From 64fa1ec6a578f3f0afe892fbf704bc009c8b6a40 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Wed, 7 Feb 2018 20:57:08 -0500
Subject: [PATCH] batt_smbus readd to configurations and fix compilation errors
---
cmake/configs/nuttx_auav-x21_default.cmake | 37 +++--
cmake/configs/nuttx_mindpx-v2_default.cmake | 1 +
cmake/configs/nuttx_nxphlite-v3_default.cmake | 7 +-
cmake/configs/nuttx_px4fmu-v3_default.cmake | 1 +
cmake/configs/nuttx_px4fmu-v4_default.cmake | 1 +
.../configs/nuttx_px4fmu-v4pro_default.cmake | 1 +
cmake/configs/nuttx_px4fmu-v5_default.cmake | 1 +
cmake/configs/posix_rpi_common.cmake | 12 +-
cmake/configs/posix_sitl_default.cmake | 1 +
msg/battery_status.msg | 2 +-
src/drivers/batt_smbus/batt_smbus.cpp | 154 ++++++++----------
src/drivers/drv_batt_smbus.h | 2 +-
12 files changed, 101 insertions(+), 119 deletions(-)
diff --git a/cmake/configs/nuttx_auav-x21_default.cmake b/cmake/configs/nuttx_auav-x21_default.cmake
index 51c3658959..ffbe166317 100644
--- a/cmake/configs/nuttx_auav-x21_default.cmake
+++ b/cmake/configs/nuttx_auav-x21_default.cmake
@@ -12,31 +12,32 @@ set(config_module_list
drivers/distance_sensor
drivers/magnetometer
+ drivers/airspeed
+ drivers/batt_smbus
+ drivers/blinkm
+ drivers/boards
+ drivers/bst
+ drivers/camera_trigger
drivers/device
- drivers/stm32
- drivers/stm32/adc
- drivers/stm32/tone_alarm
+ drivers/frsky_telemetry
+ drivers/gps
+ drivers/hott
drivers/led
- drivers/px4fmu
- drivers/px4io
- drivers/boards
- drivers/rgbled
+ drivers/mkblctrl
drivers/mpu6000
drivers/mpu9250
- drivers/gps
+ drivers/oreoled
+ drivers/pwm_input
drivers/pwm_out_sim
- drivers/hott
- drivers/blinkm
- drivers/airspeed
- drivers/frsky_telemetry
- modules/sensors
- drivers/mkblctrl
drivers/px4flow
- drivers/oreoled
+ drivers/px4fmu
+ drivers/px4io
+ drivers/rgbled
+ drivers/stm32
+ drivers/stm32/adc
+ drivers/stm32/tone_alarm
drivers/vmount
- drivers/pwm_input
- drivers/camera_trigger
- drivers/bst
+ modules/sensors
#
# System commands
diff --git a/cmake/configs/nuttx_mindpx-v2_default.cmake b/cmake/configs/nuttx_mindpx-v2_default.cmake
index 42820967f7..4e7d8a8597 100644
--- a/cmake/configs/nuttx_mindpx-v2_default.cmake
+++ b/cmake/configs/nuttx_mindpx-v2_default.cmake
@@ -12,6 +12,7 @@ set(config_module_list
drivers/distance_sensor
drivers/airspeed
+ drivers/batt_smbus
drivers/blinkm
drivers/boards
drivers/bst
diff --git a/cmake/configs/nuttx_nxphlite-v3_default.cmake b/cmake/configs/nuttx_nxphlite-v3_default.cmake
index 63d588583a..9e72918b34 100644
--- a/cmake/configs/nuttx_nxphlite-v3_default.cmake
+++ b/cmake/configs/nuttx_nxphlite-v3_default.cmake
@@ -13,16 +13,16 @@ set(config_module_list
drivers/magnetometer
drivers/airspeed
+ drivers/barometer/mpl3115a2
+ drivers/batt_smbus
drivers/blinkm
-#NOT Supported drivers/bma180
-#NOT Supported drivers/bmi160
drivers/boards
drivers/bst
drivers/camera_trigger
drivers/device
drivers/frsky_telemetry
- drivers/fxos8701cq
