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BattMon: SMBus becomes unhealthy after 5sec timeout

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Also remove unused internal variable
This commit is contained in:
Randy Mackay 2015-03-18 20:07:49 +09:00
parent c44f304253
commit c7dd6ae816
4 changed files with 14 additions and 2 deletions
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2
libraries/AP_BattMonitor/AP_BattMonitor_SMBus.h
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@ -7,7 +7,7 @@
#include <AP_Math.h>
#include "AP_BattMonitor_Backend.h"
#define AP_BATTMONITOR_SMBUS_MAX_CELLS 4
#define AP_BATTMONITOR_SMBUS_TIMEOUT_MICROS 5000000 // sensor becomes unhealthy if no successful readings for 5 seconds
class AP_BattMonitor_SMBus : public AP_BattMonitor_Backend
{

6
libraries/AP_BattMonitor/AP_BattMonitor_SMBus_I2C.cpp
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@ -43,6 +43,7 @@ void AP_BattMonitor_SMBus_I2C::read()
if (read_word(BATTMONITOR_SMBUS_VOLTAGE, data)) {
_state.voltage = (float)data / 1000.0f;
_state.last_time_micros = tnow;
_state.healthy = true;
}
// read current
@ -50,6 +51,11 @@ void AP_BattMonitor_SMBus_I2C::read()
_state.current_amps = (float)((int32_t)((uint32_t)buff[3]<<24 | (uint32_t)buff[2]<<16 | (uint32_t)buff[1]<<8 | (uint32_t)buff[0])) / 1000.0f;
_state.last_time_micros = tnow;
}
// timeout after 5 seconds
if ((tnow - _state.last_time_micros) > AP_BATTMONITOR_SMBUS_TIMEOUT_MICROS) {
_state.healthy = false;
}
}
// read word from register

7
libraries/AP_BattMonitor/AP_BattMonitor_SMBus_PX4.cpp
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@ -55,6 +55,13 @@ void AP_BattMonitor_SMBus_PX4::read()
_state.voltage = batt_status.voltage_v;
_state.current_amps = batt_status.current_a;
_state.last_time_micros = hal.scheduler->micros();
_state.current_total_mah = batt_status.discharged_mah;
_state.healthy = true;
}
} else if (_state.healthy) {
// timeout after 5 seconds
if ((hal.scheduler->micros() - _state.last_time_micros) > AP_BATTMONITOR_SMBUS_TIMEOUT_MICROS) {
_state.healthy = false;
}
}
}

1
libraries/AP_BattMonitor/AP_BattMonitor_SMBus_PX4.h
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@ -34,7 +34,6 @@ public:
private:
int _batt_sub; // orb subscription description
uint64_t _last_timestamp; // time of last update (used to avoid processing old reports)
};
#endif // AP_BATTMONITOR_SMBUS_PX4_H