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https://github.com/paparazzi/paparazzi.git
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Refactor battery monitor to use asynchronous i2c API (as does regular paparazzi) (#2082)
This commit is contained in:
Michal Podhradsky
committed by
GitHub
GitHub
parent
8806e853f3
commit
28c343468d
@@ -32,7 +32,6 @@
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<message name="BATTERY_MONITOR" period="1.0"/>
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<message name="GPS_LLA" period="1.0"/>
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<message name="MOTOR_MIXING" period="1.0"/>
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<message name="ATTITUDE" period="1.0"/>
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</mode>
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@@ -60,23 +60,23 @@ static void send_batmon(struct transport_tx *trans, struct link_device *dev)
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uint8_t batmonbal1_bus_trans_status = batmonbal1.bus_trans.status;
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uint8_t batmonbal2_bus_trans_status = batmonbal2.bus_trans.status;
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pprz_msg_send_BATTERY_MONITOR(trans, dev, AC_ID,
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&version,
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&batmonbus.bus_status,
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&batmonbus_bus_trans_status,
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&batmonbus.bus_current_mvolts,
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&batmonbus.bus_current,
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&batmonbus.bus_voltage_mvolts,
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TEMP_SENSORS_NB,
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batmonbus.bus_tempsensors_mvolts,
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TEMP_SENSORS_NB,
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batmonbus.bus_temp,
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&batmonbal1_bus_trans_status,
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BATTERY_CELLS_NB,
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batmonbal1.bat_cell_mvolts,
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&batmonbal2_bus_trans_status,
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BATTERY_CELLS_NB,
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batmonbal2.bat_cell_mvolts,
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&power_status);
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&version,
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&batmonbus.bus_status,
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&batmonbus_bus_trans_status,
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&batmonbus.bus_current_mvolts,
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&batmonbus.bus_current,
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&batmonbus.bus_voltage_mvolts,
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TEMP_SENSORS_NB,
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batmonbus.bus_tempsensors_mvolts,
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TEMP_SENSORS_NB,
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batmonbus.bus_temp,
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&batmonbal1_bus_trans_status,
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BATTERY_CELLS_NB,
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batmonbal1.bat_cell_mvolts,
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&batmonbal2_bus_trans_status,
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BATTERY_CELLS_NB,
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batmonbal2.bat_cell_mvolts,
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&power_status);
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}
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#endif
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@@ -110,7 +110,7 @@ void battery_monitor_init_bus(void){
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// transactions
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batmonbus.bus_trans.status = I2CTransDone;
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batmonbus.addr = BATTERY_MONITOR_BUS_ADC_I2C_ADDR;
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batmonbus.bus_status = BATTERY_MONITOR_BUS_CURRENT; // device status
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batmonbus.bus_status = BATTERY_MONITOR_BUS_CURRENT_REQ; // device status
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// Current readings
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batmonbus.bus_current_mvolts = 0; // mV
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batmonbus.bus_current = 0; // A
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@@ -125,7 +125,7 @@ void battery_monitor_init_bus(void){
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}
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/**
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* Initalizes balance ADC 1
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* Initalizes balance ADC
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*/
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void battery_monitor_init_balance(struct BatMonBal* batmonbal){
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batmonbal->bus_trans.status = I2CTransDone;
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@@ -156,9 +156,39 @@ void battery_monitor_init(void) {
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/**
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* Event function
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* Check i2c transaction status for each device
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*/
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void battery_monitor_event(void){
