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px4-firmware
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battery: pass source in by constructor

This commit is contained in:
Matthias Grob 2021-12-01 16:42:24 +01:00
parent b965923c08
commit f9fc9a9af6
13 changed files with 26 additions and 41 deletions
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4
boards/bitcraze/crazyflie/syslink/syslink_main.cpp
View File

@ -404,9 +404,7 @@ Syslink::handle_message(syslink_message_t *msg)
memcpy(&vbat, &msg->data[1], sizeof(float));
//memcpy(&iset, &msg->data[5], sizeof(float));
_battery.updateBatteryStatus(t, vbat, -1, true,
battery_status_s::BATTERY_SOURCE_POWER_MODULE, 0);
_battery.updateBatteryStatus(t, vbat, -1, true, 0);
// Update battery charge state
if (charging) {

2
boards/bitcraze/crazyflie/syslink/syslink_main.h
View File

@ -139,7 +139,7 @@ private:
// nrf chip schedules battery updates with SYSLINK_SEND_PERIOD_MS
static constexpr uint32_t SYSLINK_BATTERY_STATUS_INTERVAL_US = 10_ms;
Battery _battery{1, nullptr, SYSLINK_BATTERY_STATUS_INTERVAL_US};
Battery _battery{1, nullptr, SYSLINK_BATTERY_STATUS_INTERVAL_US, battery_status_s::BATTERY_SOURCE_POWER_MODULE};
int32_t _rssi;
battery_state _bstate;

5
src/drivers/power_monitor/ina226/ina226.cpp
View File

@ -49,7 +49,7 @@ INA226::INA226(const I2CSPIDriverConfig &config, int battery_index) :
_comms_errors(perf_alloc(PC_COUNT, "ina226_com_err")),
_collection_errors(perf_alloc(PC_COUNT, "ina226_collection_err")),
_measure_errors(perf_alloc(PC_COUNT, "ina226_measurement_err")),
_battery(battery_index, this, INA226_SAMPLE_INTERVAL_US)
_battery(battery_index, this, INA226_SAMPLE_INTERVAL_US, battery_status_s::BATTERY_SOURCE_POWER_MODULE)
{
float fvalue = MAX_CURRENT;
_max_current = fvalue;
@ -88,7 +88,6 @@ INA226::INA226(const I2CSPIDriverConfig &config, int battery_index) :
0.0,
0.0,
false,
battery_status_s::BATTERY_SOURCE_POWER_MODULE,
0
);
}
@ -235,7 +234,6 @@ INA226::collect()
(float) _bus_voltage * INA226_VSCALE,
(float) _current * _current_lsb,
success,
battery_status_s::BATTERY_SOURCE_POWER_MODULE,
0
);
@ -305,7 +303,6 @@ INA226::RunImpl()
0.0f,
0.0f,
false,
battery_status_s::BATTERY_SOURCE_POWER_MODULE,
0
);

5
src/drivers/power_monitor/ina228/ina228.cpp
View File

@ -49,7 +49,7 @@ INA228::INA228(const I2CSPIDriverConfig &config, int battery_index) :
_comms_errors(perf_alloc(PC_COUNT, "ina228_com_err")),
_collection_errors(perf_alloc(PC_COUNT, "ina228_collection_err")),
_measure_errors(perf_alloc(PC_COUNT, "ina228_measurement_err")),
_battery(battery_index, this, INA228_SAMPLE_INTERVAL_US)
_battery(battery_index, this, INA228_SAMPLE_INTERVAL_US, battery_status_s::BATTERY_SOURCE_POWER_MODULE)
{
float fvalue = MAX_CURRENT;
_max_current = fvalue;
@ -90,7 +90,6 @@ INA228::INA228(const I2CSPIDriverConfig &config, int battery_index) :
0.0,
0.0,
false,
battery_status_s::BATTERY_SOURCE_POWER_MODULE,
0
);
}
@ -316,7 +315,6 @@ INA228::collect()
(float) _bus_voltage * INA228_VSCALE,
(float) _current * _current_lsb,
success,
battery_status_s::BATTERY_SOURCE_POWER_MODULE,
0
);
@ -386,7 +384,6 @@ INA228::RunImpl()
0.0f,
0.0f,
false,
battery_status_s::BATTERY_SOURCE_POWER_MODULE,
0
);