drivers/fxas21002c
+ drivers/fxos8701cq
drivers/gps
drivers/hott
drivers/iridiumsbd
@@ -32,7 +32,6 @@ set(config_module_list
drivers/l3gd20
drivers/led
drivers/mkblctrl
- drivers/barometer/mpl3115a2
drivers/mpu6000
drivers/mpu9250
drivers/oreoled
diff --git a/cmake/configs/nuttx_px4fmu-v3_default.cmake b/cmake/configs/nuttx_px4fmu-v3_default.cmake
index fdb65038e1..ee21eea8fe 100644
--- a/cmake/configs/nuttx_px4fmu-v3_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v3_default.cmake
@@ -20,6 +20,7 @@ set(config_module_list
drivers/adis16448
drivers/airspeed
+ drivers/batt_smbus
drivers/blinkm
drivers/bmi160
drivers/boards
diff --git a/cmake/configs/nuttx_px4fmu-v4_default.cmake b/cmake/configs/nuttx_px4fmu-v4_default.cmake
index 5018cfff07..ba248959b1 100644
--- a/cmake/configs/nuttx_px4fmu-v4_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v4_default.cmake
@@ -13,6 +13,7 @@ set(config_module_list
drivers/magnetometer
drivers/airspeed
+ drivers/batt_smbus
drivers/blinkm
drivers/bma180
drivers/bmi055
diff --git a/cmake/configs/nuttx_px4fmu-v4pro_default.cmake b/cmake/configs/nuttx_px4fmu-v4pro_default.cmake
index fdaaacfbf1..4a62ebd80a 100644
--- a/cmake/configs/nuttx_px4fmu-v4pro_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v4pro_default.cmake
@@ -13,6 +13,7 @@ set(config_module_list
drivers/magnetometer
drivers/airspeed
+ drivers/batt_smbus
drivers/blinkm
drivers/bma180
drivers/bmi160
diff --git a/cmake/configs/nuttx_px4fmu-v5_default.cmake b/cmake/configs/nuttx_px4fmu-v5_default.cmake
index b5c49806ea..c281885938 100644
--- a/cmake/configs/nuttx_px4fmu-v5_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v5_default.cmake
@@ -13,6 +13,7 @@ set(config_module_list
drivers/magnetometer
drivers/airspeed
+ drivers/batt_smbus
drivers/blinkm
drivers/bma180
drivers/bmi055
diff --git a/cmake/configs/posix_rpi_common.cmake b/cmake/configs/posix_rpi_common.cmake
index 5bab00f507..d88b61d058 100644
--- a/cmake/configs/posix_rpi_common.cmake
+++ b/cmake/configs/posix_rpi_common.cmake
@@ -16,18 +16,20 @@ set(config_module_list
# Board support modules
#
drivers/airspeed
- drivers/device
- drivers/distance_sensor
#drivers/barometer
+ drivers/batt_smbus
+ drivers/device
drivers/differential_pressure
+ drivers/distance_sensor
modules/sensors
- platforms/posix/drivers/df_mpu9250_wrapper
+
+ platforms/posix/drivers/df_hmc5883_wrapper
+ platforms/posix/drivers/df_isl29501_wrapper
platforms/posix/drivers/df_lsm9ds1_wrapper
+ platforms/posix/drivers/df_mpu9250_wrapper
platforms/posix/drivers/df_ms5611_wrapper
- platforms/posix/drivers/df_hmc5883_wrapper
platforms/posix/drivers/df_trone_wrapper
- platforms/posix/drivers/df_isl29501_wrapper
#
# System commands
diff --git a/cmake/configs/posix_sitl_default.cmake b/cmake/configs/posix_sitl_default.cmake
index 7d099bbd0f..09b57b01fb 100644
--- a/cmake/configs/posix_sitl_default.cmake
+++ b/cmake/configs/posix_sitl_default.cmake
@@ -7,6 +7,7 @@ set(config_module_list