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// Empty for now
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battery_monitor_check_i2c_transaction(&batmonbal1.bus_trans);
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battery_monitor_check_i2c_transaction(&batmonbal2.bus_trans);
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battery_monitor_check_i2c_transaction(&batmonbus.bus_trans);
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}
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/**
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* Complete i2c transactions once they succeed or fail
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*/
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void battery_monitor_check_i2c_transaction(struct i2c_transaction* t){
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switch (t->status) {
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case I2CTransPending:
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// wait and do nothing
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break;
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case I2CTransRunning:
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// wait and do nothing
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break;
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case I2CTransSuccess:
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// set to done
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t->status = I2CTransDone;
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break;
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case I2CTransFailed:
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// set to done
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t->status = I2CTransDone;
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break;
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case I2CTransDone:
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// do nothing
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break;
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default:
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break;
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}
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}
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/**
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@@ -168,126 +198,137 @@ void battery_monitor_read_bus(void){
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batmonbus.data = 0; // erase at each iteration
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switch (batmonbus.bus_status) {
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case BATTERY_MONITOR_BUS_CURRENT:
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// reqtest BUS_CURRENT measurement
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case BATTERY_MONITOR_BUS_CURRENT_REQ:
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// set ADC to current channel
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batmonbus.bus_trans.buf[0] = battery_monitor_get_address(
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(uint8_t)BATTERY_MONITOR_BUS_CURRENT_CHANNEL);
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(uint8_t)BATTERY_MONITOR_BUS_CURRENT_CHANNEL);
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//set to zero so we can detect an error
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batmonbus.bus_current = 0;
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// blocking transaction
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if (i2c_transceive(&BATTERY_MONITOR_I2C_DEV, &batmonbus.bus_trans, batmonbus.addr, 1, 2)){
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// proceed only if transaction was submitted successfully
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if (batmonbus.bus_trans.status == I2CTransSuccess) {
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// read data
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batmonbus.data = (uint16_t) (batmonbus.bus_trans.buf[0] << 8 | batmonbus.bus_trans.buf[1]);
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// NOTE: we are not using the ALERT_FLAG at the moment,
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// get counts
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batmonbus.bus_current_mvolts = batmonbus.data & 0xFFF;
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// shift right by 2 bits if 10-bit reads only
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if (BATTERY_MONITOR_BIT_RES == 10){
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batmonbus.bus_current_mvolts = (batmonbus.bus_current_mvolts) >> 2;
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}
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// convert to mV
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batmonbus.bus_current_mvolts = (uint16_t)(
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(float)batmonbus.bus_current_mvolts * BATTERY_MONITOR_VREF_MULT);
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// convert to [A]
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batmonbus.bus_current = ((float)batmonbus.bus_current_mvolts +
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(float)batmon_current_offset) / batmon_current_sensitivity;
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}
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// optional: check for errors and reset i2c transaction
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// shouldn't be needed
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// update status
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batmonbus.bus_status = BATTERY_MONITOR_BUS_VOLTAGE;
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// non-blocking transaction
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if (i2c_transceive(&BATTERY_MONITOR_I2C_DEV, &batmonbus.bus_trans, batmonbus.addr, 1, 2)){
