forked from Archive/PX4-Autopilot
batt_smbus readd to configurations and fix compilation errors
This commit is contained in:
Daniel Agar
Lorenz Meier
parent
b69a4df20c
commit
64fa1ec6a5
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@ -12,31 +12,32 @@ set(config_module_list
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drivers/distance_sensor
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drivers/magnetometer
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drivers/airspeed
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drivers/batt_smbus
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drivers/blinkm
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drivers/boards
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drivers/bst
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drivers/camera_trigger
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drivers/device
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drivers/frsky_telemetry
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drivers/gps
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drivers/hott
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drivers/led
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drivers/mkblctrl
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drivers/mpu6000
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drivers/mpu9250
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drivers/oreoled
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drivers/pwm_input
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drivers/pwm_out_sim
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drivers/px4flow
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drivers/px4fmu
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drivers/px4io
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drivers/rgbled
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drivers/stm32
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drivers/stm32/adc
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drivers/stm32/tone_alarm
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drivers/led
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drivers/px4fmu
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drivers/px4io
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drivers/boards
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drivers/rgbled
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drivers/mpu6000
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drivers/mpu9250
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drivers/gps
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drivers/pwm_out_sim
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drivers/hott
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drivers/blinkm
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drivers/airspeed
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drivers/frsky_telemetry
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modules/sensors
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drivers/mkblctrl
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drivers/px4flow
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drivers/oreoled
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drivers/vmount
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drivers/pwm_input
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drivers/camera_trigger
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drivers/bst
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modules/sensors
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#
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# System commands
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@ -12,6 +12,7 @@ set(config_module_list
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drivers/distance_sensor
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drivers/airspeed
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drivers/batt_smbus
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drivers/blinkm
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drivers/boards
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drivers/bst
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@ -13,16 +13,16 @@ set(config_module_list
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drivers/magnetometer
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drivers/airspeed
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drivers/barometer/mpl3115a2
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drivers/batt_smbus
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drivers/blinkm
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#NOT Supported drivers/bma180
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#NOT Supported drivers/bmi160
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drivers/boards
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drivers/bst
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drivers/camera_trigger
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drivers/device
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drivers/frsky_telemetry
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drivers/fxos8701cq
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drivers/fxas21002c
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drivers/fxos8701cq
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drivers/gps
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drivers/hott
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drivers/iridiumsbd
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@ -32,7 +32,6 @@ set(config_module_list
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drivers/l3gd20
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drivers/led
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drivers/mkblctrl
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drivers/barometer/mpl3115a2
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drivers/mpu6000
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drivers/mpu9250
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drivers/oreoled
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@ -20,6 +20,7 @@ set(config_module_list
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drivers/adis16448
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drivers/airspeed
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drivers/batt_smbus
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drivers/blinkm
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drivers/bmi160
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drivers/boards
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@ -13,6 +13,7 @@ set(config_module_list
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drivers/magnetometer
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drivers/airspeed
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drivers/batt_smbus
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drivers/blinkm
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drivers/bma180
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drivers/bmi055
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@ -13,6 +13,7 @@ set(config_module_list
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drivers/magnetometer
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drivers/airspeed
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drivers/batt_smbus
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drivers/blinkm
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drivers/bma180
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drivers/bmi160
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@ -13,6 +13,7 @@ set(config_module_list
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drivers/magnetometer
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drivers/airspeed
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drivers/batt_smbus
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drivers/blinkm
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drivers/bma180
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drivers/bmi055
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@ -16,18 +16,20 @@ set(config_module_list
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# Board support modules
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#
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drivers/airspeed
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drivers/device
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drivers/distance_sensor
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#drivers/barometer
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drivers/batt_smbus
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drivers/device
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drivers/differential_pressure
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drivers/distance_sensor
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modules/sensors
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platforms/posix/drivers/df_mpu9250_wrapper
