sensors: split out analog battery handling to new standalone battery_status module

2026-06-29 17:40:34 +08:00 · 2019-10-21 13:40:23 -04:00
parent f956bafa4e
commit 6a0f5249f8
53 changed files with 801 additions and 294 deletions
@@ -0,0 +1,117 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2016-2019 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 parameters.cpp
+ *
+ * @author Beat Kueng <beat-kueng@gmx.net>
+ */
+
+#include "parameters.h"
+
+#include <px4_log.h>
+
+namespace battery_status
+{
+
+void initialize_parameter_handles(ParameterHandles &parameter_handles)
+{
+	parameter_handles.battery_voltage_scaling = param_find("BAT_CNT_V_VOLT");
+	parameter_handles.battery_current_scaling = param_find("BAT_CNT_V_CURR");
+	parameter_handles.battery_current_offset = param_find("BAT_V_OFFS_CURR");
+	parameter_handles.battery_v_div = param_find("BAT_V_DIV");
+	parameter_handles.battery_a_per_v = param_find("BAT_A_PER_V");
+	parameter_handles.battery_source = param_find("BAT_SOURCE");
+	parameter_handles.battery_adc_channel = param_find("BAT_ADC_CHANNEL");
+}
+
+int update_parameters(const ParameterHandles &parameter_handles, Parameters &parameters)
+{
+	int ret = PX4_OK;
+
+	const char *paramerr = "FAIL PARM LOAD";
+
+	/* scaling of ADC ticks to battery voltage */
+	if (param_get(parameter_handles.battery_voltage_scaling, &(parameters.battery_voltage_scaling)) != OK) {
+		PX4_WARN("%s", paramerr);
+
+	} else if (parameters.battery_voltage_scaling < 0.0f) {
+		/* apply scaling according to defaults if set to default */
+		parameters.battery_voltage_scaling = (3.3f / 4096);
+		param_set_no_notification(parameter_handles.battery_voltage_scaling, &parameters.battery_voltage_scaling);
+	}
+
+	/* scaling of ADC ticks to battery current */
+	if (param_get(parameter_handles.battery_current_scaling, &(parameters.battery_current_scaling)) != OK) {
+		PX4_WARN("%s", paramerr);
+
+	} else if (parameters.battery_current_scaling < 0.0f) {
+		/* apply scaling according to defaults if set to default */
+		parameters.battery_current_scaling = (3.3f / 4096);
+		param_set_no_notification(parameter_handles.battery_current_scaling, &parameters.battery_current_scaling);
+	}
+
+	if (param_get(parameter_handles.battery_current_offset, &(parameters.battery_current_offset)) != OK) {
+		PX4_WARN("%s", paramerr);
+
+	}
+
+	if (param_get(parameter_handles.battery_v_div, &(parameters.battery_v_div)) != OK) {
+		PX4_WARN("%s", paramerr);
+		parameters.battery_v_div = 0.0f;
+
+	} else if (parameters.battery_v_div <= 0.0f) {
+		/* apply scaling according to defaults if set to default */
+
+		parameters.battery_v_div = BOARD_BATTERY1_V_DIV;
+		param_set_no_notification(parameter_handles.battery_v_div, &parameters.battery_v_div);
+	}
+
+	if (param_get(parameter_handles.battery_a_per_v, &(parameters.battery_a_per_v)) != OK) {
+		PX4_WARN("%s", paramerr);
+		parameters.battery_a_per_v = 0.0f;
+
+	} else if (parameters.battery_a_per_v <= 0.0f) {
+		/* apply scaling according to defaults if set to default */
+
+		parameters.battery_a_per_v = BOARD_BATTERY1_A_PER_V;
+		param_set_no_notification(parameter_handles.battery_a_per_v, &parameters.battery_a_per_v);
+	}
+
+	param_get(parameter_handles.battery_source,      &(parameters.battery_source));
+	param_get(parameter_handles.battery_adc_channel, &(parameters.battery_adc_channel));
+
+	return ret;
+}
+
+} /* namespace battery_status */