mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-06-01 02:55:07 +08:00
resolved merge conflicts
This commit is contained in:
Jake Dahl
Lorenz Meier
@@ -35,6 +35,8 @@ px4_add_module(
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MAIN batt_smbus
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COMPILE_FLAGS
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SRCS
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batt_smbus_main.cpp
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batt_smbus.cpp
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batt_smbus_i2c.cpp
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DEPENDS
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)
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File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,322 @@
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/****************************************************************************
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*
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* Copyright (c) 2012-2018 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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* @file batt_smbus.h
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*
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* Header for a battery monitor connected via SMBus (I2C).
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* Designed for BQ40Z50-R1/R2
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*
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* @author Randy Mackay <rmackay9@yahoo.com>
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* @author Alex Klimaj <alexklimaj@gmail.com>
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* @author Mark Sauder <mcsauder@gmail.com>
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* @author Jacob Dahl <dahl.jakejacob@gmail.com>
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*/
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#include <px4_config.h>
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#include <px4_workqueue.h>
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#include <stdio.h>
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#include <string.h>
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#include <ecl/geo/geo.h>
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#include <drivers/device/CDev.hpp>
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#include <drivers/device/Device.hpp>
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#include <drivers/device/i2c.h>
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#include <drivers/drv_device.h>
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#include <drivers/drv_hrt.h>
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#include <uORB/topics/battery_status.h>
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#define DATA_BUFFER_SIZE 32
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#define BATT_SMBUS_I2C_BUS PX4_I2C_BUS_EXPANSION
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#define BATT_SMBUS_CURRENT 0x0A ///< current register
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#define BATT_SMBUS_AVERAGE_CURRENT 0x0B ///< current register
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#define BATT_SMBUS_ADDR 0x0B ///< Default 7 bit address I2C address. 8 bit = 0x16
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#define BATT_SMBUS_ADDR_MIN 0x00 ///< lowest possible address
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#define BATT_SMBUS_ADDR_MAX 0xFF ///< highest possible address
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#define BATT_SMBUS_PEC_POLYNOMIAL 0x07 ///< Polynomial for calculating PEC
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#define BATT_SMBUS_TEMP 0x08 ///< temperature register
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#define BATT_SMBUS_VOLTAGE 0x09 ///< voltage register
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#define BATT_SMBUS_FULL_CHARGE_CAPACITY 0x10 ///< capacity when fully charged
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#define BATT_SMBUS_RUN_TIME_TO_EMPTY 0x11 ///< predicted remaining battery capacity based on the present rate of discharge in min
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#define BATT_SMBUS_AVERAGE_TIME_TO_EMPTY 0x12 ///< predicted remaining battery capacity based on the present rate of discharge in min
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#define BATT_SMBUS_REMAINING_CAPACITY 0x0F ///< predicted remaining battery capacity as a percentage
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#define BATT_SMBUS_CYCLE_COUNT 0x17 ///< number of cycles the battery has experienced
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#define BATT_SMBUS_DESIGN_CAPACITY 0x18 ///< design capacity register
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#define BATT_SMBUS_DESIGN_VOLTAGE 0x19 ///< design voltage register
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#define BATT_SMBUS_MANUFACTURER_NAME 0x20 ///< manufacturer name
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#define BATT_SMBUS_MANUFACTURE_DATE 0x1B ///< manufacture date register
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#define BATT_SMBUS_SERIAL_NUMBER 0x1C ///< serial number register
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#define BATT_SMBUS_MEASUREMENT_INTERVAL_US 100000 ///< time in microseconds, measure at 10Hz
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#define BATT_SMBUS_TIMEOUT_US 1000000 ///< timeout looking for battery 10seconds after startup
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#define BATT_SMBUS_MANUFACTURER_ACCESS 0x00
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#define BATT_SMBUS_MANUFACTURER_DATA 0x23
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#define BATT_SMBUS_MANUFACTURER_BLOCK_ACCESS 0x44
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#define BATT_SMBUS_SECURITY_KEYS 0x0035
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#ifndef CONFIG_SCHED_WORKQUEUE
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# error This requires CONFIG_SCHED_WORKQUEUE.
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#endif
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/**
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* @brief Nuttshell accessible method to return the driver usage arguments.
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*/
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void batt_smbus_usage();
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/**
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* @brief Nuttshell accessible method to return the battery manufacture date.
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* @return Returns PX4_OK on success, PX4_ERROR on failure.
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*/
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int manufacture_date();
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/**
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* @brief Nuttshell accessible method to return the battery manufacturer name.
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* @return Returns PX4_OK on success, PX4_ERROR on failure.
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*/
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int manufacturer_name();
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/**
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* @brief Nuttshell accessible method to return the battery serial number.
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* @return Returns PX4_OK on success, PX4_ERROR on failure.