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batmonbus.bus_status = BATTERY_MONITOR_BUS_CURRENT_READ;
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}
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//update electrical subsystem, current in mAs
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electrical.current = (int32_t)(batmonbus.bus_current*1000);
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break;
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case BATTERY_MONITOR_BUS_VOLTAGE:
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// read BUS_CURRENT data
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case BATTERY_MONITOR_BUS_CURRENT_READ:
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if (batmonbus.bus_trans.status == I2CTransDone) {
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// read data
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batmonbus.data = (uint16_t) (batmonbus.bus_trans.buf[0] << 8 | batmonbus.bus_trans.buf[1]);
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// NOTE: we are not using the ALERT_FLAG at the moment,
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// get counts
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batmonbus.bus_current_mvolts = batmonbus.data & 0xFFF;
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// shift right by 2 bits if 10-bit reads only
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if (BATTERY_MONITOR_BIT_RES == 10){
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batmonbus.bus_current_mvolts = (batmonbus.bus_current_mvolts) >> 2;
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}
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// convert to mV
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batmonbus.bus_current_mvolts = (uint16_t)(
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(float)batmonbus.bus_current_mvolts * BATTERY_MONITOR_VREF_MULT);
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// convert to [A]
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batmonbus.bus_current = ((float)batmonbus.bus_current_mvolts +
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(float)batmon_current_offset) / batmon_current_sensitivity;
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//update electrical subsystem, current in mAs
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electrical.current = (int32_t)(batmonbus.bus_current*1000);
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// increment status
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batmonbus.bus_status = BATTERY_MONITOR_BUS_VOLTAGE_REQ;
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}
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break;
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// request voltage data
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case BATTERY_MONITOR_BUS_VOLTAGE_REQ:
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// set ADC to voltage channel
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batmonbus.bus_trans.buf[0] = battery_monitor_get_address(
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(uint8_t)BATTERY_MONITOR_BUS_VOLTAGE_CHANNEL);
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(uint8_t)BATTERY_MONITOR_BUS_VOLTAGE_CHANNEL);
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//set to zero so we can detect an error
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batmonbus.bus_voltage_mvolts = 0;
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// blocking transaction
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// non-blocking transaction
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if (i2c_transceive(&BATTERY_MONITOR_I2C_DEV, &batmonbus.bus_trans, batmonbus.addr, 1, 2)){
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// proceed only if transaction was submitted successfully
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if (batmonbus.bus_trans.status == I2CTransSuccess) {
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// read data
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batmonbus.data = (uint16_t) (batmonbus.bus_trans.buf[0] << 8 | batmonbus.bus_trans.buf[1]);
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// NOTE: we are not using the ALERT_FLAG at the moment,
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// get counts
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batmonbus.bus_voltage_mvolts = batmonbus.data & 0xFFF;
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// shift right by 2 bits if 10-bit reads only
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if (BATTERY_MONITOR_BIT_RES == 10){
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batmonbus.bus_voltage_mvolts = (batmonbus.bus_voltage_mvolts) >> 2;
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}
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// convert to mV
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batmonbus.bus_voltage_mvolts = (uint16_t)(
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(float)batmonbus.bus_voltage_mvolts * BATTERY_MONITOR_VREF_MULT);
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// convert to actual voltage
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batmonbus.bus_voltage_mvolts = (uint16_t)(
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(float)batmonbus.bus_voltage_mvolts * BatmonVbusGain);
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}
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// optional: check for errors and reset i2c transaction
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// shouldn't be needed
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// update status
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batmonbus.bus_status = BATTERY_MONITOR_BUS_TEMPERATURE;
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}
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//update electrical subsystem, voltage in decivolts
