diff options
author | Lorenz Meier <lm@inf.ethz.ch> | 2013-01-01 13:30:24 +0100 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-01-01 13:30:24 +0100 |
commit | 4eb7df6ff5b0015a825ca07c1206dd545b4567b5 (patch) | |
tree | 9e4582abfabb567fa250e44830c54e668c3e0921 | |
parent | d93fda20fd55746923d607e717f254bc92741eab (diff) | |
download | px4-firmware-4eb7df6ff5b0015a825ca07c1206dd545b4567b5.tar.gz px4-firmware-4eb7df6ff5b0015a825ca07c1206dd545b4567b5.tar.bz2 px4-firmware-4eb7df6ff5b0015a825ca07c1206dd545b4567b5.zip |
Introduced battery_status uORB topic, changed sensors app to publish to it, extended px4io driver to publish to it. Both do only so if the battery voltage is reasonably high, at 3.3V
-rw-r--r-- | apps/commander/commander.c | 28 | ||||
-rw-r--r-- | apps/drivers/px4io/px4io.cpp | 25 | ||||
-rw-r--r-- | apps/sdlog/sdlog.c | 2 | ||||
-rw-r--r-- | apps/sensors/sensors.cpp | 33 | ||||
-rw-r--r-- | apps/uORB/objects_common.cpp | 3 | ||||
-rw-r--r-- | apps/uORB/topics/battery_status.h | 68 | ||||
-rw-r--r-- | apps/uORB/topics/sensor_combined.h | 4 |
7 files changed, 141 insertions, 22 deletions
diff --git a/apps/commander/commander.c b/apps/commander/commander.c index 7277e9fa4..17087ab8a 100644 --- a/apps/commander/commander.c +++ b/apps/commander/commander.c @@ -70,6 +70,7 @@ #include <poll.h> #include <uORB/uORB.h> #include <uORB/topics/sensor_combined.h> +#include <uORB/topics/battery_status.h> #include <uORB/topics/manual_control_setpoint.h> #include <uORB/topics/offboard_control_setpoint.h> #include <uORB/topics/vehicle_gps_position.h> @@ -1262,6 +1263,11 @@ int commander_thread_main(int argc, char *argv[]) struct vehicle_command_s cmd; memset(&cmd, 0, sizeof(cmd)); + /* subscribe to battery topic */ + int battery_sub = orb_subscribe(ORB_ID(battery_status)); + struct battery_status_s battery; + memset(&battery, 0, sizeof(battery)); + // uint8_t vehicle_state_previous = current_status.state_machine; float voltage_previous = 0.0f; @@ -1300,15 +1306,19 @@ int commander_thread_main(int argc, char *argv[]) handle_command(stat_pub, ¤t_status, &cmd); } - battery_voltage = sensors.battery_voltage_v; - battery_voltage_valid = sensors.battery_voltage_valid; - - /* - * Only update battery voltage estimate if voltage is - * valid and system has been running for two and a half seconds - */ - if (battery_voltage_valid && (hrt_absolute_time() - start_time > 2500000)) { - bat_remain = battery_remaining_estimate_voltage(battery_voltage); + orb_check(battery_sub, &new_data); + if (new_data) { + orb_copy(ORB_ID(battery_status), battery_sub, &battery); + battery_voltage = battery.voltage_v; + battery_voltage_valid = true; + + /* + * Only update battery voltage estimate if system has + * been running for two and a half seconds. + */ + if (hrt_absolute_time() - start_time > 2500000) { + bat_remain = battery_remaining_estimate_voltage(battery_voltage); + } } /* Slow but important 8 Hz checks */ diff --git a/apps/drivers/px4io/px4io.cpp b/apps/drivers/px4io/px4io.cpp index 9f3dba047..90c077363 100644 --- a/apps/drivers/px4io/px4io.cpp +++ b/apps/drivers/px4io/px4io.cpp @@ -73,6 +73,7 @@ #include <uORB/topics/actuator_controls.h> #include <uORB/topics/actuator_outputs.h> #include <uORB/topics/rc_channels.h> +#include <uORB/topics/battery_status.h> #include <px4io/protocol.h> #include "uploader.h" @@ -109,6 +110,9 @@ private: orb_advert_t _to_input_rc; ///< rc inputs from io rc_input_values _input_rc; ///< rc input values + orb_advert_t _to_battery; ///< battery status / voltage + battery_status_s _battery_status;///< battery status data + orb_advert_t _t_outputs; ///< mixed outputs topic actuator_outputs_s _outputs; ///< mixed outputs @@ -321,6 +325,10 @@ PX4IO::task_main() memset(&_input_rc, 0, sizeof(_input_rc)); _to_input_rc = orb_advertise(ORB_ID(input_rc), &_input_rc); + /* do not advertise the battery status until its clear that a battery is