AMiRo-OS

#include <amiro/power/bq27500.hpp>

#include <ch.hpp>

#include <chprintf.h>

#include <global.hpp>

#include <cstring>

using namespace chibios_rt;

using namespace amiro;

using namespace BQ27500;

extern Global global;

Driver::Driver(I2CDriver &i2c_driver, const GPIO_TypeDef &batgd_pingrp, const uint8_t batgd_pin, const GPIO_TypeDef &batlow_pingrp, const uint8_t batlow_pin) :

  BaseSensor<BQ27500::InitData,BQ27500::CalibData>(), i2c_driver(&i2c_driver), tx_params({I2C_ADDR, NULL, 0, NULL, 0}),

  batgd_pingrp(&batgd_pingrp), batgd_pin(batgd_pin), batlow_pingrp(&batlow_pingrp), batlow_pin(batlow_pin)

{}

Driver::~Driver()

{}

chibios_rt::EvtSource*

Driver::getEventSource()

{

  return &this->eventSource;

}

msg_t

Driver::init(InitData* initialization_data)

{

  chprintf((BaseSequentialStream*) &global.sercanmux1, "%s(%d): TODO\n", __FILE__, __LINE__);

  return NOT_IMPLEMENTED;

}

msg_t

Driver::update()

{

  msg_t res = SUCCESS;

  res |= this->stdCommand(STD_CMD_TimeToEmpty, this->status.minutes_to_empty);

  res |= this->stdCommand(STD_CMD_TimeToFull, this->status.minutes_to_full);

  res |= this->stdCommand(STD_CMD_AveragePower, this->status.average_power_mW);

  uint16_t tmp;

  res |= this->stdCommand(STD_CMD_StateOfCharge, tmp);

  this->status.state_of_charge = tmp;

  return (res == SUCCESS)? SUCCESS : ERROR;

}

msg_t

Driver::wakeup()

{

  const msg_t res = this->subCommand(SUB_CMD_CLEAR_HIBERNATE);

  return (res? ERROR : SUCCESS);

}

msg_t

Driver::hibernate()

{

  const msg_t res = this->subCommand(SUB_CMD_SET_HIBERNATE);

  return (res? ERROR : SUCCESS);

}

#ifndef AMIRO_NCALIBRATION

msg_t

Driver::calibration(CalibData* calibration_data)

{

  DataFlashBlock block;

  this->readDataFlashBlock(block, CONFIGURATION_Safety);

  chprintf((BaseSequentialStream*) &global.sercanmux1, "%s(%d):\n", __FILE__, __LINE__);

  for(uint8_t i = 0; i < 32; ++i) {

    chprintf((BaseSequentialStream*) &global.sercanmux1, "%02X ", block.content.data[i]);

  }

  chprintf((BaseSequentialStream*) &global.sercanmux1, "\n");

  chprintf((BaseSequentialStream*) &global.sercanmux1, "%02X\n", block.content.checksum);

  chprintf((BaseSequentialStream*) &global.sercanmux1, "%s(%d): TODO\n", __FILE__, __LINE__);

  return NOT_IMPLEMENTED;

}

#endif

#ifndef AMIRO_NSELFTEST

msg_t

Driver::selftest()

{

  uint16_t val = 0;

  Version version;

  // read hardware version

  version.value = 0;

  if (this->subCommand(SUB_CMD_HW_VERSION, &version.value))

  {

    return ST_FAIL_READ_HW_VERSION;

  }

  chprintf((BaseSequentialStream*) &global.sercanmux1, "hardware version: %X%X-%X%X (0x%04X)\n", version.content.major_high, version.content.major_low, version.content.minor_high, version.content.minor_low, version.value);

  // read firmware version

  version.value = 0;

  if (this->subCommand(SUB_CMD_FW_VERSION, &version.value))

  {

    return ST_FAIL_READ_FW_VERSION;

  }

  chprintf((BaseSequentialStream*) &global.sercanmux1, "firmware version: %X%X-%X%X (0x%04X)\n", version.content.major_high, version.content.major_low, version.content.minor_high, version.content.minor_low, version.value);

