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batt_smbus: use driver base class

sbg
Beat Küng 5 years ago committed by Daniel Agar
parent
ec2de33547
commit
82f92b56db
3 changed files with 157 additions and 210 deletions
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  1. 313
      src/drivers/batt_smbus/batt_smbus.cpp
  2. 53
      src/drivers/batt_smbus/batt_smbus.h
  3. 1
      src/drivers/drv_sensor.h

313
src/drivers/batt_smbus/batt_smbus.cpp
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@ -47,8 +47,8 @@ @@ -47,8 +47,8 @@
extern "C" __EXPORT int batt_smbus_main(int argc, char *argv[]);
BATT_SMBUS::BATT_SMBUS(SMBus *interface, const char *path) :
ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id())),
BATT_SMBUS::BATT_SMBUS(I2CSPIBusOption bus_option, const int bus, SMBus *interface) :
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id()), bus_option, bus),
_interface(interface)
{
battery_status_s new_report = {};
@ -81,79 +81,8 @@ BATT_SMBUS::~BATT_SMBUS() @@ -81,79 +81,8 @@ BATT_SMBUS::~BATT_SMBUS()
param_set(param_find("BAT_SOURCE"), &battsource);
}
int BATT_SMBUS::task_spawn(int argc, char *argv[])
void BATT_SMBUS::RunImpl()
{
enum BATT_SMBUS_BUS busid = BATT_SMBUS_BUS_ALL;
int myoptind = 1;
int ch;
const char *myoptarg = nullptr;
while ((ch = px4_getopt(argc, argv, "XTRIA", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'X':
busid = BATT_SMBUS_BUS_I2C_EXTERNAL;
break;
case 'T':
busid = BATT_SMBUS_BUS_I2C_EXTERNAL1;
break;
case 'R':
busid = BATT_SMBUS_BUS_I2C_EXTERNAL2;
break;
case 'I':
busid = BATT_SMBUS_BUS_I2C_INTERNAL;
break;
case 'A':
busid = BATT_SMBUS_BUS_ALL;
break;
default:
print_usage();
return PX4_ERROR;
}
}
for (unsigned i = 0; i < NUM_BUS_OPTIONS; i++) {
if (!is_running() && (busid == BATT_SMBUS_BUS_ALL || smbus_bus_options[i].busid == busid)) {
SMBus *interface = new SMBus(smbus_bus_options[i].busnum, BATT_SMBUS_ADDR);
BATT_SMBUS *dev = new BATT_SMBUS(interface, smbus_bus_options[i].devpath);
int result = dev->get_startup_info();
if (result != PX4_OK) {
delete dev;
continue;
}
// Successful read of device type, we've found our battery
_object.store(dev);
_task_id = task_id_is_work_queue;
dev->ScheduleOnInterval(BATT_SMBUS_MEASUREMENT_INTERVAL_US);
return PX4_OK;
}
}
PX4_WARN("Not found.");
return PX4_ERROR;
}
void BATT_SMBUS::Run()
{
if (should_exit()) {
ScheduleClear();
exit_and_cleanup();
return;
}
// Get the current time.
uint64_t now = hrt_absolute_time();
@ -354,7 +283,7 @@ int BATT_SMBUS::dataflash_read(uint16_t &address, void *data, const unsigned len @@ -354,7 +283,7 @@ int BATT_SMBUS::dataflash_read(uint16_t &address, void *data, const unsigned len
return result;
}
int BATT_SMBUS::dataflash_write(uint16_t &address, void *data, const unsigned length)
int BATT_SMBUS::dataflash_write(uint16_t address, void *data, const unsigned length)
{
uint8_t code = BATT_SMBUS_MANUFACTURER_BLOCK_ACCESS;
@ -387,7 +316,7 @@ int BATT_SMBUS::get_startup_info() @@ -387,7 +316,7 @@ int BATT_SMBUS::get_startup_info()
result = manufacturer_name((uint8_t *)man_name, sizeof(man_name));
if (result != PX4_OK) {
PX4_WARN("Failed to get manufacturer name");
PX4_DEBUG("Failed to get manufacturer name");
return PX4_ERROR;
}
@ -559,133 +488,181 @@ int BATT_SMBUS::lifetime_read_block_one() @@ -559,133 +488,181 @@ int BATT_SMBUS::lifetime_read_block_one()
return PX4_OK;
}
int BATT_SMBUS::custom_command(int argc, char *argv[])
void BATT_SMBUS::print_usage()
{
const char *input = argv[0];
uint8_t man_name[22];
int result = 0;
PRINT_MODULE_DESCRIPTION(
R"DESCR_STR(
### Description
Smart battery driver for the BQ40Z50 fuel gauge IC.
