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BattMon_SMBus_PX4: read capacity

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This commit is contained in:
Randy Mackay 2015-04-08 22:37:57 -07:00
parent c6440a48b3
commit 56d2306a18
2 changed files with 28 additions and 1 deletions
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24
libraries/AP_BattMonitor/AP_BattMonitor_SMBus_PX4.cpp
View File

@ -34,12 +34,24 @@ extern const AP_HAL::HAL& hal;
// Constructor
AP_BattMonitor_SMBus_PX4::AP_BattMonitor_SMBus_PX4(AP_BattMonitor &mon, uint8_t instance, AP_BattMonitor::BattMonitor_State &mon_state) :
AP_BattMonitor_SMBus(mon, instance, mon_state)
AP_BattMonitor_SMBus(mon, instance, mon_state),
_batt_fd(-1),
_capacity_updated(false)
{
// orb subscription for battery status
_batt_sub = orb_subscribe(ORB_ID(battery_status));
}
void AP_BattMonitor_SMBus_PX4::init()
{
// open the device
_batt_fd = open(BATT_SMBUS0_DEVICE_PATH, O_RDWR);
if (_batt_fd == -1) {
hal.console->printf("Unable to open " BATT_SMBUS0_DEVICE_PATH);
_state.healthy = false;
}
}
// read - read latest voltage and current
void AP_BattMonitor_SMBus_PX4::read()
{
@ -57,6 +69,16 @@ void AP_BattMonitor_SMBus_PX4::read()
_state.last_time_micros = hal.scheduler->micros();
_state.current_total_mah = batt_status.discharged_mah;
_state.healthy = true;
// read capacity
uint32_t tnow = hal.scheduler->micros();
if ((_batt_fd >= 0) && !_capacity_updated) {
uint16_t tmp;
if (ioctl(_batt_fd, BATT_SMBUS_GET_CAPACITY, (unsigned long)&tmp) == OK) {
_capacity_updated = true;
set_capacity(tmp);
}
}
}
} else if (_state.healthy) {
// timeout after 5 seconds

5
libraries/AP_BattMonitor/AP_BattMonitor_SMBus_PX4.h
View File

@ -29,11 +29,16 @@ public:
// Constructor
AP_BattMonitor_SMBus_PX4(AP_BattMonitor &mon, uint8_t instance, AP_BattMonitor::BattMonitor_State &mon_state);
/// init
void init();
/// read - read the battery voltage and current
void read();
private:
int _batt_sub; // orb subscription description
int _batt_fd; // file descriptor
bool _capacity_updated; // capacity info read
};
#endif // AP_BATTMONITOR_SMBUS_PX4_H