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*/
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int serial_number();
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extern device::Device *BATT_SMBUS_I2C_interface(int bus);
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typedef device::Device *(*BATT_SMBUS_constructor)(int);
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class BATT_SMBUS : public device::CDev
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{
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public:
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/**
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* @brief Default Constructor.
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* @param interface The device communication interface (i2c)
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* @param path The device i2c address
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*/
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BATT_SMBUS(device::Device *interface, const char *path);
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/**
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* @brief Default Destructor.
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*/
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virtual ~BATT_SMBUS();
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/**
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* @brief Sends a block read command.
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* @param cmd_code The command code.
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* @param data The returned data.
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* @param length The number of bytes being read
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* @return Returns PX4_OK on success, PX4_ERROR on failure.
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*/
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int block_read(const uint8_t cmd_code, void *data, const unsigned length);
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/**
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* @brief Sends a block write command.
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* @param cmd_code The command code.
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* @param data The data to be written.
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* @param length The number of bytes being written.
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* @return Returns PX4_OK on success, PX4_ERROR on failure.
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*/
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int block_write(const uint8_t cmd_code, void *data, const unsigned length);
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/**
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* @brief Reads data from flash.
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* @param address The address to start the read from.
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* @param data The returned data.
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* @return Returns PX4_OK on success, PX4_ERROR on failure.
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*/
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int dataflash_read(uint16_t &address, void *data);
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/**
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* @brief Writes data to flash.
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* @param address The start address of the write.
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* @param data The data to be written.
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* @param length The number of bytes being written.
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* @return Returns PX4_OK on success, PX4_ERROR on failure.
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*/
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int dataflash_write(uint16_t &address, void *data, const unsigned length);
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/**
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* @brief Calculates the PEC from the data.
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* @param buff The buffer that stores the data.
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* @param length The number of bytes being written.
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* @return Returns PX4_OK on success, PX4_ERROR on failure.
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*/
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uint8_t get_pec(uint8_t *buffer, const uint8_t length);
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/**
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* @brief Returns the SBS serial number of the battery device.
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* @return Returns the SBS serial number of the battery device.
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*/
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uint16_t get_serial_number();
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/**
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* @brief Read info from battery on startup.
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* @return Returns PX4_OK on success, PX4_ERROR on failure.
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*/
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int get_startup_info();
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/**
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* @brief Prints the latest report.
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* @return Returns PX4_OK on success, PX4_ERROR on failure.
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*/
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int info();
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/**
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* @brief Initializes the smart battery device. Calls probe() to check for device on bus.
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* @return Returns PX4_OK on success, PX4_ERROR on failure.
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*/
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virtual int init();
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/**
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* @brief Gets the SBS manufacture date of the battery.
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* @return Returns PX4_OK on success, PX4_ERROR on failure.
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*/
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int manufacture_date(void *man_date);
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/**
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* @brief Gets the SBS manufacturer name of the battery device.
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* @param manufacturer_name Pointer to a buffer into which the manufacturer name is to be written.
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* @param max_length The maximum number of bytes to attempt to read from the manufacturer name register,
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* including the null character that is appended to the end.
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* @return Returns PX4_OK on success, PX4_ERROR on failure.
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*/
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int manufacturer_name(uint8_t *manufacturer_name, const uint8_t length);
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/**
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* @brief Performs a ManufacturerBlockAccess() read command.
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* @param cmd_code The command code.
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* @param data The returned data.
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* @param length The number of bytes being written.
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* @return Returns PX4_OK on success, PX4_ERROR on failure.
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*/
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int manufacturer_read(const uint16_t cmd_code, void *data, const unsigned length);
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/**
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* @brief Performs a ManufacturerBlockAccess() write command.
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* @param cmd_code The command code.
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* @param data The sent data.
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* @param length The number of bytes being written.
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* @return Returns PX4_OK on success, PX4_ERROR on failure.
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*/
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int manufacturer_write(const uint16_t cmd_code, void *data, const unsigned length);
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/**
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* @brief Sends a read-word command with cmd_code as the command.
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* @param cmd_code The command code.
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* @param data The returned data.
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* @return Returns PX4_OK on success, PX4_ERROR on failure.
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*/
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int read_word(const uint8_t cmd_code, void *data);
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/**
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* @brief Search all possible slave addresses for a smart battery.
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* @return Returns PX4_OK on success, PX4_ERROR on failure.
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*/
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int search_addresses();
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/**
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* @brief Starts periodic reads from the battery.
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*/
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void start();
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/**
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* @brief Stops periodic reads from the battery.
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*/
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void stop();
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/**
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* @brief Unseals the battery to allow writing to restricted flash.
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* @return Returns PX4_OK on success, PX4_ERROR on failure.
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*/
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int unseal();
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protected:
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Device *_interface;
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private:
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/**
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* @brief Static function that is called by worker queue.