if (!is_running()) {
PX4_ERR("not running");
return -1;
}
### Examples
To write to flash to set parameters. address, number_of_bytes, byte0, ... , byteN
$ batt_smbus -X write_flash 19069 2 27 0
BATT_SMBUS *obj = get_instance();
)DESCR_STR");
if (!strcmp(input, "man_info")) {
PRINT_MODULE_USAGE_NAME("batt_smbus", "driver");
result = obj->manufacturer_name(man_name, sizeof(man_name));
PX4_INFO("The manufacturer name: %s", man_name);
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x0B);
result = obj->manufacture_date();
PX4_INFO("The manufacturer date: %d", result);
PRINT_MODULE_USAGE_COMMAND_DESCR("man_info", "Prints manufacturer info.");
PRINT_MODULE_USAGE_COMMAND_DESCR("unseal", "Unseals the devices flash memory to enable write_flash commands.");
PRINT_MODULE_USAGE_COMMAND_DESCR("seal", "Seals the devices flash memory to disbale write_flash commands.");
PRINT_MODULE_USAGE_COMMAND_DESCR("suspend", "Suspends the driver from rescheduling the cycle.");
PRINT_MODULE_USAGE_COMMAND_DESCR("resume", "Resumes the driver from suspension.");
uint16_t serial_num = 0;
serial_num = obj->get_serial_number();
PX4_INFO("The serial number: %d", serial_num);
PRINT_MODULE_USAGE_COMMAND_DESCR("write_flash", "Writes to flash. The device must first be unsealed with the unseal command.");
PRINT_MODULE_USAGE_ARG("address", "The address to start writing.", true);
PRINT_MODULE_USAGE_ARG("number of bytes", "Number of bytes to send.", true);
PRINT_MODULE_USAGE_ARG("data[0]...data[n]", "One byte of data at a time separated by spaces.", true);
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
return 0;
I2CSPIDriverBase *BATT_SMBUS::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance)
{
SMBus *interface = new SMBus(iterator.bus(), cli.i2c_address);
if (interface == nullptr) {
PX4_ERR("alloc failed");
return nullptr;
}
BATT_SMBUS *instance = new BATT_SMBUS(iterator.configuredBusOption(), iterator.bus(), interface);
if (!strcmp(input, "unseal")) {
obj->unseal();
return 0;
if (instance == nullptr) {
PX4_ERR("alloc failed");
return nullptr;
}
if (!strcmp(input, "seal")) {
obj->seal();
return 0;
int result = instance->get_startup_info();
if (result != PX4_OK) {
delete instance;
return nullptr;
}
if (!strcmp(input, "suspend")) {
obj->suspend();
return 0;
instance->ScheduleOnInterval(BATT_SMBUS_MEASUREMENT_INTERVAL_US);
return instance;
}
void
BATT_SMBUS::custom_method(const BusCLIArguments &cli)
{
switch(cli.custom1) {
case 1: {
uint8_t man_name[22];
int result = manufacturer_name(man_name, sizeof(man_name));
PX4_INFO("The manufacturer name: %s", man_name);
result = manufacture_date();
PX4_INFO("The manufacturer date: %d", result);
uint16_t serial_num = 0;
serial_num = get_serial_number();
PX4_INFO("The serial number: %d", serial_num);
}
break;
case 2:
unseal();
break;
case 3:
seal();
break;
case 4:
suspend();
break;
case 5:
resume();
break;
case 6:
if (cli.custom_data) {
unsigned address = cli.custom2;
uint8_t *tx_buf = (uint8_t*)cli.custom_data;
unsigned length = tx_buf[0];
if (PX4_OK != dataflash_write(address, tx_buf+1, length)) {
PX4_ERR("Dataflash write failed: %d", address);
}
px4_usleep(100000);
}
break;
}
}
extern "C" __EXPORT int batt_smbus_main(int argc, char *argv[])
{
using ThisDriver = BATT_SMBUS;
BusCLIArguments cli{true, false};
cli.default_i2c_frequency = 100000;
cli.i2c_address = BATT_SMBUS_ADDR;