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if (batmonbus.bus_voltage_mvolts != 0) {
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electrical.vsupply = (uint16_t)(batmonbus.bus_voltage_mvolts/100);
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}
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else {
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electrical.vsupply = 0;
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batmonbus.bus_status = BATTERY_MONITOR_BUS_VOLTAGE_READ;
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}
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break;
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case BATTERY_MONITOR_BUS_TEMPERATURE:
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// read voltage data
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case BATTERY_MONITOR_BUS_VOLTAGE_READ:
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if (batmonbus.bus_trans.status == I2CTransDone) {
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// read data
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batmonbus.data = (uint16_t) (batmonbus.bus_trans.buf[0] << 8 | batmonbus.bus_trans.buf[1]);
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// NOTE: we are not using the ALERT_FLAG at the moment,
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// get counts
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batmonbus.bus_voltage_mvolts = batmonbus.data & 0xFFF;
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// shift right by 2 bits if 10-bit reads only
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if (BATTERY_MONITOR_BIT_RES == 10){
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batmonbus.bus_voltage_mvolts = (batmonbus.bus_voltage_mvolts) >> 2;
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}
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// convert to mV
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batmonbus.bus_voltage_mvolts = (uint16_t)(
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(float)batmonbus.bus_voltage_mvolts * BATTERY_MONITOR_VREF_MULT);
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// convert to actual voltage
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batmonbus.bus_voltage_mvolts = (uint16_t)(
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(float)batmonbus.bus_voltage_mvolts * BatmonVbusGain);
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//update electrical subsystem, voltage in decivolts
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if (batmonbus.bus_voltage_mvolts != 0) {
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electrical.vsupply = (uint16_t)(batmonbus.bus_voltage_mvolts/100);
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}
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else {
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electrical.vsupply = 0;
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}
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// update status
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batmonbus.bus_status = BATTERY_MONITOR_BUS_TEMPERATURE_REQ;
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}
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break;
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// request temperature data
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case BATTERY_MONITOR_BUS_TEMPERATURE_REQ:
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// set ADC to correct temperature channel
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batmonbus.bus_trans.buf[0] = battery_monitor_get_address(
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battery_monitor_tempmap[batmonbus.t_idx]);
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battery_monitor_tempmap[batmonbus.t_idx]);
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//set to zero so we can detect an error
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batmonbus.bus_temp[batmonbus.t_idx] = 0;
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// blocking transaction
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if (i2c_transceive(&BATTERY_MONITOR_I2C_DEV, &batmonbus.bus_trans, batmonbus.addr, 1, 2)){
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// proceed only if transaction was submitted successfully
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if (batmonbus.bus_trans.status == I2CTransSuccess) {
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// read data
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batmonbus.data = (uint16_t) (batmonbus.bus_trans.buf[0] << 8 | batmonbus.bus_trans.buf[1]);
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// NOTE: we are not using the ALERT_FLAG at the moment,
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// get counts
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batmonbus.bus_tempsensors_mvolts[batmonbus.t_idx] = batmonbus.data & 0xFFF;
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// shift right by 2 bits if 10-bit reads only
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if (BATTERY_MONITOR_BIT_RES == 10){
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batmonbus.bus_tempsensors_mvolts[batmonbus.t_idx] =
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(batmonbus.bus_tempsensors_mvolts[batmonbus.t_idx]) >> 2;
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}
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// convert to mV
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batmonbus.bus_tempsensors_mvolts[batmonbus.t_idx] = (uint16_t)(
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(float)batmonbus.bus_tempsensors_mvolts[batmonbus.t_idx] * BATTERY_MONITOR_VREF_MULT);
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// convert to temperature[C]
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batmonbus.bus_temp[batmonbus.t_idx] =
