mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-22 18:13:34 +08:00
Daniel AgarandJacob Dahl
4b5a91bf7d
- This driver is highly specific to this model of Tattu battery and cannot work with other models without code changes. - The driver simply reads CAN frames using the NuttX CAN character device interface and converts the data into the proper format as specified in the Tattu datasheet Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>
107 lines
3.4 KiB
C++
107 lines
3.4 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2021 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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#pragma once
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#include <nuttx/can/can.h>
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#include <px4_platform_common/module.h>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <uORB/Publication.hpp>
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#include <uORB/topics/battery_status.h>
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using namespace time_literals;
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typedef struct __attribute__((packed))
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{
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int16_t manufacturer;
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uint16_t sku;
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uint16_t voltage;
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int16_t current;
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int16_t temperature;
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uint16_t remaining_percent;
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uint16_t cycle_life;
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int16_t health_status;
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uint16_t cell_1_voltage;
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uint16_t cell_2_voltage;
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uint16_t cell_3_voltage;
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uint16_t cell_4_voltage;
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uint16_t cell_5_voltage;
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uint16_t cell_6_voltage;
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uint16_t cell_7_voltage;
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uint16_t cell_8_voltage;
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uint16_t cell_9_voltage;
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uint16_t cell_10_voltage;
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uint16_t cell_11_voltage;
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uint16_t cell_12_voltage;
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uint16_t standard_capacity;
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uint16_t remaining_capacity_mah;
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uint32_t error_info;
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} Tattu12SBatteryMessage;
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typedef struct {
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uint64_t timestamp_usec;
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uint32_t extended_can_id;
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size_t payload_size;
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const void *payload;
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} CanFrame;
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class TattuCan : public ModuleBase<TattuCan>, public px4::ScheduledWorkItem
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{
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public:
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TattuCan();
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virtual ~TattuCan();
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static int print_usage(const char *reason = nullptr);
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static int custom_command(int argc, char *argv[]);
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static int task_spawn(int argc, char *argv[]);
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int start();
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int16_t receive(CanFrame *received_frame);
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private:
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static constexpr uint32_t SAMPLE_RATE{100}; // samples per second (10ms)
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static constexpr size_t TAIL_BYTE_START_OF_TRANSFER{128};
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void Run() override;
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int _fd{-1};
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bool _initialized{false};
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uORB::Publication<battery_status_s> _battery_status_pub{ORB_ID::battery_status};
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};
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