const char *verb = cli.parseDefaultArguments(argc, argv);
if (!verb) {
ThisDriver::print_usage();
return -1;
}
BusInstanceIterator iterator(MODULE_NAME, cli, DRV_BAT_DEVTYPE_SMBUS);
if (!strcmp(verb, "start")) {
return ThisDriver::module_start(cli, iterator);
}
if (!strcmp(input, "resume")) {
obj->resume();
return 0;
if (!strcmp(verb, "stop")) {
return ThisDriver::module_stop(iterator);
}
if (!strcmp(input, "serial_num")) {
uint16_t serial_num = obj->get_serial_number();
PX4_INFO("Serial number: %d", serial_num);
return 0;
if (!strcmp(verb, "status")) {
return ThisDriver::module_status(iterator);
}
if (!strcmp(input, "write_flash")) {
if (!strcmp(verb, "man_info")) {
cli.custom1 = 1;
return ThisDriver::module_custom_method(cli, iterator, false);
}
if (!strcmp(verb, "unseal")) {
cli.custom1 = 2;
return ThisDriver::module_custom_method(cli, iterator);
}
if (!strcmp(verb, "seal")) {
cli.custom1 = 3;
return ThisDriver::module_custom_method(cli, iterator);
}
if (!strcmp(verb, "suspend")) {
cli.custom1 = 4;
return ThisDriver::module_custom_method(cli, iterator);
}
if (!strcmp(verb, "resume")) {
cli.custom1 = 5;
return ThisDriver::module_custom_method(cli, iterator);
}
if (!strcmp(verb, "write_flash")) {
cli.custom1 = 6;
if (argc >= 3) {
uint16_t address = atoi(argv[1]);
unsigned length = atoi(argv[2]);
uint8_t tx_buf[32] = {};
uint8_t tx_buf[33];
cli.custom_data = &tx_buf;
if (length > 32) {
PX4_WARN("Data length out of range: Max 32 bytes");
return 1;
}
tx_buf[0] = length;
// Data needs to be fed in 1 byte (0x01) at a time.
for (unsigned i = 0; i < length; i++) {
if ((unsigned)argc <= 3 + i) {
tx_buf[i] = atoi(argv[3 + i]);
tx_buf[i+1] = atoi(argv[3 + i]);
}
}
if (PX4_OK != obj->dataflash_write(address, tx_buf, length)) {
PX4_INFO("Dataflash write failed: %d", address);
px4_usleep(100000);
return 1;
} else {
px4_usleep(100000);
return 0;
}
cli.custom2 = address;
return ThisDriver::module_custom_method(cli, iterator);
}
}
print_usage();
return PX4_ERROR;
}
int BATT_SMBUS::print_usage()
{
PRINT_MODULE_DESCRIPTION(
R"DESCR_STR(
### Description
Smart battery driver for the BQ40Z50 fuel gauge IC.
### Examples
To write to flash to set parameters. address, number_of_bytes, byte0, ... , byteN
$ batt_smbus -X write_flash 19069 2 27 0
)DESCR_STR");
PRINT_MODULE_USAGE_NAME("batt_smbus", "driver");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAM_FLAG('X', "BATT_SMBUS_BUS_I2C_EXTERNAL", true);
PRINT_MODULE_USAGE_PARAM_FLAG('T', "BATT_SMBUS_BUS_I2C_EXTERNAL1", true);
PRINT_MODULE_USAGE_PARAM_FLAG('R', "BATT_SMBUS_BUS_I2C_EXTERNAL2", true);
PRINT_MODULE_USAGE_PARAM_FLAG('I', "BATT_SMBUS_BUS_I2C_INTERNAL", true);
PRINT_MODULE_USAGE_PARAM_FLAG('A', "BATT_SMBUS_BUS_ALL", true);
PRINT_MODULE_USAGE_COMMAND_DESCR("man_info", "Prints manufacturer info.");
PRINT_MODULE_USAGE_COMMAND_DESCR("unseal", "Unseals the devices flash memory to enable write_flash commands.");
PRINT_MODULE_USAGE_COMMAND_DESCR("seal", "Seals the devices flash memory to disbale write_flash commands.");
PRINT_MODULE_USAGE_COMMAND_DESCR("suspend", "Suspends the driver from rescheduling the cycle.");
PRINT_MODULE_USAGE_COMMAND_DESCR("resume", "Resumes the driver from suspension.");
PRINT_MODULE_USAGE_COMMAND_DESCR("write_flash", "Writes to flash. The device must first be unsealed with the unseal command.");
