forked from Archive/PX4-Autopilot
UAVCAN: add battery support (uavcan::equipment::power::BatteryInfo)
This commit is contained in:
Jacob Dahl
Daniel Agar
parent
26364d44c9
commit
5842c0c2fb
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@ -115,6 +115,7 @@ px4_add_module(
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sensors/mag.cpp
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sensors/baro.cpp
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sensors/flow.cpp
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sensors/battery.cpp
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DEPENDS
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px4_uavcan_dsdlc
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@ -0,0 +1,95 @@
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/****************************************************************************
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*
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* Copyright (c) 2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "battery.hpp"
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#include <drivers/drv_hrt.h>
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const char *const UavcanBatteryBridge::NAME = "battery";
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UavcanBatteryBridge::UavcanBatteryBridge(uavcan::INode &node) :
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UavcanCDevSensorBridgeBase("uavcan_battery", "/dev/uavcan/battery", "/dev/battery", ORB_ID(battery_status)),
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_sub_battery(node)
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{
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}
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int
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UavcanBatteryBridge::init()
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{
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int res = device::CDev::init();
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if (res < 0) {
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return res;
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}
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res = _sub_battery.start(BatteryInfoCbBinder(this, &UavcanBatteryBridge::battery_sub_cb));
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if (res < 0) {
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PX4_ERR("failed to start uavcan sub: %d", res);
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return res;
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}
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return 0;
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}
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void
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UavcanBatteryBridge::battery_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::power::BatteryInfo> &msg)
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{
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battery_status_s battery{};
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battery.timestamp = hrt_absolute_time();
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battery.voltage_v = msg.voltage;
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// battery.voltage_filtered_v = msg.;
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battery.current_a = msg.current;
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// battery.current_filtered_a = msg.;
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// battery.average_current_a = msg.;
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// battery.discharged_mah = msg.;
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battery.remaining = msg.remaining_capacity_wh / msg.full_charge_capacity_wh; // between 0 and 1
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// battery.scale = msg.; // Power scaling factor, >= 1, or -1 if unknown
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battery.temperature = msg.temperature;
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// battery.cell_count = msg.;
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// battery.voltage_cell_v[4] = msg.;
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// battery.max_cell_voltage_delta = msg.;
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battery.capacity = msg.full_charge_capacity_wh;
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// battery.cycle_count = msg.;
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// battery.run_time_to_empty = msg.;
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// battery.average_time_to_empty = msg.;
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battery.serial_number = msg.model_instance_id;
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battery.connected = true;
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battery.system_source = msg.status_flags & uavcan::equipment::power::BatteryInfo::STATUS_FLAG_IN_USE;
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// battery.priority = msg.;
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// battery.is_powering_off = msg.;
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// battery.warning = msg.;
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publish(msg.getSrcNodeID().get(), &battery);
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}
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@ -0,0 +1,66 @@
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/****************************************************************************
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*
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* Copyright (c) 2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @author Jacob Dahl <dahl.jakejacob@gmail.com>
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*/
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#pragma once
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#include "sensor_bridge.hpp"
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#include <uORB/topics/battery_status.h>
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#include <uavcan/equipment/power/BatteryInfo.hpp>
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class UavcanBatteryBridge : public UavcanCDevSensorBridgeBase
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{
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public:
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static const char *const NAME;
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UavcanBatteryBridge(uavcan::INode &node);
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const char *get_name() const override { return NAME; }
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int init() override;
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private:
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void battery_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::power::BatteryInfo> &msg);
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typedef uavcan::MethodBinder < UavcanBatteryBridge *,
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void (UavcanBatteryBridge::*)
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(const uavcan::ReceivedDataStructure<uavcan::equipment::power::BatteryInfo> &) >
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BatteryInfoCbBinder;
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uavcan::Subscriber<uavcan::equipment::power::BatteryInfo, BatteryInfoCbBinder> _sub_battery;
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};
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@ -42,6 +42,7 @@
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#include "mag.hpp"
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#include "baro.hpp"
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#include "flow.hpp"
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#include "battery.hpp"
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/*
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* IUavcanSensorBridge
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@ -52,6 +53,7 @@ void IUavcanSensorBridge::make_all(uavcan::INode &node, List<IUavcanSensorBridge
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list.add(new UavcanMagnetometerBridge(node));
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list.add(new UavcanGnssBridge(node));
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list.add(new UavcanFlowBridge(node));
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list.add(new UavcanBatteryBridge(node));
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}
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/*
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