nano pi air hat adc change

TSKangetsu · May 25, 2024 · 03251d2 · 03251d2
1 parent d6b3f17
commit 03251d2
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Showing 3 changed files with 94 additions and 3 deletions.
diff --git a/.vscode/settings.json b/.vscode/settings.json
@@ -12,4 +12,75 @@
         "-DFULLSTATIC=true",
         "-DOPENWRT=true"
     ],
+    "files.associations": {
+        "iostream": "cpp",
+        "array": "cpp",
+        "atomic": "cpp",
+        "bit": "cpp",
+        "*.tcc": "cpp",
+        "bitset": "cpp",
+        "cctype": "cpp",
+        "chrono": "cpp",
+        "clocale": "cpp",
+        "cmath": "cpp",
+        "compare": "cpp",
+        "complex": "cpp",
+        "concepts": "cpp",
+        "condition_variable": "cpp",
+        "csignal": "cpp",
+        "cstdarg": "cpp",
+        "cstddef": "cpp",
+        "cstdint": "cpp",
+        "cstdio": "cpp",
+        "cstdlib": "cpp",
+        "cstring": "cpp",
+        "ctime": "cpp",
+        "cwchar": "cpp",
+        "cwctype": "cpp",
+        "deque": "cpp",
+        "forward_list": "cpp",
+        "list": "cpp",
+        "map": "cpp",
+        "set": "cpp",
+        "string": "cpp",
+        "unordered_map": "cpp",
+        "unordered_set": "cpp",
+        "vector": "cpp",
+        "exception": "cpp",
+        "algorithm": "cpp",
+        "functional": "cpp",
+        "iterator": "cpp",
+        "memory": "cpp",
+        "memory_resource": "cpp",
+        "numeric": "cpp",
+        "optional": "cpp",
+        "random": "cpp",
+        "ratio": "cpp",
+        "string_view": "cpp",
+        "system_error": "cpp",
+        "tuple": "cpp",
+        "type_traits": "cpp",
+        "utility": "cpp",
+        "hash_map": "cpp",
+        "fstream": "cpp",
+        "future": "cpp",
+        "initializer_list": "cpp",
+        "iomanip": "cpp",
+        "iosfwd": "cpp",
+        "istream": "cpp",
+        "limits": "cpp",
+        "mutex": "cpp",
+        "new": "cpp",
+        "numbers": "cpp",
+        "ostream": "cpp",
+        "semaphore": "cpp",
+        "sstream": "cpp",
+        "stdexcept": "cpp",
+        "stop_token": "cpp",
+        "streambuf": "cpp",
+        "thread": "cpp",
+        "cinttypes": "cpp",
+        "typeinfo": "cpp",
+        "valarray": "cpp"
+    },
 }
diff --git a/src/SingleAPM.cpp b/src/SingleAPM.cpp
@@ -220,7 +220,7 @@ int SingleAPMAPI::RPiSingleAPM::RPiSingleAPMInit(APMSettinngs APMInit)
 			{
 				SF._uORB_BAT_Voltage =
 					DF.ADCDevice->ADS111xReadmV({
-						.Pin = 5,
+						.Pin = ADC_VBAT_PIN,
 						.Range = ADS111x::SL_RangeFSR::V4_096,
 						.DataRate = ADS111x::SL_DataRateSPS::SPS_860,
 					}) /
@@ -2257,6 +2257,22 @@ void SingleAPMAPI::RPiSingleAPM::AttitudeUpdate()
 		EF._uORB_A2_Speed = EF._uORB_A2_Speed > EF._Flag_Max__Throttle ? EF._Flag_Max__Throttle : EF._uORB_A2_Speed;
 		EF._uORB_B1_Speed = EF._uORB_B1_Speed > EF._Flag_Max__Throttle ? EF._Flag_Max__Throttle : EF._uORB_B1_Speed;
 		EF._uORB_B2_Speed = EF._uORB_B2_Speed > EF._Flag_Max__Throttle ? EF._Flag_Max__Throttle : EF._uORB_B2_Speed;
+
+		// TODO: prepare for new flexable mixer table
+		// motors for non-servo mixes
+		// for (int i = 0; i < motorCount; i++)
+		// {
+		// 	rpyMix[i] =
+		// 		(input[PITCH] * currentMixer[i].pitch +
+		// 		 input[ROLL] * currentMixer[i].roll +
+		// 		 -motorYawMultiplier * input[YAW] * currentMixer[i].yaw) *
+		// 		mixerScale;
+
+		// 	if (rpyMix[i] > rpyMixMax)
+		// 		rpyMixMax = rpyMix[i];
+		// 	if (rpyMix[i] < rpyMixMin)
+		// 		rpyMixMin = rpyMix[i];
+		// }
 	}
 	TF._Tmp_IMUAttThreadLast = GetTimestamp();
 }

diff --git a/src/SingleAPM.hpp b/src/SingleAPM.hpp
@@ -62,8 +62,12 @@
 #define I2CPCA_ADDR 0x70
 #define I2CADS111x_ADDR 0x49
 
-#define ADC_FRONT_GAIN 0.0934343
-#define ADC_VBAT_PIN 5
+#define ADC_FRONT_GAIN 0.0909 // to ground 1KΩ , to port 10KΩ, ADC_FRONT_GAIN will be 1K / (1K + 10K) = 0.09090909;
+#define ADC_VBAT_PIN 4 // 4 is ain0 5 is ain1
+
+// old rockpi4b hat R version
+// #define ADC_FRONT_GAIN 0.0934343
+// #define ADC_VBAT_PIN 5
 
 #define BlackBoxIInterval 32
 #define BlackBoxFirmware "Cleanflight"