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/****************************************************************************
*
* Copyright (C) 2012, 2013 PX4 Development Team. All rights reserved.
* Author: Randy Mackay <rmackay9@yahoo.com>
*
* 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 batt_smbus.cpp
*
* Driver for a battery monitor connected via SMBus (I2C).
*
*/
#include <nuttx/config.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdlib.h>
#include <stdbool.h>
#include <sched.h>
#include <semaphore.h>
#include <string.h>
#include <fcntl.h>
#include <poll.h>
#include <errno.h>
#include <stdio.h>
#include <math.h>
#include <unistd.h>
#include <ctype.h>
#include <nuttx/arch.h>
#include <nuttx/wqueue.h>
#include <nuttx/clock.h>
#include <board_config.h>
#include <systemlib/perf_counter.h>
#include <systemlib/err.h>
#include <systemlib/systemlib.h>
#include <uORB/uORB.h>
#include <uORB/topics/subsystem_info.h>
#include <uORB/topics/battery_status.h>
#include <float.h>
#include <drivers/device/i2c.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_batt_smbus.h>
#include <drivers/device/ringbuffer.h>
#define BATT_SMBUS_I2C_BUS PX4_I2C_BUS_EXPANSION
#define BATT_SMBUS_ADDR 0x0B /* I2C address */
#define BATT_SMBUS_TEMP 0x08 /* temperature register */
#define BATT_SMBUS_VOLTAGE 0x09 /* voltage register */
#define BATT_SMBUS_DESIGN_CAPACITY 0x18 /* design capacity register */
#define BATT_SMBUS_DESIGN_VOLTAGE 0x19 /* design voltage register */
#define BATT_SMBUS_SERIALNUM 0x1c /* serial number register */
#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 */
#ifndef CONFIG_SCHED_WORKQUEUE
# error This requires CONFIG_SCHED_WORKQUEUE.
#endif
class BATT_SMBUS : public device::I2C
{
public:
BATT_SMBUS(int bus = PX4_I2C_BUS_EXPANSION, uint16_t batt_smbus_addr = BATT_SMBUS_ADDR);
virtual ~BATT_SMBUS();
virtual int init();
virtual int test();
protected:
virtual int probe(); // check if the device can be contacted
private:
// start periodic reads from the battery
void start();
// stop periodic reads from the battery
void stop();
// static function that is called by worker queue
static void cycle_trampoline(void *arg);
// perform a read from the battery
void cycle();
// read_reg - read a word from specified register
int read_reg(uint8_t reg, uint16_t &val);
// read_block - returns number of characters read if successful, zero if unsuccessful
uint8_t read_block(uint8_t reg, uint8_t* data, uint8_t max_len, bool append_zero);
// internal variables
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;
orb_id_t _batt_orb_id;
};
/* for now, we only support one BATT_SMBUS */
namespace
{
BATT_SMBUS *g_batt_smbus;
}
void batt_smbus_usage();
extern "C" __EXPORT int batt_smbus_main(int argc, char *argv[]);
// constructor
BATT_SMBUS::BATT_SMBUS(int bus, uint16_t batt_smbus_addr) :
I2C("batt_smbus", BATT_SMBUS_DEVICE_PATH, bus, batt_smbus_addr, 400000),
_work{},
_reports(nullptr),
_batt_topic(-1),
_batt_orb_id(nullptr)
{
// work_cancel in the dtor will explode if we don't do this...
memset(&_work, 0, sizeof(_work));
}
// destructor
BATT_SMBUS::~BATT_SMBUS()
{
/* make sure we are truly inactive */
stop();
if (_reports != nullptr) {
delete _reports;
}
}
int
BATT_SMBUS::init()
{
int ret = ENOTTY;
// attempt to initialise I2C bus
ret = I2C::init();
if (ret != OK) {
errx(1,"failed to init I2C");
return ret;
} else {
/* allocate basic report buffers */
_reports = new RingBuffer(2, sizeof(struct battery_status_s));
if (_reports == nullptr) {
ret = ENOTTY;
} else {
// start work queue
start();
}
}
// init orb id
_batt_orb_id = ORB_ID(battery_status);
return ret;
}
int
BATT_SMBUS::test()
{
int sub = orb_subscribe(ORB_ID(battery_status));
bool updated = false;
struct battery_status_s status;
uint64_t start_time = hrt_absolute_time();
// loop for 5 seconds
while ((hrt_absolute_time() - start_time) < 5000000) {
// display new info that has arrived from the orb
orb_check(sub, &updated);
if (updated) {
if (orb_copy(ORB_ID(battery_status), sub, &status) == OK) {
warnx("V=%4.2f C=%4.2f", status.voltage_v, status.current_a);