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platforms/posix/drivers/df_lsm9ds1_wrapper
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platforms/posix/drivers/df_ms5611_wrapper
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platforms/posix/drivers/df_hmc5883_wrapper
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platforms/posix/drivers/df_trone_wrapper
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platforms/posix/drivers/df_isl29501_wrapper
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platforms/posix/drivers/df_lsm9ds1_wrapper
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platforms/posix/drivers/df_mpu9250_wrapper
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platforms/posix/drivers/df_ms5611_wrapper
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platforms/posix/drivers/df_trone_wrapper
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#
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# System commands
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@ -7,6 +7,7 @@ set(config_module_list
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drivers/distance_sensor
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drivers/airspeed
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drivers/batt_smbus
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drivers/boards
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drivers/camera_trigger
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drivers/device
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@ -10,7 +10,7 @@ bool connected # Whether or not a battery is connected, based on a voltage thr
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bool system_source # Whether or not a this battery is the active power source for VDD_5V_IN
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uint8 priority # Zerro based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
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#bool is_powering_off # Power off event imminent indication, false if unknown
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bool is_powering_off # Power off event imminent indication, false if unknown
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uint8 BATTERY_WARNING_NONE = 0 # no battery low voltage warning active
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@ -39,43 +39,20 @@
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* @author Randy Mackay <rmackay9@yahoo.com>
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*/
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#include <px4_config.h>
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#include <sys/types.h>
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#include <stdint.h>
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#include <stdlib.h>
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#include <stdbool.h>
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#include <sched.h>
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#include <semaphore.h>
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#include <string.h>
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#include <fcntl.h>
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#include <poll.h>
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#include <errno.h>
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#include <stdio.h>
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#include <math.h>
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#include <unistd.h>
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#include <ctype.h>
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#include <nuttx/arch.h>
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#include <nuttx/wqueue.h>
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#include <nuttx/clock.h>
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#include <board_config.h>
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#include <systemlib/perf_counter.h>
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#include <systemlib/err.h>
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#include <systemlib/systemlib.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/subsystem_info.h>
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#include <uORB/topics/battery_status.h>
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#include <float.h>
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#include <stdio.h>
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#include <string.h>
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#include <drivers/device/i2c.h>
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#include <drivers/drv_hrt.h>
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#include <drivers/drv_batt_smbus.h>
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#include <drivers/device/ringbuffer.h>
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#include <drivers/drv_batt_smbus.h>
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#include <drivers/drv_hrt.h>
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#include <px4_config.h>
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#include <px4_workqueue.h>
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#include <systemlib/perf_counter.h>
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#include <uORB/topics/battery_status.h>
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#include <uORB/topics/subsystem_info.h>
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#include <uORB/uORB.h>
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#define BATT_SMBUS_ADDR_MIN 0x08 ///< lowest possible address
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#define BATT_SMBUS_ADDR_MAX 0x7F ///< highest possible address
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@ -137,7 +114,7 @@ public:
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/**
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* ioctl for retrieving battery capacity and time to empty
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*/
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virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
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virtual int ioctl(device::file_t *filp, int cmd, unsigned long arg);
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/**
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* Test device
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@ -261,7 +238,7 @@ private:
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* Calculate PEC for a read or write from the battery
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* @param buff is the data that was read or will be written
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*/
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uint8_t get_PEC(uint8_t cmd, bool reading, const uint8_t buff[], uint8_t len) const;
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uint8_t get_PEC(uint8_t cmd, bool reading, const uint8_t buff[], uint8_t len);
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/**
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* Write a word to Manufacturer Access register (0x00)
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@ -277,7 +254,7 @@ private:
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// internal variables
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bool _enabled; ///< true if we have successfully connected to battery
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work_s _work; ///< work queue for scheduling reads
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work_s _work{}; ///< work queue for scheduling reads
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ringbuffer::RingBuffer *_reports; ///< buffer of recorded voltages, currents
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struct battery_status_s _last_report; ///< last published report, used for test()
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orb_advert_t _batt_topic; ///< uORB battery topic
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@ -310,7 +287,6 @@ int solo_battery_check();
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BATT_SMBUS::BATT_SMBUS(int bus, uint16_t batt_smbus_addr) :
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I2C("batt_smbus", BATT_SMBUS0_DEVICE_PATH, bus, batt_smbus_addr, 100000),
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_enabled(false),
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_work{},
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_reports(nullptr),
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_batt_topic(nullptr),
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_batt_orb_id(nullptr),
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@ -322,9 +298,6 @@ BATT_SMBUS::BATT_SMBUS(int bus, uint16_t batt_smbus_addr) :
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_is_solo_battery(false),
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_button_press_counts(0)
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{
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// work_cancel in the dtor will explode if we don't do this...
