103 lines
3.3 KiB
C++
103 lines
3.3 KiB
C++
/*
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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/AP_HAL.h>
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#include <AP_Notify/AP_Notify.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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#include <AP_BoardConfig/AP_BoardConfig.h>
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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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extern "C" int batt_smbus_main(int, char **);
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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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_batt_fd(-1),
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_capacity_updated(false)
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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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void AP_BattMonitor_SMBus_PX4::init()
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{
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if (!AP_BoardConfig::px4_start_driver(batt_smbus_main, "batt_smbus", "-b 2 start")) {
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hal.console->printf("Unable to start batt_smbus driver\n");
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} else {
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// give it time to initialise
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hal.scheduler->delay(500);
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}
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// open the device
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_batt_fd = open(BATT_SMBUS0_DEVICE_PATH, O_RDWR);
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if (_batt_fd == -1) {
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hal.console->printf("Unable to open " BATT_SMBUS0_DEVICE_PATH);
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_state.healthy = false;
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}
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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 = AP_HAL::micros();
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_state.current_total_mah = batt_status.discharged_mah;
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_state.healthy = true;
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_state.is_powering_off = batt_status.is_powering_off;
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AP_Notify::flags.powering_off = batt_status.is_powering_off;
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// read capacity
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if ((_batt_fd >= 0) && !_capacity_updated) {
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uint16_t tmp;
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if (ioctl(_batt_fd, BATT_SMBUS_GET_CAPACITY, (unsigned long)&tmp) == OK) {
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_capacity_updated = true;
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set_capacity(tmp);
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}
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}
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}
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} else if (_state.healthy) {
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// timeout after 5 seconds
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if ((AP_HAL::micros() - _state.last_time_micros) > AP_BATTMONITOR_SMBUS_TIMEOUT_MICROS) {
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_state.healthy = false;
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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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