5
src/drivers/power_monitor/ina238/ina238.cpp
View File

@ -45,7 +45,7 @@ INA238::INA238(const I2CSPIDriverConfig &config, int battery_index) :
_sample_perf(perf_alloc(PC_ELAPSED, "ina238_read")),
_comms_errors(perf_alloc(PC_COUNT, "ina238_com_err")),
_collection_errors(perf_alloc(PC_COUNT, "ina238_collection_err")),
_battery(battery_index, this, INA238_SAMPLE_INTERVAL_US)
_battery(battery_index, this, INA238_SAMPLE_INTERVAL_US, battery_status_s::BATTERY_SOURCE_POWER_MODULE)
{
float fvalue = DEFAULT_MAX_CURRENT;
_max_current = fvalue;
@ -73,7 +73,6 @@ INA238::INA238(const I2CSPIDriverConfig &config, int battery_index) :
0.0,
0.0,
false,
battery_status_s::BATTERY_SOURCE_POWER_MODULE,
0
);
}
@ -203,7 +202,6 @@ int INA238::collect()
(float) bus_voltage * INA238_VSCALE,
(float) current * _current_lsb,
success,
battery_status_s::BATTERY_SOURCE_POWER_MODULE,
0
);
@ -264,7 +262,6 @@ void INA238::RunImpl()
0.0f,
0.0f,
false,
battery_status_s::BATTERY_SOURCE_POWER_MODULE,
0
);

5
src/drivers/power_monitor/voxlpm/voxlpm.cpp
View File

@ -54,7 +54,7 @@ VOXLPM::VOXLPM(const I2CSPIDriverConfig &config) :
_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": sample")),
_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comms_errors")),
_ch_type((VOXLPM_CH_TYPE)config.custom1),
_battery(1, this, _meas_interval_us)
_battery(1, this, _meas_interval_us, battery_status_s::BATTERY_SOURCE_POWER_MODULE)
{
}
@ -76,7 +76,6 @@ VOXLPM::init()
0.0,
0.0,
false,
battery_status_s::BATTERY_SOURCE_POWER_MODULE,
0
);
}
@ -349,7 +348,6 @@ VOXLPM::measure()
_voltage,
_amperage,
true,
battery_status_s::BATTERY_SOURCE_POWER_MODULE,
0);
}
@ -377,7 +375,6 @@ VOXLPM::measure()
0.0,
0.0,
true,
battery_status_s::BATTERY_SOURCE_POWER_MODULE,
0);
}
break;

11
src/lib/battery/battery.cpp
View File

@ -47,9 +47,10 @@
using namespace time_literals;
Battery::Battery(int index, ModuleParams *parent, const int sample_interval_us) :
Battery::Battery(int index, ModuleParams *parent, const int sample_interval_us, const uint8_t source) :
ModuleParams(parent),
_index(index < 1 || index > 9 ? 1 : index)
_index(index < 1 || index > 9 ? 1 : index),
_source(source)
{
const float expected_filter_dt = static_cast<float>(sample_interval_us) / 1_s;
_voltage_filter_v.setParameters(expected_filter_dt, 1.f);
@ -97,7 +98,7 @@ Battery::Battery(int index, ModuleParams *parent, const int sample_interval_us)
}
void Battery::updateBatteryStatus(const hrt_abstime &timestamp, float voltage_v, float current_a, bool connected,
int source, int priority)
int priority)
{
if (!_battery_initialized) {
_voltage_filter_v.reset(voltage_v);
@ -134,13 +135,13 @@ void Battery::updateBatteryStatus(const hrt_abstime &timestamp, float voltage_v,
battery_status.temperature = NAN;
battery_status.cell_count = _params.n_cells;
battery_status.connected = connected;
battery_status.source = source;
battery_status.source = _source;
battery_status.priority = priority;
battery_status.capacity = _params.capacity > 0.f ? static_cast<uint16_t>(_params.capacity) : 0;
battery_status.id = static_cast<uint8_t>(_index);
battery_status.warning = _warning;
if (source == _params.source) {
if (_source == _params.source) {
battery_status.timestamp = hrt_absolute_time();
_battery_status_pub.publish(battery_status);
}

6
src/lib/battery/battery.h
View File

@ -67,7 +67,7 @@
class Battery : public ModuleParams
{
public:
Battery(int index, ModuleParams *parent, const int sample_interval_us);
Battery(int index, ModuleParams *parent, const int sample_interval_us, const uint8_t source);
~Battery() = default;
/**
@ -91,11 +91,10 @@ public:
* @param voltage_raw: Battery voltage, in Volts
* @param current_raw: Battery current, in Amps
* @param timestamp: Time at which the ADC was read (use hrt_absolute_time())
* @param source: Source type in relation to BAT%d_SOURCE param.
* @param priority: The brick number -1. The term priority refers to the Vn connection on the LTC4417
*/
void updateBatteryStatus(const hrt_abstime &timestamp, float voltage_v, float current_a, bool connected,
int source, int priority);
int priority);
protected:
struct {
@ -139,6 +138,7 @@ private:
uORB::Subscription _actuator_controls_0_sub{ORB_ID(actuator_controls_0)};
uORB::PublicationMulti<battery_status_s> _battery_status_pub{ORB_ID(battery_status)};
const uint8_t _source{};
bool _battery_initialized{false};
AlphaFilter<float> _voltage_filter_v;
AlphaFilter<float> _current_filter_a;

