First skeleton for esc_battery module

boards/px4/fmu-v5x/default.cmake

@@ -65,6 +65,7 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
+		esc_battery
 		events
 		fw_att_control
 		fw_pos_control_l1

src/modules/esc_battery/CMakeLists.txt

@@ -0,0 +1,43 @@
+############################################################################
+#
+#   Copyright (c) 2020 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.
+#
+############################################################################
+
+px4_add_module(
+	MODULE modules__esc_battery
+	MAIN esc_battery
+	COMPILE_FLAGS
+	SRCS
+		EscBattery.cpp
+		EscBattery.hpp
+	DEPENDS
+		px4_work_queue
+	)

src/modules/esc_battery/EscBattery.cpp

@@ -0,0 +1,177 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 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.
+ *
+ ****************************************************************************/
+
+#include "EscBattery.hpp"
+#include <drivers/drv_hrt.h>
+
+using namespace time_literals;
+
+EscBattery::EscBattery() :
+	ModuleParams(nullptr),
+	WorkItem(MODULE_NAME, px4::wq_configurations::lp_default),
+	_battery(3, this)
+{
+	parameters_updated();
+}
+
+EscBattery::~EscBattery()
+{
+}
+
+bool
+EscBattery::init()
+{
+	if (!_esc_status_sub.registerCallback()) {
+		PX4_ERR("esc_status callback registration failed!");
+		return false;
+	}
+
+	return true;
+}
+
+void
+EscBattery::parameters_updated()
+{
+	ModuleParams::updateParams();
+}
+
+void
+EscBattery::Run()
+{
+	if (should_exit()) {
+		_esc_status_sub.unregisterCallback();
+		exit_and_cleanup();
+		return;
+	}
+
+	if (_parameter_update_sub.updated()) {
+		// Clear update
+		parameter_update_s param_update;
+		_parameter_update_sub.copy(&param_update);
+
+		parameters_updated();
+	}
+
+	esc_status_s esc_status;
+
+	if (_esc_status_sub.update(&esc_status)) {
+
+		if (hrt_elapsed_time(&esc_status.timestamp) < 500_ms ||
+		    esc_status.esc_count == 0 ||
+		    esc_status.esc_count > 8) {
+			return;
+		}
+
+		float average_voltage_v = 0.0f;
+		float total_current_a = 0.0f;
+
+		for (unsigned i = 0; i < esc_status.esc_count; ++i) {
+			average_voltage_v += esc_status.esc[i].esc_voltage;
+			total_current_a += esc_status.esc[i].esc_current;
+		}
+
+		average_voltage_v /= esc_status.esc_count;
+
+		const bool connected = true;
+		const bool selected_source = true;
+		const int priority = 0;
+		const bool should_publish = true;
+
+		actuator_controls_s ctrl;
+		_actuator_ctrl_0_sub.copy(&ctrl);
+
+		_battery.updateBatteryStatus(
+			esc_status.timestamp,
+			average_voltage_v,
+			total_current_a,
+			connected,
+			selected_source,
+			priority,
+			ctrl.control[actuator_controls_s::INDEX_THROTTLE],
+			should_publish);
+		_battery.publish();
+	}
+}
+
+int EscBattery::task_spawn(int argc, char *argv[])
+{
+	EscBattery *instance = new EscBattery();
+
+	if (instance) {
+		_object.store(instance);
+		_task_id = task_id_is_work_queue;
+
+		if (instance->init()) {
+			return PX4_OK;
+		}
+
+	} else {
+		PX4_ERR("alloc failed");
+	}
+
+	delete instance;
+	_object.store(nullptr);
+	_task_id = -1;
+
+	return PX4_ERROR;
+}
+
+int EscBattery::custom_command(int argc, char *argv[])
+{
+	return print_usage("unknown command");
+}
+
+int EscBattery::print_usage(const char *reason)
+{
+	if (reason) {
+		PX4_WARN("%s\n", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+This implements using information from the ESC status and publish it as battery status.
+
+)DESCR_STR");
+
+	PRINT_MODULE_USAGE_NAME("esc_battery", "system");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+
+	return 0;
+}
+
+extern "C" __EXPORT int esc_battery_main(int argc, char *argv[])
+{
+	return EscBattery::main(argc, argv);
+}

src/modules/esc_battery/EscBattery.hpp

@@ -0,0 +1,77 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <uORB/Publication.hpp>
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/Subscription.hpp>
+#include <uORB/SubscriptionCallback.hpp>
+#include <uORB/topics/esc_status.h>
+#include <uORB/topics/parameter_update.h>
+#include <uORB/topics/actuator_controls.h>
+#include <battery/battery.h>
+
+class EscBattery : public ModuleBase<EscBattery>, public ModuleParams, public px4::WorkItem
+{
+public:
+	EscBattery();
+	~EscBattery() override;
+
+	/** @see ModuleBase */
+	static int task_spawn(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int custom_command(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int print_usage(const char *reason = nullptr);
+
+	bool init();
+
+private:
+	void Run() override;
+
+	void parameters_updated();
+
+	uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
+	uORB::Subscription _actuator_ctrl_0_sub{ORB_ID(actuator_controls_0)};
+	uORB::SubscriptionCallbackWorkItem _esc_status_sub{this, ORB_ID(esc_status)};
+
+	Battery _battery;
+};