connected */ + memset(&_input_rc, 0, sizeof(_input_rc)); + _to_battery = -1; + /* poll descriptor */ pollfd fds[3]; fds[0].fd = _serial_fd; @@ -479,6 +487,23 @@ PX4IO::rx_callback(const uint8_t *buffer, size_t bytes_received) /* remember the latched arming switch state */ _switch_armed = rep->armed; + /* publish battery information */ + + /* only publish if battery has a valid minimum voltage */ + if (rep->battery_mv > 3300) { + _battery_status.timestamp = hrt_absolute_time(); + _battery_status.voltage_v = rep->battery_mv / 1000.0f; + /* current and discharge are unknown */ + _battery_status.current_a = -1.0f; + _battery_status.discharged_mah = -1.0f; + /* announce the battery voltage if needed, just publish else */ + if (_to_battery > 0) { + orb_publish(ORB_ID(battery_status), _to_battery, &_battery_status); + } else { + _to_battery = orb_advertise(ORB_ID(battery_status), &_battery_status); + } + } + _send_needed = true; /* if monitoring, dump the received info */ diff --git a/apps/sdlog/sdlog.c b/apps/sdlog/sdlog.c index d38bf9122..9b4cd1622 100644 --- a/apps/sdlog/sdlog.c +++ b/apps/sdlog/sdlog.c @@ -554,7 +554,7 @@ int sdlog_thread_main(int argc, char *argv[]) { .control = {buf.act_controls.control[0], buf.act_controls.control[1], buf.act_controls.control[2], buf.act_controls.control[3]}, .actuators = {buf.act_outputs.output[0], buf.act_outputs.output[1], buf.act_outputs.output[2], buf.act_outputs.output[3], buf.act_outputs.output[4], buf.act_outputs.output[5], buf.act_outputs.output[6], buf.act_outputs.output[7]}, - .vbat = buf.raw.battery_voltage_v, + .vbat = 0.0f, /* XXX use battery_status uORB topic */ .adc = {buf.raw.adc_voltage_v[0], buf.raw.adc_voltage_v[1], buf.raw.adc_voltage_v[2]}, .local_position = {buf.local_pos.x, buf.local_pos.y, buf.local_pos.z}, .gps_raw_position = {buf.gps_pos.lat, buf.gps_pos.lon, buf.gps_pos.alt}, diff --git a/apps/sensors/sensors.cpp b/apps/sensors/sensors.cpp index 07a9015fe..55786333f 100644 --- a/apps/sensors/sensors.cpp +++ b/apps/sensors/sensors.cpp @@ -73,6 +73,7 @@ #include <uORB/topics/manual_control_setpoint.h> #include <uORB/topics/vehicle_status.h> #include <uORB/topics/parameter_update.h> +#include <uORB/topics/battery_status.h> #define GYRO_HEALTH_COUNTER_LIMIT_ERROR 20 /* 40 ms downtime at 500 Hz update rate */ #define ACC_HEALTH_COUNTER_LIMIT_ERROR 20 /* 40 ms downtime at 500 Hz update rate */ @@ -156,10 +157,12 @@ private: orb_advert_t _sensor_pub; /**< combined sensor data topic */ orb_advert_t _manual_control_pub; /**< manual control signal topic */ orb_advert_t _rc_pub; /**< raw r/c control topic */ + orb_advert_t _battery_pub; /**< battery status */ perf_counter_t _loop_perf; /**< loop performance counter */ struct rc_channels_s _rc; /**< r/c channel data */ + struct battery_status_s _battery_status; /**< battery status */ struct { float min[_rc_max_chan_count]; @@ -348,6 +351,7 @@ Sensors::Sensors() : _sensor_pub(-1), _manual_control_pub(-1), _rc_pub(-1), + _battery_pub(-1), /* performance counters */ _loop_perf(perf_alloc(PC_ELAPSED, "sensor task update")) @@ -844,14 +848,22 @@ Sensors::adc_poll(struct sensor_combined_s &raw) if (ADC_BATTERY_VOLATGE_CHANNEL == buf_adc.am_channel1) { /* Voltage in volts */ - raw.battery_voltage_v = (BAT_VOL_LOWPASS_1 * (raw.battery_voltage_v + BAT_VOL_LOWPASS_2 * (buf_adc.am_data1 * _parameters.battery_voltage_scaling))); + float voltage = (buf_adc.am_data1 * _parameters.battery_voltage_scaling); - if ((raw.battery_voltage_v) < VOLTAGE_BATTERY_IGNORE_THRESHOLD_VOLTS) { - raw.battery_voltage_valid = false; - raw.battery_voltage_v = 0.f; + if (voltage > VOLTAGE_BATTERY_IGNORE_THRESHOLD_VOLTS) { - } else { - raw.battery_voltage_valid = true; + _battery_status.timestamp = hrt_absolute_time(); + _battery_status.voltage_v = (BAT_VOL_LOWPASS_1 * (_battery_status.voltage_v + BAT_VOL_LOWPASS_2 * voltage));; + /* current and discharge are unknown */ + _battery_status.current_a = -1.0f; + _battery_status.discharged_mah = -1.0f; + + /* announce the battery voltage if needed, just publish else */ + if (_battery_pub > 0) { + orb_publish(ORB_ID(battery_status), _battery_pub, &_battery_status); + } else { + _battery_pub = orb_advertise(ORB_ID(battery_status), &_battery_status); + } } raw.battery_voltage_counter++; @@ -879,7 +891,7 @@ Sensors::ppm_poll() */ if (ppm_decoded_channels > 4 && hrt_absolute_time() - _ppm_last_valid < PPM_INPUT_TIMEOUT_INTERVAL) { - for (int i = 0; i < ppm_decoded_channels; i++) { + for (unsigned i = 0; i < ppm_decoded_channels; i++) { raw.values[i] = ppm_buffer[i]; } @@ -1039,12 +1051,13 @@ Sensors::task_main() struct sensor_combined_s raw; memset(&raw, 0, sizeof(raw)); raw.timestamp = hrt_absolute_time(); - raw.battery_voltage_v = BAT_VOL_INITIAL; raw.adc_voltage_v[0] = 0.9f; raw.adc_voltage_v[1] = 0.0f; raw.adc_voltage_v[2] = 0.0f; - raw.battery_voltage_counter = 0; - raw.battery_voltage_valid = false; + raw.adc_voltage_v[3] = 0.0f; + + memset(&_battery_status, 0, sizeof(_battery_status)); + _battery_status.voltage_v = BAT_VOL_INITIAL; /* get a set of initial values */ accel_poll(raw); diff --git a/apps/uORB/objects_common.cpp b/apps/uORB/objects_common.cpp index dbee15050..2d249a47f 100644 --- a/apps/uORB/objects_common.cpp +++ b/apps/uORB/objects_common.cpp @@ -71,6 +71,9 @@ ORB_DEFINE(vehicle_gps_position, struct vehicle_gps_position_s); #include "topics/vehicle_status.h" ORB_DEFINE(vehicle_status, struct vehicle_status_s); +#include "topics/battery_status.h" +ORB_DEFINE(battery_status, struct battery_status_s); + #include "topics/vehicle_global_position.h" ORB_DEFINE(vehicle_global_position, struct vehicle_global_position_s); diff --git a/apps/uORB/topics/battery_status.h b/apps/uORB/topics/battery_status.h new file mode 100644 index 000000000..c40d0d4e5 --- /dev/null +++ b/apps/uORB/topics/battery_status.h @@ -0,0 +1,68 @@ +/**************************************************************************** + * + * Copyright (C) 2012-2013 PX4 Development Team. All rights reserved. + * + * 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. + * + ****************************************************************************/ + +/** + * @file battery_status.h + * + * Definition of the battery status uORB topic. + */ + +#ifndef BATTERY_STATUS_H_ +#define BATTERY_STATUS_H_ + +#include "../uORB.h" +#include <stdint.h> + +/** + * @addtogroup topics + * @{ + */ + +/** + * Battery voltages and status + */ +struct battery_status_s { + uint64_t timestamp; /**< microseconds since system boot, needed to integrate */ + float voltage_v; /**< Battery voltage in volts, filtered */ + float current_a; /**< Battery current in amperes, filtered, -1 if unknown */ + float discharged_mah; /**< Discharged amount in mAh, filtered, -1 if unknown */ +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(battery_status); + +#endif
\ No newline at end of file diff --git a/apps/uORB/topics/sensor_combined.h b/apps/uORB/topics/sensor_combined.h index 0324500ac..1d25af35a 100644 --- a/apps/uORB/topics/sensor_combined.h +++ b/apps/uORB/topics/sensor_combined.h @@ -99,8 +99,8 @@ struct sensor_combined_s { float baro_pres_mbar; /**< Barometric pressure, already temp. comp. */ float baro_alt_meter; /**< Altitude, already temp. comp. */ float baro_temp_celcius; /**< Temperature in degrees celsius */ - float battery_voltage_v; /**< Battery voltage in volts, filtered */ - float adc_voltage_v[3]; /**< ADC voltages of ADC Chan 11/12/13 or -1 */ + float adc_voltage_v[4]; /**< ADC voltages of ADC Chan 10/11/12/13 or -1 */ + float mcu_temp_celcius; /**< Internal temperature measurement of MCU */ uint32_t baro_counter; /**< Number of raw baro measurements taken */ uint32_t battery_voltage_counter; /**< Number of voltage measurements taken */ bool battery_voltage_valid; /**< True if battery voltage can be measured */ |