Add payload power ADC measurement

PX4 · Oct 21, 2024 · 6e05213 · 6e05213
1 parent 969c15b
commit 6e05213
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Showing 5 changed files with 39 additions and 7 deletions.
diff --git a/boards/ark/fpv/init/rc.board_defaults b/boards/ark/fpv/init/rc.board_defaults
@@ -24,3 +24,5 @@ if ver hwtypecmp ARKFPV000
 then
 	param set-default SENS_TEMP_ID 3014666
 fi
+
+param set-default BAT1_V_DIV 21.0
diff --git a/boards/ark/fpv/src/board_config.h b/boards/ark/fpv/src/board_config.h
@@ -156,17 +156,22 @@
 #define ADC_BATTERY_VOLTAGE_CHANNEL        	/* PB0 */  ADC1_CH(9)
 #define ADC_BATTERY_CURRENT_CHANNEL        	/* PC2 */  ADC3_CH(0)
 #define ADC_SCALED_12V_CHANNEL	     		/* PA4 */  ADC1_CH(18)
-#define ADC_SCALED_VDD_3V3_SENSORS1_CHANNEL     /* PA0 */  ADC1_CH(16)
+#define ADC_SCALED_VDD_3V3_SENSORS_CHANNEL     /* PA0 */  ADC1_CH(16)
 #define ADC_SCALED_V5_CHANNEL                   /* PB1 */  ADC1_CH(5)
 #define ADC_HW_VER_SENSE_CHANNEL                /* PH3 */  ADC3_CH(14)
 #define ADC_HW_REV_SENSE_CHANNEL                /* PH4 */  ADC3_CH(15)
 
 #define ADC_CHANNELS \
-	((1 << ADC_SCALED_VDD_3V3_SENSORS1_CHANNEL) | \
-	 (1 << ADC_SCALED_V5_CHANNEL)) | \
-	(1 << ADC_SCALED_12V_CHANNEL) | \
-	(1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \
-	(1 << ADC_BATTERY_CURRENT_CHANNEL)
+	((1 << ADC_BATTERY_VOLTAGE_CHANNEL)         | \
+	 (1 << ADC_BATTERY_CURRENT_CHANNEL)         | \
+	 (1 << ADC_SCALED_VDD_3V3_SENSORS_CHANNEL)  | \
+	 (1 << ADC_SCALED_V5_CHANNEL)               | \
+	 (1 << ADC_SCALED_12V_CHANNEL))
+
+
+#define BOARD_BATTERY1_V_DIV	 (21.0f) // (20k + 1k) / 1k = 21
+
+#define ADC_SCALED_PAYLOAD_SENSE ADC_SCALED_12V_CHANNEL
 
 /* HW has to large of R termination on ADC todo:change when HW value is chosen */
 
@@ -235,6 +240,8 @@
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
 
 
+#define BOARD_NUMBER_BRICKS             1
+
 /* Define True logic Power Control in arch agnostic form */
 
 #define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
@@ -287,7 +294,7 @@
 #define BOARD_ADC_SERVO_VALID     (1)
 
 #define BOARD_ADC_BRICK_VALID   (px4_arch_gpioread(GPIO_VDD_5V_PGOOD))
-#define BOARD_ADC_12V_RAIL_VALID (px4_arch_gpioread(GPIO_VDD_12V_PGOOD))
+#define BOARD_GPIO_PAYOLOAD_V_VALID (px4_arch_gpioread(GPIO_VDD_12V_PGOOD))
 
 /* This board provides a DMA pool and APIs */
 #define BOARD_DMA_ALLOC_POOL_SIZE 5120

diff --git a/msg/SystemPower.msg b/msg/SystemPower.msg
@@ -1,5 +1,6 @@
 uint64 timestamp		# time since system start (microseconds)
 float32 voltage5v_v		# peripheral 5V rail voltage
+float32 voltage_payload_v	# payload rail voltage
 float32[4] sensors3v3		# Sensors 3V3 rail voltage
 uint8 sensors3v3_valid		# Sensors 3V3 rail voltage was read (bitfield).
 uint8 usb_connected		# USB is connected when 1
@@ -10,6 +11,7 @@ uint8 periph_5v_oc		# peripheral overcurrent when 1
 uint8 hipower_5v_oc		# high power peripheral overcurrent when 1
 uint8 comp_5v_valid		# 5V to companion valid
 uint8 can1_gps1_5v_valid	# 5V for CAN1/GPS1 valid
+uint8 payload_v_valid		# payload rail voltage is valid
 
 uint8 BRICK1_VALID_SHIFTS=0
 uint8 BRICK1_VALID_MASK=1

diff --git a/platforms/common/include/px4_platform_common/board_common.h b/platforms/common/include/px4_platform_common/board_common.h
@@ -106,6 +106,13 @@
 #define ADC_V5_SCALE                    (2.0f) // The scale factor defined by HW's resistive divider (Rt+Rb)/ Rb
 #endif
 
+#if !defined(ADC_PAYLOAD_V_FULL_SCALE)
+#define ADC_PAYLOAD_V_FULL_SCALE        (25.3f)  // Payload volt Rail full scale voltage
+#endif
+#if !defined(ADC_PAYLOAD_SCALE)
+#define ADC_PAYLOAD_SCALE               (7.667f) // The scale factor defined by HW's resistive divider (Rt+Rb)/ Rb
+#endif
+
 #if !defined(ADC_3V3_V_FULL_SCALE)
 #define ADC_3V3_V_FULL_SCALE             (3.6f)  // 3.3V volt Rail full scale voltage
 #endif

diff --git a/src/drivers/adc/board_adc/ADC.cpp b/src/drivers/adc/board_adc/ADC.cpp
@@ -204,6 +204,9 @@ void ADC::update_system_power(hrt_abstime now)
 #  if defined(ADC_SCALED_V5_SENSE) && defined(ADC_SCALED_V3V3_SENSORS_SENSE)
 	cnt += ADC_SCALED_V3V3_SENSORS_COUNT;
 #  endif
+# if defined(ADC_SCALED_PAYLOAD_SENSE)
+	cnt++;
+# endif
 
 	for (unsigned i = 0; i < _channel_count; i++) {
 #  if defined(ADC_SCALED_V5_SENSE)
@@ -234,7 +237,15 @@ void ADC::update_system_power(hrt_abstime now)
 		}
 
 #  endif
+# if defined(ADC_SCALED_PAYLOAD_SENSE)
 
+		if (_samples[i].am_channel == ADC_SCALED_PAYLOAD_SENSE) {
+			system_power.voltage_payload_v = _samples[i].am_data * ((ADC_PAYLOAD_V_FULL_SCALE / 3.3f) * (px4_arch_adc_reference_v() /
+							 px4_arch_adc_dn_fullcount()));
+			cnt--;
+		}
+
+# endif
 		if (cnt == 0) {
 			break;
 		}
@@ -285,6 +296,9 @@ void ADC::update_system_power(hrt_abstime now)
 #ifdef BOARD_GPIO_VDD_5V_CAN1_GPS1_VALID
 	system_power.can1_gps1_5v_valid = read_gpio_value(_5v_can1_gps1_valid_fd);
 #endif
+#ifdef BOARD_GPIO_PAYOLOAD_V_VALID
+	system_power.payload_v_valid = BOARD_GPIO_PAYOLOAD_V_VALID;
+#endif
 
 	system_power.timestamp = hrt_absolute_time();
 	_to_system_power.publish(system_power);