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smbus_sbs: switch to battery_info.serial_number

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Matthias Grob
2025-06-17 09:05:22 +02:00
committed by Silvan Fuhrer
parent 7895976a17
commit 2237bfa9a9
1 changed files with 13 additions and 5 deletions
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src/lib/drivers/smbus_sbs/SBS.hpp
+13 -5
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@@ -45,6 +45,7 @@
#include <px4_platform_common/i2c_spi_buses.h> #include <px4_platform_common/i2c_spi_buses.h>
#include <lib/drivers/smbus/SMBus.hpp> #include <lib/drivers/smbus/SMBus.hpp>
#include <uORB/topics/battery_info.h>
#include <uORB/topics/battery_status.h> #include <uORB/topics/battery_status.h>
#include <px4_platform_common/param.h> #include <px4_platform_common/param.h>
#include <lib/atmosphere/atmosphere.h> #include <lib/atmosphere/atmosphere.h>
@@ -66,7 +67,7 @@ public:
friend SMBus; friend SMBus;
int populate_smbus_data(battery_status_s &msg); int populate_smbus_data(battery_status_s &msg, battery_info_s &battery_info);
virtual void RunImpl(); // Can be overridden by derived implimentation virtual void RunImpl(); // Can be overridden by derived implimentation
@@ -136,7 +137,7 @@ protected:
perf_counter_t _cycle{perf_alloc(PC_ELAPSED, "batmon_cycle")}; // TODO perf_counter_t _cycle{perf_alloc(PC_ELAPSED, "batmon_cycle")}; // TODO
/** @param _batt_topic uORB battery topic. */ orb_advert_t _battery_info_topic{nullptr};
orb_advert_t _batt_topic{nullptr}; orb_advert_t _batt_topic{nullptr};
/** @param _cell_count Number of series cell (retrieved from cell_count PX4 params) */ /** @param _cell_count Number of series cell (retrieved from cell_count PX4 params) */
@@ -173,8 +174,10 @@ SMBUS_SBS_BaseClass<T>::SMBUS_SBS_BaseClass(const I2CSPIDriverConfig &config, SM
I2CSPIDriver<T>(config), I2CSPIDriver<T>(config),
_interface(interface) _interface(interface)
{ {
battery_info_s battery_info{};
battery_status_s new_report = {}; battery_status_s new_report = {};
int SBS_instance_number = 0; int SBS_instance_number = 0;
_battery_info_topic = orb_advertise_multi(ORB_ID(battery_info), &battery_info, &SBS_instance_number);
_batt_topic = orb_advertise_multi(ORB_ID(battery_status), &new_report, &SBS_instance_number); _batt_topic = orb_advertise_multi(ORB_ID(battery_status), &new_report, &SBS_instance_number);
_interface->init(); _interface->init();
} }
@@ -251,7 +254,7 @@ int SMBUS_SBS_BaseClass<T>::get_startup_info()
} }
template<class T> template<class T>
int SMBUS_SBS_BaseClass<T>::populate_smbus_data(battery_status_s &data) int SMBUS_SBS_BaseClass<T>::populate_smbus_data(battery_status_s &data, battery_info_s &battery_info)
{ {
// Temporary variable for storing SMBUS reads. // Temporary variable for storing SMBUS reads.
@@ -285,7 +288,7 @@ int SMBUS_SBS_BaseClass<T>::populate_smbus_data(battery_status_s &data)
// Read serial number. // Read serial number.
ret |= _interface->read_word(BATT_SMBUS_SERIAL_NUMBER, result); ret |= _interface->read_word(BATT_SMBUS_SERIAL_NUMBER, result);
data.serial_number = result; snprintf(battery_info.serial_number, sizeof(battery_info.serial_number), "%" PRIu16, result);
// Read battery temperature and covert to Celsius. // Read battery temperature and covert to Celsius.
ret |= _interface->read_word(BATT_SMBUS_TEMP, result); ret |= _interface->read_word(BATT_SMBUS_TEMP, result);
@@ -312,12 +315,17 @@ void SMBUS_SBS_BaseClass<T>::RunImpl()
new_report.connected = true; new_report.connected = true;
int ret = populate_smbus_data(new_report); battery_info_s battery_info{};
battery_info.timestamp = now;
battery_info.id = new_report.id;
int ret = populate_smbus_data(new_report, battery_info);
new_report.cell_count = _cell_count; new_report.cell_count = _cell_count;
// Only publish if no errors. // Only publish if no errors.
if (!ret) { if (!ret) {
orb_publish(ORB_ID(battery_status), _batt_topic, &new_report); orb_publish(ORB_ID(battery_status), _batt_topic, &new_report);
orb_publish(ORB_ID(battery_info), _battery_info_topic, &battery_info);
} }
} }