ff20124f1d
This commit changes the way libraries headers are included in source files: - If the header is in the same directory the source belongs to, so the notation '#include ""' is used with the path relative to the directory containing the source. - If the header is outside the directory containing the source, then we use the notation '#include <>' with the path relative to libraries folder. Some of the advantages of such approach: - Only one search path for libraries headers. - OSs like Windows may have a better lookup time.
91 lines
2.8 KiB
C++
91 lines
2.8 KiB
C++
/*
|
|
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/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),
|
|
_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()
|
|
{
|
|
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();
|
|
_state.current_total_mah = batt_status.discharged_mah;
|
|
_state.healthy = true;
|
|
|
|
// read capacity
|
|
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
|
|
if ((hal.scheduler->micros() - _state.last_time_micros) > AP_BATTMONITOR_SMBUS_TIMEOUT_MICROS) {
|
|
_state.healthy = false;
|
|
}
|
|
}
|
|
}
|
|
|
|
#endif // CONFIG_HAL_BOARD == HAL_BOARD_PX4
|