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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_BattMonitor/AP_BattMonitor_SMBus_NeoDesign.cpp
Views: 1798
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#include "AP_BattMonitor_config.h"

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#if AP_BATTERY_SMBUS_NEODESIGN_ENABLED

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#include <AP_HAL/AP_HAL.h>

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#include <AP_Common/AP_Common.h>

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#include "AP_BattMonitor.h"

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#include "AP_BattMonitor_SMBus_NeoDesign.h"

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#define BATTMONITOR_ND_CELL_COUNT                0x5C    // cell-count register

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#define BATTMONITOR_ND_CELL_START                0x30    // first cell register

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// Constructor

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AP_BattMonitor_SMBus_NeoDesign::AP_BattMonitor_SMBus_NeoDesign(AP_BattMonitor &mon,

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                                                   AP_BattMonitor::BattMonitor_State &mon_state,

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                                                   AP_BattMonitor_Params &params)

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    : AP_BattMonitor_SMBus(mon, mon_state, params, AP_BATTMONITOR_SMBUS_BUS_INTERNAL)

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{

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    _pec_supported = true;

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}

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void AP_BattMonitor_SMBus_NeoDesign::timer()

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{

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    uint16_t data;

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    // Get the cell count once, it's not likely to change in flight

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    if (_cell_count == 0) {

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        if (!read_word(BATTMONITOR_ND_CELL_COUNT, data)) {

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            return; // something wrong, don't try anything else

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        }

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        // constrain maximum cellcount in case of i2c corruption

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        if (data > max_cell_count) {

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            _cell_count = max_cell_count;

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        } else {

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            _cell_count = data;

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        }

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    }

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    bool read_all_cells = true;

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    for(uint8_t i = 0; i < _cell_count; ++i) {

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        if(read_word(BATTMONITOR_ND_CELL_START + i, data)) {

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            _state.cell_voltages.cells[i] = data;

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            _has_cell_voltages = true;

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        } else {

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            read_all_cells = false;

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        }

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    }

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    const uint32_t tnow = AP_HAL::micros();

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    if (read_all_cells && (_cell_count > 0)) {

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        uint32_t summed = 0;

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        for (int i = 0; i < _cell_count; i++) {

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            summed += _state.cell_voltages.cells[i];

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        }

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        _state.voltage = (float)summed * 1e-3f;

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        _state.last_time_micros = tnow;

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        _state.healthy = true;

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    } else if (read_word(BATTMONITOR_SMBUS_VOLTAGE, data)) {

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            // fallback to the voltage register if we didn't manage to poll the cells

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            _state.voltage = (float)data * 1e-3f;

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            _state.last_time_micros = tnow;

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            _state.healthy = true;

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    }

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    // timeout after 5 seconds

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    if ((tnow - _state.last_time_micros) > AP_BATTMONITOR_SMBUS_TIMEOUT_MICROS) {

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        _state.healthy = false;

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        // do not attempt to read any more data from battery

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        return;

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    }

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    // read current (A)

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    if (read_word(BATTMONITOR_SMBUS_CURRENT, data)) {

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        _state.current_amps = -(float)((int16_t)data) * 1e-3f;

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        _state.last_time_micros = tnow;

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    }

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    read_full_charge_capacity();

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    read_remaining_capacity();

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    read_temp();

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}

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#endif  // AP_BATTERY_SMBUS_NEODESIGN_ENABLED

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