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