Implement current reading

diff --git a/avr/nano/main.c b/avr/nano/main.c
index 7b62c809209859236aba3c806f27386f3c6fbe94..78e85316980ef5d067b43a55e2d7c6b89c0f8529 100644 (file)
--- a/avr/nano/main.c
+++ b/avr/nano/main.c
@@ -26,6 +26,8 @@
  * 0x0A Voltage LSB
  * 0x0B Distance forward2 MSB
  * 0x0C Distance forward2 LSB
  * 0x0A Voltage LSB
  * 0x0B Distance forward2 MSB
  * 0x0C Distance forward2 LSB

+ * 0x0D Current MSB
+ * 0x0E Current LSB

  *
  * 0x15 Distance forward1 MSB (read only)
  * 0x16 Distance forward1 LSB (read only)
  *
  * 0x15 Distance forward1 MSB (read only)
  * 0x16 Distance forward1 LSB (read only)


@@ -53,6 +55,7 @@ static volatile uint8_t start_dist_fwd1=0;
 static volatile uint8_t start_dist_fwd2=0;
 static volatile uint8_t start_dist_bwd=0;
 static volatile uint16_t voltage=0;
 static volatile uint8_t start_dist_fwd2=0;
 static volatile uint8_t start_dist_bwd=0;
 static volatile uint16_t voltage=0;

+static volatile uint16_t current=0;

 static volatile uint8_t pind_pre=0;
 
 ISR(TWI_vect)
 static volatile uint8_t pind_pre=0;
 
 ISR(TWI_vect)


@@ -141,6 +144,15 @@ ISR(TWI_vect)
                                        TWDR = tmp16;
                                        TWI_ACK;
                                        break;
                                        TWDR = tmp16;
                                        TWI_ACK;
                                        break;

+                               case 0x0D: // Current MSB
+                                       tmp16 = current;
+                                       TWDR = tmp16>>8;
+                                       TWI_ACK;
+                                       break;
+                               case 0x0E: // Current LSB
+                                       TWDR = tmp16;
+                                       TWI_ACK;
+                                       break;

                                case 0x15: // Distance forward1 MSB
                                        tmp16 = dist_forward1;
                                        TWDR = tmp16>>8;
                                case 0x15: // Distance forward1 MSB
                                        tmp16 = dist_forward1;
                                        TWDR = tmp16>>8;


@@ -232,6 +244,16 @@ static unsigned short get_voltage(void) {
 }
 
 
 }
 
 

+/*
+ * zero offset: 0.5V
+ * sensitivity: 133mV/A
+ */
+static unsigned short get_current(void) {
+       double volt = ReadChannel(3)*5.0171; // mV
+       return (volt-517.78)/0.12656; // mA
+}
+
+

 ISR(INT0_vect) {
        static uint16_t t_start=0;
        uint16_t t_now = TCNT1;
 ISR(INT0_vect) {
        static uint16_t t_start=0;
        uint16_t t_now = TCNT1;


@@ -321,6 +343,9 @@ int main(void) {
                        case 0x09: // voltage
                                voltage = get_voltage();
                                break;
                        case 0x09: // voltage
                                voltage = get_voltage();
                                break;

+                       case 0x0d: // current
+                               current = get_current();
+                               break;

                        case 0xff: // Magic reg that starts the bootloader
                                if (bootloader == 0xa5) {
                                        cli();
                        case 0xff: // Magic reg that starts the bootloader
                                if (bootloader == 0xa5) {
                                        cli();

diff --git a/avr/nano/main.hex b/avr/nano/main.hex
index 3f3fa6b5573312994f8e703c4f8123a09d153de5..206cdf59ae72a236aeacd9b1ff808d13c2a0372d 100644 (file)
--- a/avr/nano/main.hex
+++ b/avr/nano/main.hex
@@ -1,314 +1,336 @@
-:100000000C945F000C945B010C94A5010C947C0093\r
-:100010000C947C000C94EF010C947C000C947C00FC\r
+:100000000C945F000C9461010C94AB010C947C0087\r
+:100010000C947C000C94F5010C947C000C947C00F6\r

 :100020000C947C000C947C000C947C000C947C0060\r
 :100030000C947C000C947C000C947C000C947C0050\r
 :100020000C947C000C947C000C947C000C947C0060\r
 :100030000C947C000C947C000C947C000C947C0050\r

-:100040000C947C000C947C000C9450020C947C006A\r
+:100040000C947C000C947C000C9456020C947C0064\r

 :100050000C947C000C947C000C947C000C947C0030\r
 :100050000C947C000C947C000C947C000C947C0030\r

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-:10009000F5000401FA000401FF0004010D0A537485\r
+:100060000C947E000C947C00E1000A01E6000A0179\r
+:10007000FB000A0100010A01F1000A0105010A0161\r
+:10008000F6000A0110011001100110011001100109\r
+:10009000FB000A0100010A0105010A010D0A53745F\r

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 :1000C0001FBECFEFD8E0DEBFCDBF21E0A6E0B1E09C\r

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diff --git a/scripts/pyshared b/scripts/pyshared
index 533363119122d0b1c93abea79e96d27298489b8d..355fa0b4fe7e4aacea13edf177d20a83e9c347b1 160000 (submodule)
--- a/scripts/pyshared
+++ b/scripts/pyshared
@@ -1 +1 @@
-Subproject commit 533363119122d0b1c93abea79e96d27298489b8d
+Subproject commit 355fa0b4fe7e4aacea13edf177d20a83e9c347b1

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index 8589156bcf517d75aabea58ac16f5e33f62d3ec4..4a6af7b9f954989b8fa14c38422ce620addd9395 100755 (executable)
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -219,11 +219,13 @@ class WTBase:
                msg.status.append(stat)
                self.pub_diag.publish(msg)
 
                msg.status.append(stat)
                self.pub_diag.publish(msg)
 

+               current = struct.unpack(">h", i2c_read_reg(0x52, 0x0D, 2))[0]/1000.0
+

                if self.pub_battery.get_num_connections() > 0:
                        batmsg = BatteryState()
                        batmsg.header.stamp = rospy.Time.now()
                        batmsg.voltage = volt
                if self.pub_battery.get_num_connections() > 0:
                        batmsg = BatteryState()
                        batmsg.header.stamp = rospy.Time.now()
                        batmsg.voltage = volt

-                       batmsg.current = float('nan')
+                       batmsg.current = current

                        batmsg.charge = float('nan')
                        batmsg.capacity = float('nan')
                        batmsg.design_capacity = 5.0
                        batmsg.charge = float('nan')
                        batmsg.capacity = float('nan')
                        batmsg.design_capacity = 5.0