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battery_status: do not publish if no voltage channel is defined 

This is the case for boards with digital readout, like v5x, but still
enable the battery_status module for external analog driver options.

An alternative would be to not run battery_status depending on config.
This commit is contained in:
Beat Küng 2022-01-28 08:48:11 +01:00 committed by Daniel Agar
parent 10ad553f1d
commit b6607a7b78
3 changed files with 27 additions and 19 deletions
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5
platforms/common/include/px4_platform_common/board_common.h
View File

@ -145,7 +145,10 @@
# define BOARD_BATT_I_LIST {ADC_BATTERY_CURRENT_CHANNEL}
# define BOARD_BRICK_VALID_LIST {BOARD_ADC_BRICK_VALID}
#elif BOARD_NUMBER_BRICKS == 2
# if !defined(BOARD_NUMBER_DIGITAL_BRICKS)
# if defined(BOARD_NUMBER_DIGITAL_BRICKS)
# define BOARD_BATT_V_LIST {-1, -1}
# define BOARD_BATT_I_LIST {-1, -1}
# else
# define BOARD_BATT_V_LIST {ADC_BATTERY1_VOLTAGE_CHANNEL, ADC_BATTERY2_VOLTAGE_CHANNEL}
# define BOARD_BATT_I_LIST {ADC_BATTERY1_CURRENT_CHANNEL, ADC_BATTERY2_CURRENT_CHANNEL}
# endif

7
src/modules/battery_status/analog_battery.cpp
View File

@ -41,12 +41,11 @@
static constexpr int DEFAULT_V_CHANNEL[BOARD_NUMBER_BRICKS] = BOARD_BATT_V_LIST;
static constexpr int DEFAULT_I_CHANNEL[BOARD_NUMBER_BRICKS] = BOARD_BATT_I_LIST;
#else
static constexpr int DEFAULT_V_CHANNEL[BOARD_NUMBER_BRICKS] = {0};
static constexpr int DEFAULT_I_CHANNEL[BOARD_NUMBER_BRICKS] = {0};
#error "BOARD_BATT_V_LIST and BOARD_BATT_I_LIST need to be defined"
#endif
#else
static constexpr int DEFAULT_V_CHANNEL[1] = {0};
static constexpr int DEFAULT_I_CHANNEL[1] = {0};
static constexpr int DEFAULT_V_CHANNEL[1] = {-1};
static constexpr int DEFAULT_I_CHANNEL[1] = {-1};
#endif
AnalogBattery::AnalogBattery(int index, ModuleParams *parent, const int sample_interval_us, const uint8_t source,

34
src/modules/battery_status/battery_status.cpp
View File

@ -177,6 +177,7 @@ BatteryStatus::adc_poll()
/* Per Brick readings with default unread channels at 0 */
float bat_current_adc_readings[BOARD_NUMBER_BRICKS] {};
float bat_voltage_adc_readings[BOARD_NUMBER_BRICKS] {};
bool has_bat_voltage_adc_channel[BOARD_NUMBER_BRICKS] {};
int selected_source = -1;
@ -201,16 +202,19 @@ BatteryStatus::adc_poll()
/* look for specific channels and process the raw voltage to measurement data */
if (adc_report.channel_id[i] == _analogBatteries[b]->get_voltage_channel()) {
/* Voltage in volts */
bat_voltage_adc_readings[b] = adc_report.raw_data[i] *
adc_report.v_ref /
adc_report.resolution;
if (adc_report.channel_id[i] >= 0) {
if (adc_report.channel_id[i] == _analogBatteries[b]->get_voltage_channel()) {
/* Voltage in volts */
bat_voltage_adc_readings[b] = adc_report.raw_data[i] *
adc_report.v_ref /
adc_report.resolution;
has_bat_voltage_adc_channel[b] = true;
} else if (adc_report.channel_id[i] == _analogBatteries[b]->get_current_channel()) {
bat_current_adc_readings[b] = adc_report.raw_data[i] *
adc_report.v_ref /
adc_report.resolution;
} else if (adc_report.channel_id[i] == _analogBatteries[b]->get_current_channel()) {
bat_current_adc_readings[b] = adc_report.raw_data[i] *
adc_report.v_ref /
adc_report.resolution;
}
}
}
@ -218,11 +222,13 @@ BatteryStatus::adc_poll()
for (int b = 0; b < BOARD_NUMBER_BRICKS; b++) {
_analogBatteries[b]->updateBatteryStatusADC(
hrt_absolute_time(),
bat_voltage_adc_readings[b],
bat_current_adc_readings[b]
);
if (has_bat_voltage_adc_channel[b]) { // Do not publish if no voltage channel configured
_analogBatteries[b]->updateBatteryStatusADC(
hrt_absolute_time(),
bat_voltage_adc_readings[b],
bat_current_adc_readings[b]
);
}
}
}
}