}
}
// sleep for 0.05 seconds
usleep(50000);
}
return OK;
}
int
BATT_SMBUS::probe()
{
// always return OK to ensure device starts
return OK;
}
// start periodic reads from the battery
void
BATT_SMBUS::start()
{
/* reset the report ring and state machine */
_reports->flush();
/* schedule a cycle to start things */
work_queue(HPWORK, &_work, (worker_t)&BATT_SMBUS::cycle_trampoline, this, 1);
}
// stop periodic reads from the battery
void
BATT_SMBUS::stop()
{
work_cancel(HPWORK, &_work);
}
// static function that is called by worker queue
void
BATT_SMBUS::cycle_trampoline(void *arg)
{
BATT_SMBUS *dev = (BATT_SMBUS *)arg;
dev->cycle();
}
// perform a read from the battery
void
BATT_SMBUS::cycle()
{
// read data from sensor
struct battery_status_s new_report;
// set time of reading
new_report.timestamp = hrt_absolute_time();
// read voltage
uint16_t tmp;
if (read_reg(BATT_SMBUS_VOLTAGE, tmp) == OK) {
// initialise new_report
memset(&new_report, 0, sizeof(new_report));
// convert millivolts to volts
new_report.voltage_v = ((float)tmp) / 1000.0f;
// To-Do: read current as block from BATT_SMBUS_CURRENT register
// publish to orb
if (_batt_topic != -1) {
orb_publish(_batt_orb_id, _batt_topic, &new_report);
} else {
_batt_topic = orb_advertise(_batt_orb_id, &new_report);
if (_batt_topic < 0) {
errx(1, "ADVERT FAIL");
}
}
// copy report for test()
_last_report = new_report;
/* post a report to the ring */
_reports->force(&new_report);
/* notify anyone waiting for data */
poll_notify(POLLIN);
}
/* schedule a fresh cycle call when the measurement is done */
work_queue(HPWORK, &_work, (worker_t)&BATT_SMBUS::cycle_trampoline, this, USEC2TICK(BATT_SMBUS_MEASUREMENT_INTERVAL_MS));
}
int
BATT_SMBUS::read_reg(uint8_t reg, uint16_t &val)
{
uint8_t buff[2];
// read from register
int ret = transfer(®, 1, buff, 2);
if (ret == OK) {
val = (uint16_t)buff[1] << 8 | (uint16_t)buff[0];
}
// return success or failure
return ret;
}
// read_block - returns number of characters read if successful, zero if unsuccessful
uint8_t BATT_SMBUS::read_block(uint8_t reg, uint8_t* data, uint8_t max_len, bool append_zero)
{
uint8_t buff[max_len+1]; // buffer to hold results
usleep(1);
// read bytes
int ret = transfer(®, 1,buff, max_len+1);
// return zero on failure
if (ret != OK) {
return 0;
}
// get length
uint8_t bufflen = buff[0];
// sanity check length returned by smbus
if (bufflen == 0 || bufflen > max_len) {
return 0;
}
// copy data
memcpy(data, &buff[1], bufflen);
// optionally add zero to end
if (append_zero) {
data[bufflen] = '\0';
}
// return success
return bufflen;
}
///////////////////////// shell functions ///////////////////////
void
batt_smbus_usage()
{
warnx("missing command: try 'start', 'test', 'stop'");
warnx("options:");
warnx(" -b i2cbus (%d)", BATT_SMBUS_I2C_BUS);
warnx(" -a addr (0x%x)", BATT_SMBUS_ADDR);
}
int
batt_smbus_main(int argc, char *argv[])
{
int i2cdevice = BATT_SMBUS_I2C_BUS;
int batt_smbusadr = BATT_SMBUS_ADDR; /* 7bit */
int ch;
/* jump over start/off/etc and look at options first */
while ((ch = getopt(argc, argv, "a:b:")) != EOF) {
switch (ch) {
case 'a':
batt_smbusadr = strtol(optarg, NULL, 0);
break;
case 'b':
i2cdevice = strtol(optarg, NULL, 0);
break;
default:
batt_smbus_usage();
exit(0);
}
}
if (optind >= argc) {
batt_smbus_usage();
exit(1);
}
const char *verb = argv[optind];
if (!strcmp(verb, "start")) {
if (g_batt_smbus != nullptr) {
errx(1, "already started");
} else {
// create new global object
g_batt_smbus = new BATT_SMBUS(i2cdevice, batt_smbusadr);
if (g_batt_smbus == nullptr) {
errx(1, "new failed");
}
if (OK != g_batt_smbus->init()) {
delete g_batt_smbus;
g_batt_smbus = nullptr;
errx(1, "init failed");
}
}
exit(0);
}
/* need the driver past this point */
if (g_batt_smbus == nullptr) {
warnx("not started");
batt_smbus_usage();
exit(1);
}
if (!strcmp(verb, "test")) {
g_batt_smbus->test();
exit(0);
}
if (!strcmp(verb, "stop")) {
delete g_batt_smbus;
g_batt_smbus = nullptr;
exit(0);
}
batt_smbus_usage();
exit(0);
}
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