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((float)batmonbus.bus_tempsensors_mvolts[batmonbus.t_idx] +
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(float)batmon_temp_offset ) / batmon_temp_sensitivity;
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}
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}
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// optional: check for errors and reset i2c transaction
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// shouldn't be needed
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// increment counter
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batmonbus.t_idx++;
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if (batmonbus.t_idx == TEMP_SENSORS_NB) {
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batmonbus.t_idx = 0;
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batmonbus.bus_status = BATTERY_MONITOR_BUS_CURRENT; // to loop through
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// non-blocking transaction
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if (i2c_transceive(&BATTERY_MONITOR_I2C_DEV, &batmonbus.bus_trans, batmonbus.addr, 1, 2)){
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batmonbus.bus_status = BATTERY_MONITOR_BUS_TEMPERATURE_READ;
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}
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break;
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// read temperature data
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case BATTERY_MONITOR_BUS_TEMPERATURE_READ:
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if (batmonbus.bus_trans.status == I2CTransDone) {
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// read data
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batmonbus.data = (uint16_t) (batmonbus.bus_trans.buf[0] << 8 | batmonbus.bus_trans.buf[1]);
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// NOTE: we are not using the ALERT_FLAG at the moment,
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// get counts
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batmonbus.bus_tempsensors_mvolts[batmonbus.t_idx] = batmonbus.data & 0xFFF;
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// shift right by 2 bits if 10-bit reads only
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if (BATTERY_MONITOR_BIT_RES == 10){
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batmonbus.bus_tempsensors_mvolts[batmonbus.t_idx] =
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(batmonbus.bus_tempsensors_mvolts[batmonbus.t_idx]) >> 2;
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}
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// convert to mV
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batmonbus.bus_tempsensors_mvolts[batmonbus.t_idx] = (uint16_t)(
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(float)batmonbus.bus_tempsensors_mvolts[batmonbus.t_idx] * BATTERY_MONITOR_VREF_MULT);
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// convert to temperature[C]
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batmonbus.bus_temp[batmonbus.t_idx] =
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((float)batmonbus.bus_tempsensors_mvolts[batmonbus.t_idx] +
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(float)batmon_temp_offset ) / batmon_temp_sensitivity;
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// increment counter
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batmonbus.t_idx++;
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if (batmonbus.t_idx == TEMP_SENSORS_NB) {
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batmonbus.t_idx = 0;
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batmonbus.bus_status = BATTERY_MONITOR_BUS_CURRENT_REQ; // to loop through
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}
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}
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break;
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default:
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// a recovery in case of a glitch
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batmonbus.bus_status = BATTERY_MONITOR_BUS_CURRENT;
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batmonbus.bus_status = BATTERY_MONITOR_BUS_CURRENT_REQ;
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break;
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}
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}
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@@ -311,51 +352,52 @@ void battery_monitor_read_balance_ports_2(void) {
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* Read balance ADC
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*/
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void battery_monitor_read_balance_ports(struct BatMonBal* batmonbal) {
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batmonbal->data = 0; // erase at each iteration
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// set the right address into ADC
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// cell_index is the number of the cell we want to probe
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// battery_monitor_cellmap1 contains the mapping of channels for given cell number
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// i.e. Cell_1 (cell_idx = 0) has channel 2
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// this gets translated into hexadecimal number representing the channel internally
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batmonbal->bus_trans.buf[0] =
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battery_monitor_get_address((uint8_t)battery_monitor_cellmap[batmonbal->cell_index]);
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//set to zero so we can detect an error
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batmonbal->bat_cell_mvolts[batmonbal->cell_index] = 0;