drivers/distance_sensor
drivers/airspeed
+ drivers/batt_smbus
drivers/boards
drivers/camera_trigger
drivers/device
diff --git a/msg/battery_status.msg b/msg/battery_status.msg
index 0422ecd979..2fe836261a 100644
--- a/msg/battery_status.msg
+++ b/msg/battery_status.msg
@@ -10,7 +10,7 @@ bool connected # Whether or not a battery is connected, based on a voltage thr
bool system_source # Whether or not a this battery is the active power source for VDD_5V_IN
uint8 priority # Zerro based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
-#bool is_powering_off # Power off event imminent indication, false if unknown
+bool is_powering_off # Power off event imminent indication, false if unknown
uint8 BATTERY_WARNING_NONE = 0 # no battery low voltage warning active
diff --git a/src/drivers/batt_smbus/batt_smbus.cpp b/src/drivers/batt_smbus/batt_smbus.cpp
index c90e0ddc1c..c9e6fdfc07 100644
--- a/src/drivers/batt_smbus/batt_smbus.cpp
+++ b/src/drivers/batt_smbus/batt_smbus.cpp
@@ -39,43 +39,20 @@
* @author Randy Mackay <rmackay9@yahoo.com>
*/
-#include <px4_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 <stdio.h>
+#include <string.h>
#include <drivers/device/i2c.h>
-#include <drivers/drv_hrt.h>
-#include <drivers/drv_batt_smbus.h>
#include <drivers/device/ringbuffer.h>
+#include <drivers/drv_batt_smbus.h>
+#include <drivers/drv_hrt.h>
+#include <px4_config.h>
+#include <px4_workqueue.h>
+#include <systemlib/perf_counter.h>
+#include <uORB/topics/battery_status.h>
+#include <uORB/topics/subsystem_info.h>
+#include <uORB/uORB.h>
#define BATT_SMBUS_ADDR_MIN 0x08 ///< lowest possible address
#define BATT_SMBUS_ADDR_MAX 0x7F ///< highest possible address
@@ -137,7 +114,7 @@ public:
/**
* ioctl for retrieving battery capacity and time to empty
*/
- virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
+ virtual int ioctl(device::file_t *filp, int cmd, unsigned long arg);
/**
* Test device
@@ -261,7 +238,7 @@ private:
* Calculate PEC for a read or write from the battery
* @param buff is the data that was read or will be written
*/
- uint8_t get_PEC(uint8_t cmd, bool reading, const uint8_t buff[], uint8_t len) const;
+ uint8_t get_PEC(uint8_t cmd, bool reading, const uint8_t buff[], uint8_t len);
/**
* Write a word to Manufacturer Access register (0x00)
@@ -277,7 +254,7 @@ private:
// internal variables
bool _enabled; ///< true if we have successfully connected to battery
- work_s _work; ///< work queue for scheduling reads
+ work_s _work{}; ///< work queue for scheduling reads
ringbuffer::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
@@ -310,7 +287,6 @@ int solo_battery_check();
BATT_SMBUS::BATT_SMBUS(int bus, uint16_t batt_smbus_addr) :
I2C("batt_smbus", BATT_SMBUS0_DEVICE_PATH, bus, batt_smbus_addr, 100000),
_enabled(false),
- _work{},
_reports(nullptr),
_batt_topic(nullptr),
_batt_orb_id(nullptr),
@@ -322,9 +298,6 @@ BATT_SMBUS::BATT_SMBUS(int bus, uint16_t batt_smbus_addr) :
