRAIN_ANALOG_MAX_CHANNELS; j++) {
VRBRAIN::VRBRAINAnalogSource *c = _channels[j];
if (c == NULL) continue;
if (c->_pin == VRBRAIN_ANALOG_ORB_BATTERY_VOLTAGE_PIN) {
c->_add_value(battery.voltage_v / VRBRAIN_VOLTAGE_SCALING, 0);
}
if (c->_pin == VRBRAIN_ANALOG_ORB_BATTERY_CURRENT_PIN) {
// scale it back to voltage, knowing that the
// px4io code scales by 90.0/5.0
c->_add_value(battery.current_a * (5.0f/90.0f) / VRBRAIN_VOLTAGE_SCALING, 0);
}
}
}
}
}
}