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// blocking transaction
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if (i2c_transceive(&BATTERY_MONITOR_I2C_DEV, &batmonbal->bus_trans, batmonbal->addr, 1, 2)){
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// proceed only if transaction was submitted successfully
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if (batmonbal->bus_trans.status == I2CTransSuccess) {
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// read data
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batmonbal->data = (uint16_t) (batmonbal->bus_trans.buf[0] << 8 | batmonbal->bus_trans.buf[1]);
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// NOTE: we are not using the ALERT_FLAG at the moment,
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// get counts
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batmonbal->bat_cell_mvolts[batmonbal->cell_index] = batmonbal->data & 0xFFF;
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// shift right by 2 bits if 10-bit reads only
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if (BATTERY_MONITOR_BIT_RES == 10){
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batmonbal->bat_cell_mvolts[batmonbal->cell_index] =
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(batmonbal->bat_cell_mvolts[batmonbal->cell_index]) >> 2;
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}
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// convert to mV
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// non-blocking transaction
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// if transaction is done, request another measurement
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// NOTE: optionally add startup delay, but it shouldn't be necessary
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if (batmonbal->bus_trans.status == I2CTransDone) {
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// read data first (worst case we get some zeros)
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batmonbal->data = (uint16_t) (batmonbal->bus_trans.buf[0] << 8 | batmonbal->bus_trans.buf[1]);
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// NOTE: we are not using the ALERT_FLAG at the moment,
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// get counts
|
||||
batmonbal->bat_cell_mvolts[batmonbal->cell_index] = batmonbal->data & 0xFFF;
|
||||
// shift right by 2 bits if 10-bit reads only
|
||||
if (BATTERY_MONITOR_BIT_RES == 10){
|
||||
batmonbal->bat_cell_mvolts[batmonbal->cell_index] =
|
||||
(uint16_t)((float)batmonbal->bat_cell_mvolts[batmonbal->cell_index] * BATTERY_MONITOR_VREF_MULT);
|
||||
// convert to actual voltage
|
||||
// we get the multiplier from battery_monitor_cellgains array, which contains multipliers
|
||||
// for cells 1-6(in this order) battery_monitor_cellgains[0] gives us multiplier for cell_1
|
||||
// and so on
|
||||
batmonbal->bat_cell_mvolts[batmonbal->cell_index] =
|
||||
(uint16_t)((float)batmonbal->bat_cell_mvolts[batmonbal->cell_index] *
|
||||
battery_monitor_cellgains[batmonbal->cell_index]);
|
||||
(batmonbal->bat_cell_mvolts[batmonbal->cell_index]) >> 2;
|
||||
}
|
||||
// optional: check for errors and reset i2c transaction
|
||||
// shouldn't be needed
|
||||
}
|
||||
// convert to mV
|
||||
batmonbal->bat_cell_mvolts[batmonbal->cell_index] =
|
||||
(uint16_t)((float)batmonbal->bat_cell_mvolts[batmonbal->cell_index] * BATTERY_MONITOR_VREF_MULT);
|
||||
// convert to actual voltage
|
||||
// we get the multiplier from battery_monitor_cellgains array, which contains multipliers
|
||||
// for cells 1-6(in this order) battery_monitor_cellgains[0] gives us multiplier for cell_1
|
||||
// and so on
|
||||
batmonbal->bat_cell_mvolts[batmonbal->cell_index] =
|
||||
(uint16_t)((float)batmonbal->bat_cell_mvolts[batmonbal->cell_index] *
|
||||
battery_monitor_cellgains[batmonbal->cell_index]);
|
||||
|
||||
// increment counter
|
||||
batmonbal->cell_index++;
|
||||
if (batmonbal->cell_index == BATTERY_CELLS_NB) {
|
||||
batmonbal->cell_index = 0;
|
||||
// increment counter
|
||||
batmonbal->cell_index++;
|
||||
if (batmonbal->cell_index == BATTERY_CELLS_NB) {
|
||||
batmonbal->cell_index = 0;
|
||||
}
|
||||
|
||||
// erase data
|
||||
batmonbal->data = 0; // erase at each iteration
|
||||
|
||||
//set to zero so we can detect an error
|
||||
batmonbal->bat_cell_mvolts[batmonbal->cell_index] = 0;
|
||||
|
||||
// set the right address into ADC
|
||||
// cell_index is the number of the cell we want to probe
|
||||
// battery_monitor_cellmap1 contains the mapping of channels for given cell number
|
||||
// i.e. Cell_1 (cell_idx = 0) has channel 2
|
||||
// this gets translated into hexadecimal number representing the channel internally
|
||||
batmonbal->bus_trans.buf[0] =
|
||||
battery_monitor_get_address((uint8_t)battery_monitor_cellmap[batmonbal->cell_index]);
|
||||
|
||||
// request more data
|
||||
i2c_transceive(&BATTERY_MONITOR_I2C_DEV, &batmonbal->bus_trans, batmonbal->addr, 1, 2);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -195,9 +195,12 @@ extern float batmon_temp_sensitivity;
|
||||
* Status for Bus ADC
|
||||
*/
|
||||
enum BatmonBusStatus {
|
||||
BATTERY_MONITOR_BUS_CURRENT,
|
||||
BATTERY_MONITOR_BUS_VOLTAGE,
|
||||
BATTERY_MONITOR_BUS_TEMPERATURE
|
||||
BATTERY_MONITOR_BUS_CURRENT_REQ,
|
||||
BATTERY_MONITOR_BUS_CURRENT_READ,
|
||||
BATTERY_MONITOR_BUS_VOLTAGE_REQ,
|
||||
BATTERY_MONITOR_BUS_VOLTAGE_READ,
|
||||
BATTERY_MONITOR_BUS_TEMPERATURE_REQ,
|
||||
BATTERY_MONITOR_BUS_TEMPERATURE_READ
|
||||
};
|
||||
|
||||
/**
|
||||
@@ -255,6 +258,7 @@ void battery_monitor_read_balance_ports_2(void);
|
||||
void battery_monitor_read_balance_ports(struct BatMonBal *);
|
||||
|
||||
void battery_monitor_event(void);
|
||||
void battery_monitor_check_i2c_transaction(struct i2c_transaction* t);
|
||||
|
||||
uint8_t battery_monitor_get_address(uint8_t channel);
|
||||
|
||||
|
||||
Reference in New Issue
Block a user