_is_solo_battery(false),
_button_press_counts(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();
}
@@ -360,7 +333,7 @@ BATT_SMBUS::init()
ret = I2C::init();
if (ret != OK) {
- errx(1, "failed to init I2C");
+ PX4_ERR("failed to init I2C");
return ret;
} else {
@@ -383,7 +356,7 @@ BATT_SMBUS::init()
}
int
-BATT_SMBUS::ioctl(struct file *filp, int cmd, unsigned long arg)
+BATT_SMBUS::ioctl(device::file_t *filp, int cmd, unsigned long arg)
{
int ret = -ENODEV;
@@ -423,8 +396,8 @@ BATT_SMBUS::test()
if (updated) {
if (orb_copy(ORB_ID(battery_status), sub, &status) == OK) {
- warnx("V=%4.2f C=%4.2f DismAh=%4.2f Cap:%d Shutdown:%d", (double)status.voltage_v, (double)status.current_a,
- (double)status.discharged_mah, (int)_batt_capacity, (int)status.is_powering_off);
+ PX4_INFO("V=%4.2f C=%4.2f DismAh=%4.2f Cap:%d Shutdown:%d", (double)status.voltage_v, (double)status.current_a,
+ (double)status.discharged_mah, (int)_batt_capacity, (int)status.is_powering_off);
}
}
@@ -447,7 +420,7 @@ BATT_SMBUS::search()
set_device_address(i);
if (read_reg(BATT_SMBUS_VOLTAGE, tmp) == OK) {
- warnx("battery found at 0x%x", (int)i);
+ PX4_INFO("battery found at 0x%x", (int)i);
found_slave = true;
}
@@ -460,10 +433,10 @@ BATT_SMBUS::search()
// display completion message
if (found_slave) {
- warnx("Done.");
+ PX4_INFO("Done.");
} else {
- warnx("No smart batteries found.");
+ PX4_WARN("No smart batteries found.");
}
return OK;
@@ -591,7 +564,7 @@ BATT_SMBUS::cycle()
// exit without rescheduling if we have failed to find a battery after 10 seconds
if (!_enabled && (now - _start_time > BATT_SMBUS_TIMEOUT_US)) {
- warnx("did not find smart battery");
+ PX4_WARN("did not find smart battery");
return;
}
@@ -633,12 +606,12 @@ BATT_SMBUS::cycle()
// If necessary, check if the battery is a 3DR Solo Battery
if (perform_solo_battry_check) {
- warnx("Checking solo battery");
+ PX4_INFO("Checking solo battery");
check_if_solo_battery();
}
// read data from sensor
- struct battery_status_s new_report;
+ battery_status_s new_report = {};
// set time of reading
new_report.timestamp = now;
@@ -647,9 +620,6 @@ BATT_SMBUS::cycle()
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;
@@ -689,7 +659,7 @@ BATT_SMBUS::cycle()
// warn only once
if (_button_press_counts++ == ((BATT_SMBUS_BUTTON_DEBOUNCE_MS * 1000) / BATT_SMBUS_MEASUREMENT_INTERVAL_US)) {
- warnx("system is shutting down NOW...");
+ PX4_WARN("system is shutting down NOW...");
}
} else if (pressed) {
@@ -713,7 +683,8 @@ BATT_SMBUS::cycle()
_batt_topic = orb_advertise(_batt_orb_id, &new_report);
if (_batt_topic == nullptr) {
- errx(1, "ADVERT FAIL");
+ PX4_ERR("ADVERT FAIL");
+ return;
}
}
@@ -773,7 +744,7 @@ BATT_SMBUS::write_reg(uint8_t reg, uint16_t val)
int ret = transfer(buff, 3, nullptr, 0);
if (ret != OK) {
- debug("Register write error");
+ PX4_DEBUG("Register write error");
}
// return success or failure
@@ -837,7 +808,7 @@ BATT_SMBUS::write_block(uint8_t reg, uint8_t *data, uint8_t len)