PRINT_MODULE_USAGE_ARG("address", "The address to start writing.", true);
PRINT_MODULE_USAGE_ARG("number of bytes", "Number of bytes to send.", true);
PRINT_MODULE_USAGE_ARG("data[0]...data[n]", "One byte of data at a time separated by spaces.", true);
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
return PX4_OK;
}
int batt_smbus_main(int argc, char *argv[])
{
return BATT_SMBUS::main(argc, argv);
ThisDriver::print_usage();
return -1;
}

53
src/drivers/batt_smbus/batt_smbus.h
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@ -49,10 +49,10 @@ @@ -49,10 +49,10 @@
#include <perf/perf_counter.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <px4_platform_common/i2c_spi_buses.h>
#include <uORB/topics/battery_status.h>
#include "board_config.h"
#include <board_config.h>
#define MAC_DATA_BUFFER_SIZE 32
@ -95,51 +95,22 @@ @@ -95,51 +95,22 @@
#define BATT_SMBUS_ENABLED_PROTECTIONS_A_DEFAULT 0xcf
#define BATT_SMBUS_ENABLED_PROTECTIONS_A_CUV_DISABLED 0xce
#define NUM_BUS_OPTIONS (sizeof(smbus_bus_options)/sizeof(smbus_bus_options[0]))
enum BATT_SMBUS_BUS {
BATT_SMBUS_BUS_ALL = 0,
BATT_SMBUS_BUS_I2C_INTERNAL,
BATT_SMBUS_BUS_I2C_EXTERNAL,
BATT_SMBUS_BUS_I2C_EXTERNAL1,
BATT_SMBUS_BUS_I2C_EXTERNAL2
};
struct batt_smbus_bus_option {
enum BATT_SMBUS_BUS busid;
const char *devpath;
uint8_t busnum;
} const smbus_bus_options[] = {
{ BATT_SMBUS_BUS_I2C_EXTERNAL, "/dev/batt_smbus_ext", PX4_I2C_BUS_EXPANSION},
#ifdef PX4_I2C_BUS_EXPANSION1
{ BATT_SMBUS_BUS_I2C_EXTERNAL1, "/dev/batt_smbus_ext1", PX4_I2C_BUS_EXPANSION1},
#endif
#ifdef PX4_I2C_BUS_EXPANSION2
{ BATT_SMBUS_BUS_I2C_EXTERNAL2, "/dev/batt_smbus_ext2", PX4_I2C_BUS_EXPANSION2},
#endif
#ifdef PX4_I2C_BUS_ONBOARD
{ BATT_SMBUS_BUS_I2C_INTERNAL, "/dev/batt_smbus_int", PX4_I2C_BUS_ONBOARD},
#endif
};
class BATT_SMBUS : public ModuleBase<BATT_SMBUS>, public px4::ScheduledWorkItem
class BATT_SMBUS : public I2CSPIDriver<BATT_SMBUS>
{
public:
BATT_SMBUS(SMBus *interface, const char *path);
BATT_SMBUS(I2CSPIBusOption bus_option, const int bus, SMBus *interface);
~BATT_SMBUS();
friend SMBus;
static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance);
static void print_usage();
/** @see ModuleBase */
static int print_usage();
friend SMBus;
/** @see ModuleBase */
static int custom_command(int argc, char *argv[]);
void RunImpl();
/** @see ModuleBase */
static int task_spawn(int argc, char *argv[]);
void custom_method(const BusCLIArguments &cli) override;
/**
* @brief Reads data from flash.
@ -156,7 +127,7 @@ public: @@ -156,7 +127,7 @@ public:
* @param length The number of bytes being written.
* @return Returns PX4_OK on success, PX4_ERROR on failure.
*/
int dataflash_write(uint16_t &address, void *data, const unsigned length);
int dataflash_write(uint16_t address, void *data, const unsigned length);
/**
* @brief Returns the SBS serial number of the battery device.
@ -244,8 +215,6 @@ public: @@ -244,8 +215,6 @@ public:
private:
void Run() override;
SMBus *_interface;
perf_counter_t _cycle{perf_alloc(PC_ELAPSED, "batt_smbus_cycle")};

1
src/drivers/drv_sensor.h
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@ -141,6 +141,7 @@ @@ -141,6 +141,7 @@
#define DRV_LED_DEVTYPE_BLINKM 0x79
#define DRV_LED_DEVTYPE_RGBLED 0x7a
#define DRV_LED_DEVTYPE_RGBLED_NCP5623C 0x7b
#define DRV_BAT_DEVTYPE_SMBUS 0x7c
#define DRV_DEVTYPE_UNUSED 0xff

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