mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-24 03:43:34 +08:00
bazooka joe
190b96a46c
- added support for BQ40Z80 based battery - added performance counter for interface errors - added SMART_BATTERY_INFO mavlink message - general code cleanups and optimization - fixed: void flooding the log in case of interface error - fixed: using _batt_startup_capacity instead of _batt_capacity for discharged_mah - update: read manufacture_date - update: get _cell_count from parameter and not const 4 - update: avoid re-reading data that has already been read and stored on class already - currently the battery type defined by BAT_SMBUS_MODEL parameter and not by auto detection
99 lines
3.7 KiB
C++
99 lines
3.7 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2018 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file SMBus.hpp
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* SMBus v2.0 protocol implementation.
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*
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* @author Jacob Dahl <dahl.jakejacob@gmail.com>
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* @author Bazooka Joe <BazookaJoe1900@gmail.com>
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*/
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#include <drivers/device/i2c.h>
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#include <perf/perf_counter.h>
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#include <string.h>
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#define SMBUS_PEC_POLYNOMIAL 0x07 ///< Polynomial for calculating PEC
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class SMBus : public device::I2C
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{
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public:
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SMBus(int bus_num, uint16_t address);
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~SMBus() override;
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/**
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* @brief Sends a block write command.
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* @param cmd_code The command code.
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* @param data The data to be written.
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* @param length The number of bytes being written.
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* @return Returns PX4_OK on success, -errno on failure.
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*/
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int block_write(const uint8_t cmd_code, const void *data, uint8_t byte_count, const bool use_pec);
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/**
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* @brief Sends a block read command.
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* @param cmd_code The command code.
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* @param data The returned data. The returned data will always contain 2 bytes of address information followed by data[length].
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* @param length The number of bytes being read.
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* @return Returns PX4_OK on success, -errno on failure.
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*/
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int block_read(const uint8_t cmd_code, void *data, const uint8_t length, const bool use_pec);
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/**
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* @brief Sends a read word command.
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* @param cmd_code The command code.
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* @param data The 2 bytes of returned data plus a 1 byte CRC if used.
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* @return Returns PX4_OK on success, -errno on failure.
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*/
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int read_word(const uint8_t cmd_code, uint16_t &data);
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/**
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* @brief Sends a write word command.
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* @param cmd_code The command code.
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* @param data The 2 bytes of data to be transfered.
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* @return Returns PX4_OK on success, -errno on failure.
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*/
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int write_word(const uint8_t cmd_code, uint16_t data);
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/**
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* @brief Calculates the PEC from the data.
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* @param buffer The buffer that stores the data to perform the CRC over.
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* @param length The number of bytes being written.
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* @return Returns PX4_OK on success, -errno on failure.
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*/
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uint8_t get_pec(uint8_t *buffer, uint8_t length);
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perf_counter_t _interface_errors{perf_alloc(PC_COUNT, MODULE_NAME": errors")};
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};
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