// return zero on failure
if (ret != OK) {
- debug("Block write error\n");
+ PX4_DEBUG("Block write error");
return 0;
}
@@ -846,7 +817,7 @@ BATT_SMBUS::write_block(uint8_t reg, uint8_t *data, uint8_t len)
}
uint8_t
-BATT_SMBUS::get_PEC(uint8_t cmd, bool reading, const uint8_t buff[], uint8_t len) const
+BATT_SMBUS::get_PEC(uint8_t cmd, bool reading, const uint8_t buff[], uint8_t len)
{
// exit immediately if no data
if (len <= 0) {
@@ -913,7 +884,7 @@ BATT_SMBUS::ManufacturerAccess(uint16_t cmd)
int ret = write_reg(BATT_SMBUS_MANUFACTURER_ACCESS, cmd);
if (ret != OK) {
- debug("Manufacturer Access error");
+ PX4_WARN("Manufacturer Access error");
}
return ret;
@@ -934,10 +905,10 @@ BATT_SMBUS::check_if_solo_battery()
void
batt_smbus_usage()
{
- warnx("missing command: try 'start', 'test', 'stop', 'search', 'man_name', 'man_date', 'dev_name', 'serial_num', 'dev_chem', 'sbs_info'");
- warnx("options:");
- warnx(" -b i2cbus (%d)", BATT_SMBUS_I2C_BUS);
- warnx(" -a addr (0x%x)", BATT_SMBUS_ADDR);
+ PX4_INFO("missing command: try 'start', 'test', 'stop', 'search', 'man_name', 'man_date', 'dev_name', 'serial_num', 'dev_chem', 'sbs_info'");
+ PX4_INFO("options:");
+ PX4_INFO(" -b i2cbus (%d)", BATT_SMBUS_I2C_BUS);
+ PX4_INFO(" -a addr (0x%x)", BATT_SMBUS_ADDR);
}
int
@@ -947,11 +918,11 @@ manufacturer_name()
uint8_t len = g_batt_smbus->manufacturer_name(man_name, sizeof(man_name));
if (len > 0) {
- warnx("The manufacturer name: %s", man_name);
+ PX4_INFO("The manufacturer name: %s", man_name);
return OK;
} else {
- warnx("Unable to read manufacturer name.");
+ PX4_WARN("Unable to read manufacturer name.");
}
return -1;
@@ -967,11 +938,11 @@ manufacture_date()
uint16_t year = ((man_date >> 9) & 0xFF) + 1980;
uint8_t month = (man_date >> 5) & 0xF;
uint8_t day = man_date & 0x1F;
- warnx("The manufacturer date is: %d which is %4d-%02d-%02d", man_date, year, month, day);
+ PX4_INFO("The manufacturer date is: %d which is %4d-%02d-%02d", man_date, year, month, day);
return OK;
} else {
- warnx("Unable to read the manufacturer date.");
+ PX4_WARN("Unable to read the manufacturer date.");
}
return -1;
@@ -984,11 +955,11 @@ device_name()
uint8_t len = g_batt_smbus->device_name(device_name, sizeof(device_name));
if (len > 0) {
- warnx("The device name: %s", device_name);
+ PX4_INFO("The device name: %s", device_name);
return OK;
} else {
- warnx("Unable to read device name.");
+ PX4_WARN("Unable to read device name.");
}
return -1;
@@ -998,7 +969,7 @@ int
serial_number()
{
uint16_t serial_num = g_batt_smbus->serial_number();
- warnx("The serial number: 0x%04x (%d in decimal)", serial_num, serial_num);
+ PX4_INFO("The serial number: 0x%04x (%d in decimal)", serial_num, serial_num);
return OK;
}
@@ -1010,11 +981,11 @@ device_chemistry()
uint8_t len = g_batt_smbus->device_chemistry(device_chemistry, sizeof(device_chemistry));
if (len > 0) {
- warnx("The device chemistry: %s", device_chemistry);
