mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-27 18:27:05 +08:00
First skeleton for esc_battery module
This commit is contained in:
Julian Oes
@@ -65,6 +65,7 @@ px4_add_board(
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commander
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dataman
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ekf2
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esc_battery
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events
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fw_att_control
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fw_pos_control_l1
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@@ -0,0 +1,43 @@
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############################################################################
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#
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# Copyright (c) 2020 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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px4_add_module(
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MODULE modules__esc_battery
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MAIN esc_battery
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COMPILE_FLAGS
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SRCS
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EscBattery.cpp
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EscBattery.hpp
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DEPENDS
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px4_work_queue
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)
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@@ -0,0 +1,177 @@
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/****************************************************************************
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*
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* Copyright (c) 2020 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 "EscBattery.hpp"
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#include <drivers/drv_hrt.h>
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using namespace time_literals;
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EscBattery::EscBattery() :
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ModuleParams(nullptr),
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WorkItem(MODULE_NAME, px4::wq_configurations::lp_default),
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_battery(3, this)
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{
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parameters_updated();
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}
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EscBattery::~EscBattery()
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{
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}
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bool
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EscBattery::init()
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{
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if (!_esc_status_sub.registerCallback()) {
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PX4_ERR("esc_status callback registration failed!");
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return false;
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}
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return true;
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}
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void
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EscBattery::parameters_updated()
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{
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ModuleParams::updateParams();
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}
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void
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EscBattery::Run()
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{
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if (should_exit()) {
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_esc_status_sub.unregisterCallback();
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exit_and_cleanup();
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return;
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}
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if (_parameter_update_sub.updated()) {
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// Clear update
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parameter_update_s param_update;
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_parameter_update_sub.copy(¶m_update);
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parameters_updated();
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}
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esc_status_s esc_status;
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if (_esc_status_sub.update(&esc_status)) {
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if (hrt_elapsed_time(&esc_status.timestamp) < 500_ms ||
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esc_status.esc_count == 0 ||
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esc_status.esc_count > 8) {
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return;
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}
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float average_voltage_v = 0.0f;
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float total_current_a = 0.0f;
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for (unsigned i = 0; i < esc_status.esc_count; ++i) {
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average_voltage_v += esc_status.esc[i].esc_voltage;
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total_current_a += esc_status.esc[i].esc_current;
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}
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average_voltage_v /= esc_status.esc_count;
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const bool connected = true;
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const bool selected_source = true;
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const int priority = 0;
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const bool should_publish = true;
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actuator_controls_s ctrl;
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_actuator_ctrl_0_sub.copy(&ctrl);
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_battery.updateBatteryStatus(
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esc_status.timestamp,
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average_voltage_v,
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total_current_a,
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connected,
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selected_source,
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priority,
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ctrl.control[actuator_controls_s::INDEX_THROTTLE],
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should_publish);
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_battery.publish();
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}
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}
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int EscBattery::task_spawn(int argc, char *argv[])
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{
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EscBattery *instance = new EscBattery();
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if (instance) {
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_object.store(instance);
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_task_id = task_id_is_work_queue;
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if (instance->init()) {
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return PX4_OK;
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}
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} else {
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PX4_ERR("alloc failed");
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}
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delete instance;
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_object.store(nullptr);
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_task_id = -1;
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return PX4_ERROR;
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}
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int EscBattery::custom_command(int argc, char *argv[])
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{
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return print_usage("unknown command");
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}
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int EscBattery::print_usage(const char *reason)
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{
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if (reason) {
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PX4_WARN("%s\n", reason);
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}
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PRINT_MODULE_DESCRIPTION(
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R"DESCR_STR(
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### Description
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This implements using information from the ESC status and publish it as battery status.
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)DESCR_STR");
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PRINT_MODULE_USAGE_NAME("esc_battery", "system");
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PRINT_MODULE_USAGE_COMMAND("start");
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PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
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return 0;
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}
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extern "C" __EXPORT int esc_battery_main(int argc, char *argv[])
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{
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return EscBattery::main(argc, argv);
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}
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@@ -0,0 +1,77 @@
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/****************************************************************************
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*
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* Copyright (c) 2020 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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* 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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#pragma once
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#include <px4_platform_common/defines.h>
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#include <px4_platform_common/module.h>
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#include <px4_platform_common/module_params.h>
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#include <px4_platform_common/posix.h>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <uORB/Publication.hpp>
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#include <uORB/PublicationMulti.hpp>
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#include <uORB/Subscription.hpp>
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#include <uORB/SubscriptionCallback.hpp>
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#include <uORB/topics/esc_status.h>
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#include <uORB/topics/parameter_update.h>
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#include <uORB/topics/actuator_controls.h>
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#include <battery/battery.h>
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class EscBattery : public ModuleBase<EscBattery>, public ModuleParams, public px4::WorkItem
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{
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public:
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EscBattery();
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~EscBattery() override;
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/** @see ModuleBase */
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static int task_spawn(int argc, char *argv[]);
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/** @see ModuleBase */
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static int custom_command(int argc, char *argv[]);
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/** @see ModuleBase */
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static int print_usage(const char *reason = nullptr);
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bool init();
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private:
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void Run() override;
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void parameters_updated();
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uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
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uORB::Subscription _actuator_ctrl_0_sub{ORB_ID(actuator_controls_0)};
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uORB::SubscriptionCallbackWorkItem _esc_status_sub{this, ORB_ID(esc_status)};
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Battery _battery;
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};
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