  // read device name

  uint8_t name_length = 0;

  if (this->extCommand(EXT_CMD_DNAMELEN, EXT_CMD_READ, &name_length))

  {

    return ST_FAIL_READ_DEVICENAMELENGTH;

  }

  char name_buffer[9]; // maximum name length is 8

  if (this->extCommand(EXT_CMD_DNAME, EXT_CMD_READ, (uint8_t*)name_buffer, name_length))

  {

    return ST_FAIL_READ_DEVICENAME;

  }

  name_buffer[name_length] = '\0';

  chprintf((BaseSequentialStream*) &global.sercanmux1, "device name: %s (%u characters)\n", name_buffer, name_length);

  // read the current flags

  Flags flags;

  if (this->stdCommand(STD_CMD_FLAGS, flags.value))

  {

    return ST_FAIL_READ_FLAGS;

  }

  chprintf((BaseSequentialStream*) &global.sercanmux1, "flags: 0x%04X\n", flags.value);

  chprintf((BaseSequentialStream*) &global.sercanmux1, "  OTC     : %u\n", flags.content.otc);

  chprintf((BaseSequentialStream*) &global.sercanmux1, "  OTD     : %u\n", flags.content.otd);

  chprintf((BaseSequentialStream*) &global.sercanmux1, "  CHG_INH : %u\n", flags.content.chg_inh);

  chprintf((BaseSequentialStream*) &global.sercanmux1, "  XCHG    : %u\n", flags.content.xchg);

  chprintf((BaseSequentialStream*) &global.sercanmux1, "  FC      : %u\n", flags.content.fc);

  chprintf((BaseSequentialStream*) &global.sercanmux1, "  CHG     : %u\n", flags.content.chg);

  chprintf((BaseSequentialStream*) &global.sercanmux1, "  OCV_GD  : %u\n", flags.content.ocv_gd);

  chprintf((BaseSequentialStream*) &global.sercanmux1, "  WAIT_ID : %u\n", flags.content.wait_id);

  chprintf((BaseSequentialStream*) &global.sercanmux1, "  BAT_DET : %u\n", flags.content.bat_det);

  chprintf((BaseSequentialStream*) &global.sercanmux1, "  SOC1    : %u\n", flags.content.soc1);

  chprintf((BaseSequentialStream*) &global.sercanmux1, "  SOCF    : %u\n", flags.content.socf);

  chprintf((BaseSequentialStream*) &global.sercanmux1, "  DSG     : %u\n", flags.content.dsg);

  // read the current controller status

  ControlStatus ctrl_status;

  if (this->subCommand(SUB_CMD_CONTROL_STATUS, &ctrl_status.value))

  {

    return ST_FAIL_READ_STATUS;

  }

  chprintf((BaseSequentialStream*) &global.sercanmux1, "control status: 0x%04X\n", ctrl_status.value);

  chprintf((BaseSequentialStream*) &global.sercanmux1, "  FAS       : %u\n", ctrl_status.content.fas);

  chprintf((BaseSequentialStream*) &global.sercanmux1, "  SS        : %u\n", ctrl_status.content.ss);

  chprintf((BaseSequentialStream*) &global.sercanmux1, "  CSV       : %u\n", ctrl_status.content.csv);

  chprintf((BaseSequentialStream*) &global.sercanmux1, "  CSA       : %u\n", ctrl_status.content.cca);

  chprintf((BaseSequentialStream*) &global.sercanmux1, "  BCA       : %u\n", ctrl_status.content.bca);

  chprintf((BaseSequentialStream*) &global.sercanmux1, "  HIBERNATE : %u\n", ctrl_status.content.hibernate);

  chprintf((BaseSequentialStream*) &global.sercanmux1, "  SNOOZE    : %u\n", ctrl_status.content.snooze);

  chprintf((BaseSequentialStream*) &global.sercanmux1, "  SLEEP     : %u\n", ctrl_status.content.sleep);

  chprintf((BaseSequentialStream*) &global.sercanmux1, "  LDMD      : %u\n", ctrl_status.content.ldmd);

  chprintf((BaseSequentialStream*) &global.sercanmux1, "  RUP_DIS   : %u\n", ctrl_status.content.rup_dis);

  chprintf((BaseSequentialStream*) &global.sercanmux1, "  VOK       : %u\n", ctrl_status.content.vok);

  chprintf((BaseSequentialStream*) &global.sercanmux1, "  QEN       : %u\n", ctrl_status.content.qen);