8
src/modules/battery_status/analog_battery.cpp
View File

@ -49,8 +49,8 @@ static constexpr int DEFAULT_V_CHANNEL[1] = {0};
static constexpr int DEFAULT_I_CHANNEL[1] = {0};
#endif
AnalogBattery::AnalogBattery(int index, ModuleParams *parent, const int sample_interval_us) :
Battery(index, parent, sample_interval_us)
AnalogBattery::AnalogBattery(int index, ModuleParams *parent, const int sample_interval_us, const uint8_t source) :
Battery(index, parent, sample_interval_us, source)
{
char param_name[17];
@ -71,7 +71,7 @@ AnalogBattery::AnalogBattery(int index, ModuleParams *parent, const int sample_i
void
AnalogBattery::updateBatteryStatusADC(hrt_abstime timestamp, float voltage_raw, float current_raw,
int source, int priority)
int priority)
{
float voltage_v = voltage_raw * _analog_params.v_div;
float current_a = (current_raw - _analog_params.v_offs_cur) * _analog_params.a_per_v;
@ -81,7 +81,7 @@ AnalogBattery::updateBatteryStatusADC(hrt_abstime timestamp, float voltage_raw,
Battery::updateBatteryStatus(timestamp, voltage_v, current_a, connected,
source, priority);
priority);
}
bool AnalogBattery::is_valid()

4
src/modules/battery_status/analog_battery.h
View File

@ -39,7 +39,7 @@
class AnalogBattery : public Battery
{
public:
AnalogBattery(int index, ModuleParams *parent, const int sample_interval_us);
AnalogBattery(int index, ModuleParams *parent, const int sample_interval_us, const uint8_t source);
/**
* Update current battery status message.
@ -51,7 +51,7 @@ public:
* @param priority: The brick number -1. The term priority refers to the Vn connection on the LTC4417
*/
void updateBatteryStatusADC(hrt_abstime timestamp, float voltage_raw, float current_raw,
int source, int priority);
int priority);
/**
* Whether the ADC channel for the voltage of this battery is valid.

5
src/modules/battery_status/battery_status.cpp
View File

@ -137,9 +137,9 @@ private:
BatteryStatus::BatteryStatus() :
ModuleParams(nullptr),
ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default),
_battery1(1, this, SAMPLE_INTERVAL_US),
_battery1(1, this, SAMPLE_INTERVAL_US, battery_status_s::BATTERY_SOURCE_POWER_MODULE),
#if BOARD_NUMBER_BRICKS > 1
_battery2(2, this, SAMPLE_INTERVAL_US),
_battery2(2, this, SAMPLE_INTERVAL_US, battery_status_s::BATTERY_SOURCE_POWER_MODULE),
#endif
_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME))
{
@ -222,7 +222,6 @@ BatteryStatus::adc_poll()
hrt_absolute_time(),
bat_voltage_adc_readings[b],
bat_current_adc_readings[b],
battery_status_s::BATTERY_SOURCE_POWER_MODULE,
b
);
}

3
src/modules/esc_battery/EscBattery.cpp
View File

@ -38,7 +38,7 @@ using namespace time_literals;
EscBattery::EscBattery() :
ModuleParams(nullptr),
WorkItem(MODULE_NAME, px4::wq_configurations::lp_default),
_battery(1, this, ESC_BATTERY_INTERVAL_US)
_battery(1, this, ESC_BATTERY_INTERVAL_US, battery_status_s::BATTERY_SOURCE_ESCS)
{
}
@ -107,7 +107,6 @@ EscBattery::Run()
average_voltage_v,
total_current_a,
connected,
battery_status_s::BATTERY_SOURCE_ESCS,
priority);
}
}

4
src/modules/simulator/battery_simulator/BatterySimulator.cpp
View File

@ -36,7 +36,7 @@
BatterySimulator::BatterySimulator() :
ModuleParams(nullptr),
ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default),
_battery(1, this, BATTERY_SIMLATOR_SAMPLE_INTERVAL_US)
_battery(1, this, BATTERY_SIMLATOR_SAMPLE_INTERVAL_US, battery_status_s::BATTERY_SOURCE_POWER_MODULE)
{
}
@ -99,7 +99,7 @@ void BatterySimulator::Run()
float vbatt = math::gradual(_battery_percentage, 0.f, 1.f, _battery.empty_cell_voltage(), _battery.full_cell_voltage());
vbatt *= _battery.cell_count();
_battery.updateBatteryStatus(now_us, vbatt, ibatt, true, battery_status_s::BATTERY_SOURCE_POWER_MODULE, 0);
_battery.updateBatteryStatus(now_us, vbatt, ibatt, true, 0);
perf_end(_loop_perf);
}