df_ltc2946_wrapper.cpp

Go to the documentation of this file.

/****************************************************************************
 *
 * Copyright (c) 2018 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 df_ltc2946_wrapper.cpp
 * Driver to access the LTC2946 of the DriverFramework.
 *
 * @author Christoph Tobler <christoph@px4.io>
 */


#include <string>
#include <px4_platform_common/px4_config.h>
#include <systemlib/err.h>
#include <battery/battery.h>
#include <drivers/drv_hrt.h>

#include <ltc2946/LTC2946.hpp>

#include <uORB/uORB.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/vehicle_control_mode.h>


extern "C" { __EXPORT int df_ltc2946_wrapper_main(int argc, char *argv[]); }

using namespace DriverFramework;


class DfLtc2946Wrapper : public LTC2946
{
public:
    DfLtc2946Wrapper();
    ~DfLtc2946Wrapper();

    int     start();
    int     stop();

private:
    int _publish(const struct ltc2946_sensor_data &data);

    orb_advert_t    _battery_pub{nullptr};
    battery_status_s _battery_status{};
    Battery _battery{};

    int _actuator_ctrl_0_sub{-1};
    int _vcontrol_mode_sub{-1};

};

DfLtc2946Wrapper::DfLtc2946Wrapper() :
    LTC2946(LTC2946_DEVICE_PATH)
{
    _battery.reset(&_battery_status);

    // subscriptions
    _actuator_ctrl_0_sub = orb_subscribe(ORB_ID(actuator_controls_0));
    _vcontrol_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
}

DfLtc2946Wrapper::~DfLtc2946Wrapper()
{
    orb_unsubscribe(_actuator_ctrl_0_sub);
    orb_unsubscribe(_vcontrol_mode_sub);
}

int DfLtc2946Wrapper::start()
{
    int ret;

    /* Init device and start sensor. */
    ret = init();

    //
    if (ret != 0) {
        PX4_ERR("LTC2946 init fail: %d", ret);
        return ret;
    }

    ret = LTC2946::start();

    if (ret != 0) {
        PX4_ERR("LTC2946 start fail: %d", ret);
        return ret;
    }

    return 0;
}

int DfLtc2946Wrapper::stop()
{
    /* Stop sensor. */
    int ret = LTC2946::stop();

    if (ret != 0) {
        PX4_ERR("LTC2946 stop fail: %d", ret);
        return ret;
    }

    return 0;
}

int DfLtc2946Wrapper::_publish(const struct ltc2946_sensor_data &data)
{
    hrt_abstime t = hrt_absolute_time();
    bool connected = data.battery_voltage_V > BOARD_ADC_OPEN_CIRCUIT_V;

    actuator_controls_s ctrl;
    orb_copy(ORB_ID(actuator_controls_0), _actuator_ctrl_0_sub, &ctrl);
    vehicle_control_mode_s vcontrol_mode;
    orb_copy(ORB_ID(vehicle_control_mode), _vcontrol_mode_sub, &vcontrol_mode);

    _battery.updateBatteryStatus(t, data.battery_voltage_V, data.battery_current_A,
                     connected, true, 1,
                     ctrl.control[actuator_controls_s::INDEX_THROTTLE],
                     vcontrol_mode.flag_armed,  &_battery_status);

    int instance;
    orb_publish_auto(ORB_ID(battery_status), &_battery_pub, &_battery_status, &instance, ORB_PRIO_DEFAULT);

    return 0;
}


namespace df_ltc2946_wrapper
{

DfLtc2946Wrapper *g_dev = nullptr;

int start();
int stop();
int info();
void usage();

int start()
{
    PX4_WARN("starting LTC2946");
    g_dev = new DfLtc2946Wrapper();

    if (g_dev == nullptr) {
        PX4_ERR("failed instantiating DfLtc2946Wrapper object");
        return -1;

    } else {
        PX4_INFO("started LTC2946");
    }

    int ret = g_dev->start();

    if (ret != 0) {
        PX4_ERR("DfLtc2946Wrapper start failed");
        return ret;
    }

    return 0;
}

int stop()
{
    if (g_dev == nullptr) {
        PX4_ERR("driver not running");
        return 1;
    }

    int ret = g_dev->stop();

    if (ret != 0) {
        PX4_ERR("driver could not be stopped");
        return ret;
    }

    delete g_dev;
    g_dev = nullptr;
    return 0;
}

/**
 * Print a little info about the driver.
 */
int
info()
{
    if (g_dev == nullptr) {
        PX4_ERR("driver not running");
        return 1;
    }

    PX4_DEBUG("state @ %p", g_dev);

    return 0;
}

void
usage()
{
    PX4_WARN("Usage: df_ltc2946_wrapper 'start', 'info', 'stop'");
}

} // namespace df_ltc2946_wrapper


int
df_ltc2946_wrapper_main(int argc, char *argv[])
{
    int ret = 0;

    if (argc <= 1) {
        df_ltc2946_wrapper::usage();
        return 1;
    }

    const char *verb = argv[1];


    if (!strcmp(verb, "start")) {
        ret = df_ltc2946_wrapper::start();
    }

    else if (!strcmp(verb, "stop")) {
        ret = df_ltc2946_wrapper::stop();
    }

    else if (!strcmp(verb, "info")) {
        ret = df_ltc2946_wrapper::info();
    }

    else {
        df_ltc2946_wrapper::usage();
        return 1;
    }

    return ret;
}