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author | Randy Mackay <rmackay9@yahoo.com> | 2015-01-21 16:46:04 +0900 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2015-01-21 22:23:17 +0100 |
commit | d80a00fad105a2dc98ab6ec415e28fa86f1ceed6 (patch) | |
tree | edae826d0cef4d06fd4384240b3fec3936adf523 | |
parent | f8e91e8156e3db1a66132a5de88a92f206a464fc (diff) | |
download | px4-firmware-d80a00fad105a2dc98ab6ec415e28fa86f1ceed6.tar.gz px4-firmware-d80a00fad105a2dc98ab6ec415e28fa86f1ceed6.tar.bz2 px4-firmware-d80a00fad105a2dc98ab6ec415e28fa86f1ceed6.zip |
batt_smbus: disable if no batt 10seconds after startup
-rw-r--r-- | src/drivers/batt_smbus/batt_smbus.cpp | 24 |
1 files changed, 22 insertions, 2 deletions
diff --git a/src/drivers/batt_smbus/batt_smbus.cpp b/src/drivers/batt_smbus/batt_smbus.cpp index 2b5fef4d7..92b752a28 100644 --- a/src/drivers/batt_smbus/batt_smbus.cpp +++ b/src/drivers/batt_smbus/batt_smbus.cpp @@ -91,6 +91,7 @@ #define BATT_SMBUS_MANUFACTURE_INFO 0x25 ///< cell voltage register #define BATT_SMBUS_CURRENT 0x2a ///< current register #define BATT_SMBUS_MEASUREMENT_INTERVAL_MS (1000000 / 10) ///< time in microseconds, measure at 10hz +#define BATT_SMBUS_TIMEOUT_MS 10000000 ///< timeout looking for battery 10seconds after startup #define BATT_SMBUS_PEC_POLYNOMIAL 0x07 ///< Polynomial for calculating PEC @@ -171,11 +172,13 @@ private: uint8_t get_PEC(uint8_t cmd, bool reading, const uint8_t buff[], uint8_t len) const; // internal variables + bool _enabled; ///< true if we have successfully connected to battery work_s _work; ///< work queue for scheduling reads RingBuffer *_reports; ///< buffer of recorded voltages, currents struct battery_status_s _last_report; ///< last published report, used for test() orb_advert_t _batt_topic; ///< uORB battery topic orb_id_t _batt_orb_id; ///< uORB battery topic ID + uint64_t _start_time; ///< system time we first attempt to communicate with battery }; namespace @@ -189,13 +192,18 @@ extern "C" __EXPORT int batt_smbus_main(int argc, char *argv[]); BATT_SMBUS::BATT_SMBUS(int bus, uint16_t batt_smbus_addr) : I2C("batt_smbus", BATT_SMBUS_DEVICE_PATH, bus, batt_smbus_addr, 400000), + _enabled(false), _work{}, _reports(nullptr), _batt_topic(-1), - _batt_orb_id(nullptr) + _batt_orb_id(nullptr), + _start_time(0) { // work_cancel in the dtor will explode if we don't do this... memset(&_work, 0, sizeof(_work)); + + // capture startup time + _start_time = hrt_absolute_time(); } BATT_SMBUS::~BATT_SMBUS() @@ -330,11 +338,20 @@ BATT_SMBUS::cycle_trampoline(void *arg) void BATT_SMBUS::cycle() { + // get current time + uint64_t now = hrt_absolute_time(); + + // exit without rescheduling if we have failed to find a battery after 10 seconds + if (!_enabled && (now - _start_time > BATT_SMBUS_TIMEOUT_MS)) { + warnx("did not find smart battery"); + return; + } + // read data from sensor struct battery_status_s new_report; // set time of reading - new_report.timestamp = hrt_absolute_time(); + new_report.timestamp = now; // read voltage uint16_t tmp; @@ -375,6 +392,9 @@ BATT_SMBUS::cycle() // notify anyone waiting for data poll_notify(POLLIN); + + // record we are working + _enabled = true; } // schedule a fresh cycle call when the measurement is done |