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*/
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static void cycle_trampoline(void *arg);
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/**
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* @brief The loop that continually generates new reports.
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*/
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void cycle();
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/** @struct _work Work queue for scheduling reads. */
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work_s _work = work_s{};
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/** @param _last_report Last published report, used for test(). */
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battery_status_s _last_report = battery_status_s{};
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/** @param _batt_topic uORB battery topic. */
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orb_advert_t _batt_topic;
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/** @param _batt_orb_id uORB battery topic ID. */
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orb_id_t _batt_orb_id;
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/** @param _batt_capacity Battery design capacity in mAh (0 means unknown). */
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uint16_t _batt_capacity;
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/** @param _batt_startup_capacity Battery remaining capacity in mAh on startup. */
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uint16_t _batt_startup_capacity;
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/** @param _cycle_count The number of cycles the battery has experienced. */
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uint16_t _cycle_count;
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/** @param _serial_number Serial number register. */
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uint16_t _serial_number;
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/** @param _crit_thr Critical battery threshold param. */
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float _crit_thr;
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/** @param _emergency_thr Emergency battery threshold param. */
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float _emergency_thr;
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/** @param _low_thr Low battery threshold param. */
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float _low_thr;
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/** @param _manufacturer_name Name of the battery manufacturer. */
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char *_manufacturer_name;
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/* Do not allow copy construction or move assignment of this class. */
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BATT_SMBUS(const BATT_SMBUS &);
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BATT_SMBUS operator=(const BATT_SMBUS &);
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};
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@@ -0,0 +1,131 @@
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/****************************************************************************
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*
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* Copyright (c) 2018 PX4 Development Team. All rights reserved.
|
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*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
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/**
|
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* @file batt_smbus_i2c.cpp
|
||||
*
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* I2C interface for batt_smbus
|
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*
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||||
* @author Jacob Dahl <dahl.jakejacob@gmail.com>
|
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*/
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#include "batt_smbus.h"
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#include <cstring>
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#include <px4_config.h>
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#include <drivers/device/i2c.h>
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#include <drivers/drv_device.h>
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#include "board_config.h"
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device::Device *BATT_SMBUS_I2C_interface(int bus);
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class BATT_SMBUS_I2C : public device::I2C
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{
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public:
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BATT_SMBUS_I2C(int bus);
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virtual ~BATT_SMBUS_I2C() = default;
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/**
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* @brief Sends a block read command.
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* @param cmd_code The command code.
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* @param data Pointer to the data being returned.
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* @param count The number of bytes being read
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* @return Returns PX4_OK on success, PX4_ERROR on failure.
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*/
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virtual int read(unsigned cmd_code, void *data, unsigned count);
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/**
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* @brief Sends a block write command.
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* @param cmd_code The command code.
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* @param data Pointer to the data to be written.
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* @param count The number of bytes being written.
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* @return Returns PX4_OK on success, PX4_ERROR on failure.
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*/
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virtual int write(unsigned cmd_code, void *data, unsigned count);
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/**
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* @brief Sends a block read command.
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* @param cmd_code The command code.
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* @param data Pointer to the data being returned.
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* @return Returns PX4_OK on success, PX4_ERROR on failure.
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*/
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int read(unsigned cmd_code, void *data);
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/**
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* @brief Sends a block write command.
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||||
* @param cmd_code The command code.
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||||
* @param data Pointer to the data to be written.
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||||
* @return Returns PX4_OK on success, PX4_ERROR on failure.
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*/
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int write(unsigned cmd_code, void *data);
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protected:
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/**
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* @brief Calculates the PEC from the data.
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||||
* @param buffer The buffer that stores the data.
|
||||
* @param length The number of bytes being written.
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||||
* @return Returns PX4_OK on success, PX4_ERROR on failure.
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||||
*/
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uint8_t get_pec(uint8_t *buffer, uint8_t length);
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};
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device::Device *
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BATT_SMBUS_I2C_interface(int bus)
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{
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return new BATT_SMBUS_I2C(bus);
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}
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BATT_SMBUS_I2C::BATT_SMBUS_I2C(int bus) :
|
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I2C("BATT_SMBUS_I2C", nullptr, bus, BATT_SMBUS_ADDR, 100000)
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{
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||||
}
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||||
|
||||
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||||
int
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BATT_SMBUS_I2C::read(unsigned cmd_code, void *data, unsigned length)
|
||||
{
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||||
uint8_t buf = (uint8_t) cmd_code;
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return transfer(&buf, 1, (uint8_t *)data, length);
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||||
}
|
||||
|
||||
int
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||||
BATT_SMBUS_I2C::write(unsigned cmd_code, void *data, unsigned length)
|
||||
{
|
||||
return transfer((uint8_t *)data, length, nullptr, 0);
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
Reference in New Issue
Block a user