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memset(&_work, 0, sizeof(_work));
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// capture startup time
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_start_time = hrt_absolute_time();
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}
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@ -360,7 +333,7 @@ BATT_SMBUS::init()
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ret = I2C::init();
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if (ret != OK) {
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errx(1, "failed to init I2C");
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PX4_ERR("failed to init I2C");
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return ret;
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} else {
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@ -383,7 +356,7 @@ BATT_SMBUS::init()
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}
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int
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BATT_SMBUS::ioctl(struct file *filp, int cmd, unsigned long arg)
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BATT_SMBUS::ioctl(device::file_t *filp, int cmd, unsigned long arg)
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{
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int ret = -ENODEV;
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@ -423,8 +396,8 @@ BATT_SMBUS::test()
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if (updated) {
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if (orb_copy(ORB_ID(battery_status), sub, &status) == OK) {
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warnx("V=%4.2f C=%4.2f DismAh=%4.2f Cap:%d Shutdown:%d", (double)status.voltage_v, (double)status.current_a,
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(double)status.discharged_mah, (int)_batt_capacity, (int)status.is_powering_off);
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PX4_INFO("V=%4.2f C=%4.2f DismAh=%4.2f Cap:%d Shutdown:%d", (double)status.voltage_v, (double)status.current_a,
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(double)status.discharged_mah, (int)_batt_capacity, (int)status.is_powering_off);
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}
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}
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@ -447,7 +420,7 @@ BATT_SMBUS::search()
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set_device_address(i);
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if (read_reg(BATT_SMBUS_VOLTAGE, tmp) == OK) {
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warnx("battery found at 0x%x", (int)i);
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PX4_INFO("battery found at 0x%x", (int)i);
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found_slave = true;
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}
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@ -460,10 +433,10 @@ BATT_SMBUS::search()
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// display completion message
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if (found_slave) {
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warnx("Done.");
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PX4_INFO("Done.");
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} else {
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warnx("No smart batteries found.");
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PX4_WARN("No smart batteries found.");
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}
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return OK;
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@ -591,7 +564,7 @@ BATT_SMBUS::cycle()
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// exit without rescheduling if we have failed to find a battery after 10 seconds
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if (!_enabled && (now - _start_time > BATT_SMBUS_TIMEOUT_US)) {
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warnx("did not find smart battery");
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PX4_WARN("did not find smart battery");
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return;
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}
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@ -633,12 +606,12 @@ BATT_SMBUS::cycle()
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// If necessary, check if the battery is a 3DR Solo Battery
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if (perform_solo_battry_check) {
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warnx("Checking solo battery");
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PX4_INFO("Checking solo battery");
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check_if_solo_battery();
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}
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// read data from sensor
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struct battery_status_s new_report;
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battery_status_s new_report = {};
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// set time of reading
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new_report.timestamp = now;
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@ -647,9 +620,6 @@ BATT_SMBUS::cycle()
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uint16_t tmp;
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if (read_reg(BATT_SMBUS_VOLTAGE, tmp) == OK) {
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// initialise new_report
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memset(&new_report, 0, sizeof(new_report));
