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BattMon_PX4: class to read from PX4Firmware via orb

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This commit is contained in:
Randy Mackay 2014-11-25 14:58:15 +09:00
parent 3f35dc54fe
commit f077ecd338
2 changed files with 102 additions and 0 deletions
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62
libraries/AP_BattMonitor/AP_BattMonitor_SMBus_PX4.cpp Normal file
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/*
Battery SMBus PX4 driver
*/
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
#include "AP_BattMonitor_SMBus_PX4.h"
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <unistd.h>
#include <drivers/drv_batt_smbus.h>
#include <uORB/topics/battery_status.h>
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)
{
// orb subscription for battery status
_batt_sub = orb_subscribe(ORB_ID(battery_status));
}
// read - read latest voltage and current
void AP_BattMonitor_SMBus_PX4::read()
{
bool updated = false;
struct battery_status_s batt_status;
// check if new info has arrived from the orb
orb_check(_batt_sub, &updated);
// retrieve latest info
if (updated) {
if (OK == orb_copy(ORB_ID(battery_status), _batt_sub, &batt_status)) {
_state.voltage = batt_status.voltage_v;
_state.current_amps = batt_status.current_a;
_state.last_time_micros = hal.scheduler->micros();
}
}
}
#endif // CONFIG_HAL_BOARD == HAL_BOARD_PX4

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libraries/AP_BattMonitor/AP_BattMonitor_SMBus_PX4.h Normal file
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/*
Battery SMBus PX4 driver
*/
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef AP_BATTMONITOR_SMBUS_PX4_H
#define AP_BATTMONITOR_SMBUS_PX4_H
#include <AP_Common.h>
#include <AP_Param.h>
#include <AP_Math.h>
#include "AP_BattMonitor_SMBus.h"
class AP_BattMonitor_SMBus_PX4 : public AP_BattMonitor_SMBus
{
public:
// Constructor
AP_BattMonitor_SMBus_PX4(AP_BattMonitor &mon, uint8_t instance, AP_BattMonitor::BattMonitor_State &mon_state);
/// read - read the battery voltage and current
void read();
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