ardupilot/libraries/SITL/SIM_BattMonitor_SMBus.cpp

68 lines
3.0 KiB
C++

#include "SIM_BattMonitor_SMBus.h"
#include <AP_Stats/AP_Stats.h>
SITL::SIM_BattMonitor_SMBus::SIM_BattMonitor_SMBus() :
SMBusDevice()
{
add_register("Temperature", SMBusBattDevReg::TEMP, SITL::I2CRegisters::RegMode::RDONLY);
add_register("Voltage", SMBusBattDevReg::VOLTAGE, SITL::I2CRegisters::RegMode::RDONLY);
add_register("Current", SMBusBattDevReg::CURRENT, SITL::I2CRegisters::RegMode::RDONLY);
add_register("Remaining Capacity", SMBusBattDevReg::REMAINING_CAPACITY, SITL::I2CRegisters::RegMode::RDONLY);
add_register("Full Charge Capacity", SMBusBattDevReg::FULL_CHARGE_CAPACITY, SITL::I2CRegisters::RegMode::RDONLY);
add_register("Cycle_Count", SMBusBattDevReg::CYCLE_COUNT, SITL::I2CRegisters::RegMode::RDONLY);
add_register("Specification Info", SMBusBattDevReg::SPECIFICATION_INFO, SITL::I2CRegisters::RegMode::RDONLY);
add_register("Serial", SMBusBattDevReg::SERIAL, SITL::I2CRegisters::RegMode::RDONLY);
add_block("Manufacture Name", SMBusBattDevReg::MANUFACTURE_NAME, SITL::I2CRegisters::RegMode::RDONLY);
add_block("Device Name", SMBusBattDevReg::DEVICE_NAME, SITL::I2CRegisters::RegMode::RDONLY);
add_register("Manufacture Data", SMBusBattDevReg::MANUFACTURE_DATA, SITL::I2CRegisters::RegMode::RDONLY);
set_register(SMBusBattDevReg::TEMP, (int16_t)((C_TO_KELVIN(15))*10));
// see update for voltage
// see update for current
// TODO: remaining capacity
// TODO: full capacity
set_register(SMBusBattDevReg::CYCLE_COUNT, (uint16_t(39U)));
// Set SPECIFICATION_INFO
union {
struct {
uint8_t revision : 4;
uint8_t version: 4;
uint8_t vscale: 4;
uint8_t ipscale: 4;
} fields;
uint16_t word;
} specinfo;
specinfo.fields.revision = 0b0001; // version 1
// specinfo.fields.version = 0b0011; // 1.1 with PEC; TODO!
specinfo.fields.version = 0b0001; // 1.0
specinfo.fields.vscale = 0b0000; // unknown...
specinfo.fields.ipscale = 0b0000; // unknown...
set_register(SMBusBattDevReg::SPECIFICATION_INFO, specinfo.word);
set_register(SMBusBattDevReg::SERIAL, (uint16_t)12345);
const char *manufacturer_name = "ArduPilot";
set_block(SMBusBattDevReg::MANUFACTURE_NAME, manufacturer_name);
const char *device_name = "SITLBatMon_V0.99";
set_block(SMBusBattDevReg::DEVICE_NAME, device_name);
// TODO: manufacturer data
}
void SITL::SIM_BattMonitor_SMBus::update(const class Aircraft &aircraft)
{
const uint32_t now = AP_HAL::millis();
if (now - last_update_ms > 100) {
const float millivolts = AP::sitl()->state.battery_voltage * 1000.0f;
set_register(SMBusBattDevReg::VOLTAGE, uint16_t(millivolts));
// FIXME: is this REALLY what the hardware will do?
const int16_t current = constrain_int32(AP::sitl()->state.battery_current*-1000, -32768, 32767);
set_register(SMBusBattDevReg::CURRENT, current);
last_update_ms = now;
}
}