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// convert millivolts to volts
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new_report.voltage_v = ((float)tmp) / 1000.0f;
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@ -689,7 +659,7 @@ BATT_SMBUS::cycle()
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// warn only once
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if (_button_press_counts++ == ((BATT_SMBUS_BUTTON_DEBOUNCE_MS * 1000) / BATT_SMBUS_MEASUREMENT_INTERVAL_US)) {
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warnx("system is shutting down NOW...");
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PX4_WARN("system is shutting down NOW...");
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}
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} else if (pressed) {
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@ -713,7 +683,8 @@ BATT_SMBUS::cycle()
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_batt_topic = orb_advertise(_batt_orb_id, &new_report);
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if (_batt_topic == nullptr) {
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errx(1, "ADVERT FAIL");
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PX4_ERR("ADVERT FAIL");
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return;
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}
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}
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@ -773,7 +744,7 @@ BATT_SMBUS::write_reg(uint8_t reg, uint16_t val)
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int ret = transfer(buff, 3, nullptr, 0);
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if (ret != OK) {
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debug("Register write error");
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PX4_DEBUG("Register write error");
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}
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// return success or failure
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@ -837,7 +808,7 @@ BATT_SMBUS::write_block(uint8_t reg, uint8_t *data, uint8_t len)
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// return zero on failure
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if (ret != OK) {
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debug("Block write error\n");
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PX4_DEBUG("Block write error");
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return 0;
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}
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@ -846,7 +817,7 @@ BATT_SMBUS::write_block(uint8_t reg, uint8_t *data, uint8_t len)
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}
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uint8_t
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BATT_SMBUS::get_PEC(uint8_t cmd, bool reading, const uint8_t buff[], uint8_t len) const
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BATT_SMBUS::get_PEC(uint8_t cmd, bool reading, const uint8_t buff[], uint8_t len)
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{
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// exit immediately if no data
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if (len <= 0) {
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@ -913,7 +884,7 @@ BATT_SMBUS::ManufacturerAccess(uint16_t cmd)
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int ret = write_reg(BATT_SMBUS_MANUFACTURER_ACCESS, cmd);
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if (ret != OK) {
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debug("Manufacturer Access error");
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PX4_WARN("Manufacturer Access error");
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}
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return ret;
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@ -934,10 +905,10 @@ BATT_SMBUS::check_if_solo_battery()
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void
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batt_smbus_usage()
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{
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warnx("missing command: try 'start', 'test', 'stop', 'search', 'man_name', 'man_date', 'dev_name', 'serial_num', 'dev_chem', 'sbs_info'");
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warnx("options:");
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warnx(" -b i2cbus (%d)", BATT_SMBUS_I2C_BUS);
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warnx(" -a addr (0x%x)", BATT_SMBUS_ADDR);
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PX4_INFO("missing command: try 'start', 'test', 'stop', 'search', 'man_name', 'man_date', 'dev_name', 'serial_num', 'dev_chem', 'sbs_info'");
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PX4_INFO("options:");
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PX4_INFO(" -b i2cbus (%d)", BATT_SMBUS_I2C_BUS);
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PX4_INFO(" -a addr (0x%x)", BATT_SMBUS_ADDR);
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}
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int
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@ -947,11 +918,11 @@ manufacturer_name()
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uint8_t len = g_batt_smbus->manufacturer_name(man_name, sizeof(man_name));
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if (len > 0) {
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warnx("The manufacturer name: %s", man_name);
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PX4_INFO("The manufacturer name: %s", man_name);
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return OK;