+ PX4_INFO("The device chemistry: %s", device_chemistry);
return OK;
} else {
- warnx("Unable to read device chemistry.");
+ PX4_INFO("Unable to read device chemistry.");
}
return -1;
@@ -1024,10 +995,10 @@ int
solo_battery_check()
{
if (g_batt_smbus->is_solo_battery()) {
- warnx("The battery corresponds to a 3DR Solo Battery");
+ PX4_INFO("The battery corresponds to a 3DR Solo Battery");
} else {
- warnx("The battery does not correspond to a 3DR Solo Battery");
+ PX4_INFO("The battery does not correspond to a 3DR Solo Battery");
}
return OK;
@@ -1045,11 +1016,11 @@ batt_smbus_main(int argc, char *argv[])
while ((ch = getopt(argc, argv, "a:b:")) != EOF) {
switch (ch) {
case 'a':
- batt_smbusadr = strtol(optarg, NULL, 0);
+ batt_smbusadr = strtol(optarg, nullptr, 0);
break;
case 'b':
- i2cdevice = strtol(optarg, NULL, 0);
+ i2cdevice = strtol(optarg, nullptr, 0);
break;
default:
@@ -1067,20 +1038,23 @@ batt_smbus_main(int argc, char *argv[])
if (!strcmp(verb, "start")) {
if (g_batt_smbus != nullptr) {
- errx(1, "already started");
+ PX4_ERR("already started");
+ return 1;
} else {
// create new global object
g_batt_smbus = new BATT_SMBUS(i2cdevice, batt_smbusadr);
if (g_batt_smbus == nullptr) {
- errx(1, "new failed");
+ PX4_ERR("new failed");
+ return 1;
}
if (OK != g_batt_smbus->init()) {
delete g_batt_smbus;
g_batt_smbus = nullptr;
- errx(1, "init failed");
+ PX4_ERR("init failed");
+ return 1;
}
}
@@ -1089,50 +1063,50 @@ batt_smbus_main(int argc, char *argv[])
// need the driver past this point
if (g_batt_smbus == nullptr) {
- warnx("not started");
+ PX4_INFO("not started");
batt_smbus_usage();
- exit(1);
+ return 1;
}
if (!strcmp(verb, "test")) {
g_batt_smbus->test();
- exit(0);
+ return 0;
}
if (!strcmp(verb, "stop")) {
delete g_batt_smbus;
g_batt_smbus = nullptr;
- exit(0);
+ return 0;
}
if (!strcmp(verb, "search")) {
g_batt_smbus->search();
- exit(0);
+ return 0;
}
if (!strcmp(verb, "man_name")) {
manufacturer_name();
- exit(0);
+ return 0;
}
if (!strcmp(verb, "man_date")) {
manufacture_date();
- exit(0);
+ return 0;
}
if (!strcmp(verb, "dev_name")) {
device_name();
- exit(0);
+ return 0;
}
if (!strcmp(verb, "serial_num")) {
serial_number();
- exit(0);
+ return 0;
}
if (!strcmp(verb, "dev_chem")) {
device_chemistry();
- exit(0);
+ return 0;
}
if (!strcmp(verb, "sbs_info")) {
@@ -1146,5 +1120,5 @@ batt_smbus_main(int argc, char *argv[])
}
batt_smbus_usage();
- exit(0);
+ return 0;
}
diff --git a/src/drivers/drv_batt_smbus.h b/src/drivers/drv_batt_smbus.h
index 57af0a0b68..f3e98dc732 100644
--- a/src/drivers/drv_batt_smbus.h
+++ b/src/drivers/drv_batt_smbus.h
@@ -51,7 +51,7 @@
*/
#define _BATT_SMBUS_IOCBASE (0x2e00)
-#define _BATT_SMBUS_IOC(_n) (_IOC(_BATT_SMBUS_IOCBASE, _n))
+#define _BATT_SMBUS_IOC(_n) (_PX4_IOC(_BATT_SMBUS_IOCBASE, _n))
/** retrieve battery capacity */
#define BATT_SMBUS_GET_CAPACITY _BATT_SMBUS_IOC(1)
--
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