63 lines
1.8 KiB
C++
63 lines
1.8 KiB
C++
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/*
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Battery SMBus PX4 driver
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*/
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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#include "AP_BattMonitor_SMBus_PX4.h"
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <fcntl.h>
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#include <unistd.h>
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#include <drivers/drv_batt_smbus.h>
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#include <uORB/topics/battery_status.h>
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extern const AP_HAL::HAL& hal;
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// Constructor
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AP_BattMonitor_SMBus_PX4::AP_BattMonitor_SMBus_PX4(AP_BattMonitor &mon, uint8_t instance, AP_BattMonitor::BattMonitor_State &mon_state) :
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AP_BattMonitor_SMBus(mon, instance, mon_state)
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{
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// orb subscription for battery status
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_batt_sub = orb_subscribe(ORB_ID(battery_status));
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}
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// read - read latest voltage and current
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void AP_BattMonitor_SMBus_PX4::read()
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{
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bool updated = false;
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struct battery_status_s batt_status;
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// check if new info has arrived from the orb
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orb_check(_batt_sub, &updated);
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// retrieve latest info
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if (updated) {
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if (OK == orb_copy(ORB_ID(battery_status), _batt_sub, &batt_status)) {
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_state.voltage = batt_status.voltage_v;
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_state.current_amps = batt_status.current_a;
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_state.last_time_micros = hal.scheduler->micros();
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}
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}
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}
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#endif // CONFIG_HAL_BOARD == HAL_BOARD_PX4
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