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} else {
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warnx("Unable to read manufacturer name.");
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PX4_WARN("Unable to read manufacturer name.");
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}
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return -1;
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@ -967,11 +938,11 @@ manufacture_date()
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uint16_t year = ((man_date >> 9) & 0xFF) + 1980;
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uint8_t month = (man_date >> 5) & 0xF;
|
||||
uint8_t day = man_date & 0x1F;
|
||||
warnx("The manufacturer date is: %d which is %4d-%02d-%02d", man_date, year, month, day);
|
||||
PX4_INFO("The manufacturer date is: %d which is %4d-%02d-%02d", man_date, year, month, day);
|
||||
return OK;
|
||||
|
||||
} else {
|
||||
warnx("Unable to read the manufacturer date.");
|
||||
PX4_WARN("Unable to read the manufacturer date.");
|
||||
}
|
||||
|
||||
return -1;
|
||||
|
|
@ -984,11 +955,11 @@ device_name()
|
|||
uint8_t len = g_batt_smbus->device_name(device_name, sizeof(device_name));
|
||||
|
||||
if (len > 0) {
|
||||
warnx("The device name: %s", device_name);
|
||||
PX4_INFO("The device name: %s", device_name);
|
||||
return OK;
|
||||
|
||||
} else {
|
||||
warnx("Unable to read device name.");
|
||||
PX4_WARN("Unable to read device name.");
|
||||
}
|
||||
|
||||
return -1;
|
||||
|
|
@ -998,7 +969,7 @@ int
|
|||
serial_number()
|
||||
{
|
||||
uint16_t serial_num = g_batt_smbus->serial_number();
|
||||
warnx("The serial number: 0x%04x (%d in decimal)", serial_num, serial_num);
|
||||
PX4_INFO("The serial number: 0x%04x (%d in decimal)", serial_num, serial_num);
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
|
@ -1010,11 +981,11 @@ device_chemistry()
|
|||
uint8_t len = g_batt_smbus->device_chemistry(device_chemistry, sizeof(device_chemistry));
|
||||
|
||||
if (len > 0) {
|
||||
warnx("The device chemistry: %s", device_chemistry);
|
||||
PX4_INFO("The device chemistry: %s", device_chemistry);
|
||||
return OK;
|
||||
|
||||
} else {
|
||||
warnx("Unable to read device chemistry.");
|
||||
PX4_INFO("Unable to read device chemistry.");
|
||||
}
|
||||
|
||||
return -1;
|
||||
|
|
@ -1024,10 +995,10 @@ int
|
|||
solo_battery_check()
|
||||
{
|
||||
if (g_batt_smbus->is_solo_battery()) {
|
||||
warnx("The battery corresponds to a 3DR Solo Battery");
|
||||
PX4_INFO("The battery corresponds to a 3DR Solo Battery");
|
||||
|
||||
} else {
|
||||
warnx("The battery does not correspond to a 3DR Solo Battery");
|
||||
PX4_INFO("The battery does not correspond to a 3DR Solo Battery");
|
||||
}
|
||||
|
||||
return OK;
|
||||
|
|
@ -1045,11 +1016,11 @@ batt_smbus_main(int argc, char *argv[])
|
|||
while ((ch = getopt(argc, argv, "a:b:")) != EOF) {
|
||||
switch (ch) {
|
||||
case 'a':
|
||||
batt_smbusadr = strtol(optarg, NULL, 0);
|
||||
batt_smbusadr = strtol(optarg, nullptr, 0);
|
||||
break;
|
||||
|
||||
case 'b':
|
||||
i2cdevice = strtol(optarg, NULL, 0);
|
||||
i2cdevice = strtol(optarg, nullptr, 0);
|
||||
break;
|
||||
|
||||
default:
|
||||
|
|
@ -1067,20 +1038,23 @@ batt_smbus_main(int argc, char *argv[])
|
|||
|
||||
if (!strcmp(verb, "start")) {
|
||||
if (g_batt_smbus != nullptr) {
|
||||
errx(1, "already started");
|
||||
PX4_ERR("already started");
|
||||
return 1;
|
||||
|
||||
} else {
|
||||
// create new global object
|
||||
g_batt_smbus = new BATT_SMBUS(i2cdevice, batt_smbusadr);
|
||||
|
||||
if (g_batt_smbus == nullptr) {
|
||||
errx(1, "new failed");
|
||||
PX4_ERR("new failed");
|
||||
return 1;
|
||||
}
|
||||
|
||||
if (OK != g_batt_smbus->init()) {
|
||||
delete g_batt_smbus;
|
||||
g_batt_smbus = nullptr;
|
||||
errx(1, "init failed");
|
||||
PX4_ERR("init failed");
|
||||
return 1;
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -1089,50 +1063,50 @@ batt_smbus_main(int argc, char *argv[])
|
|||
|
||||
// need the driver past this point
|
||||
if (g_batt_smbus == nullptr) {
|
||||
warnx("not started");
|
||||
PX4_INFO("not started");
|
||||
batt_smbus_usage();
|
||||
exit(1);
|
||||
return 1;
|
||||
}
|
||||
|
||||
if (!strcmp(verb, "test")) {
|
||||
g_batt_smbus->test();
|
||||
exit(0);
|
||||
return 0;
|
||||
}
|
||||
|
||||
if (!strcmp(verb, "stop")) {
|
||||
delete g_batt_smbus;
|
||||
g_batt_smbus = nullptr;
|
||||
exit(0);
|
||||
return 0;
|
||||
}
|
||||
|
||||
if (!strcmp(verb, "search")) {
|
||||
g_batt_smbus->search();
|
||||
exit(0);
|
||||
return 0;
|
||||
}
|
||||
|
||||
if (!strcmp(verb, "man_name")) {
|
||||
manufacturer_name();
|
||||
exit(0);
|
||||
return 0;
|
||||
}
|
||||
|
||||
if (!strcmp(verb, "man_date")) {
|
||||
manufacture_date();
|
||||
exit(0);
|
||||
return 0;
|
||||
}
|
||||
|
||||
if (!strcmp(verb, "dev_name")) {
|
||||
device_name();
|
||||
exit(0);
|
||||
return 0;
|
||||
}
|
||||
|
||||
if (!strcmp(verb, "serial_num")) {
|
||||
serial_number();
|
||||
exit(0);
|
||||
return 0;
|
||||
}
|
||||
|
||||
if (!strcmp(verb, "dev_chem")) {
|
||||
device_chemistry();
|
||||
exit(0);
|
||||
return 0;
|
||||
}
|
||||
|
||||
if (!strcmp(verb, "sbs_info")) {
|
||||
|
|
@ -1146,5 +1120,5 @@ batt_smbus_main(int argc, char *argv[])
|
|||
}
|
||||
|
||||
batt_smbus_usage();
|
||||
exit(0);
|
||||
return 0;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -51,7 +51,7 @@
|
|||
*/
|
||||
|
||||
#define _BATT_SMBUS_IOCBASE (0x2e00)
|
||||
#define _BATT_SMBUS_IOC(_n) (_IOC(_BATT_SMBUS_IOCBASE, _n))
|
||||
#define _BATT_SMBUS_IOC(_n) (_PX4_IOC(_BATT_SMBUS_IOCBASE, _n))
|
||||
|
||||
/** retrieve battery capacity */
|
||||
#define BATT_SMBUS_GET_CAPACITY _BATT_SMBUS_IOC(1)
|
||||
|
|
|
|||
Loading…
Reference in New Issue