  // if no battery was detected, abort

  if (!flags.content.bat_det)

  {

    return ST_ABORT_NO_BAT;

  }

  // read the BATGD_N pin

  chprintf((BaseSequentialStream*) &global.sercanmux1, "battery good: %s\n", (this->isBatteryGood()? "yes" : "no"));

  // read temperature

  if (this->stdCommand(STD_CMD_TEMP, val))

  {

    return ST_FAIL_READ_TEMP;

  }

  chprintf((BaseSequentialStream*) &global.sercanmux1, "temperature: %fK (%fC)\n", float(val)/10.0f, float(val)/10.0f - 273.15f);

  // read the full available capacity

  if (this->stdCommand(STD_CMD_FAC, val))

  {

    return ST_FAIL_READ_FAC;

  }

  chprintf((BaseSequentialStream*) &global.sercanmux1, "full available capacity: %umAh\n", val);

  // read the full charge capacity

  if (this->stdCommand(STD_CMD_FCC, val))

  {

    return ST_FAIL_READ_FCC;

  }

  chprintf((BaseSequentialStream*) &global.sercanmux1, "full charge capacity: %umAh\n", val);

  // read the remaining capacity

  if (this->stdCommand(STD_CMD_RM, val))

  {

    return ST_FAIL_READ_RM;

  }

  chprintf((BaseSequentialStream*) &global.sercanmux1, "remaining capacity capacity: %umAh\n", val);

  // read the state of charge

  if (this->stdCommand(STD_CMD_SOC, val))

  {

    return ST_FAIL_READ_SOC;

  }

  chprintf((BaseSequentialStream*) &global.sercanmux1, "state of charge: %3u%%\n", val);

  // read voltage

  if (this->stdCommand(STD_CMD_VOLT, val))

  {

    return ST_FAIL_READ_VOLT;

  }

  chprintf((BaseSequentialStream*) &global.sercanmux1, "voltage: %umV\n", val);

  // read average current

  if (this->stdCommand(STD_CMD_AI, val))

  {

    return ST_FAIL_READ_AI;

  }

  chprintf((BaseSequentialStream*) &global.sercanmux1, "average current: %dmA\n", *reinterpret_cast<int8_t*>(&val));

  // read average power

  if (this->stdCommand(STD_CMD_AP, val))

  {

    return ST_FAIL_READ_AP;

  }

  chprintf((BaseSequentialStream*) &global.sercanmux1, "average power: %dmW\n", *reinterpret_cast<int8_t*>(&val));

  // read the BATLOW pin

  chprintf((BaseSequentialStream*) &global.sercanmux1, "battery low: %s\n", (this->isBatteryLow()? "yes" : "no"));

  // read the time to empty

  if (this->stdCommand(STD_CMD_TTE, val))

  {

    return ST_FAIL_READ_TTE;

  }

  chprintf((BaseSequentialStream*) &global.sercanmux1, "time to empty: ");

  if (uint16_t(~val)) {

    chprintf((BaseSequentialStream*) &global.sercanmux1, "%u minutes", val);

  } else {

    chprintf((BaseSequentialStream*) &global.sercanmux1, "(not discharging)");

  }

  chprintf((BaseSequentialStream*) &global.sercanmux1, "\n");

  // read the time to full

  if (this->stdCommand(STD_CMD_TTF, val))

  {

    return ST_FAIL_READ_TTF;

  }

  chprintf((BaseSequentialStream*) &global.sercanmux1, "time to full: ");

  if (uint16_t(~val)) {

    chprintf((BaseSequentialStream*) &global.sercanmux1, "%u minutes", val);

  } else {

    chprintf((BaseSequentialStream*) &global.sercanmux1, "(not charging)");

  }

  chprintf((BaseSequentialStream*) &global.sercanmux1, "\n");

  return ST_OK;

}

#endif

bool

Driver::isBatteryGood() const

{

  return (palReadPad(this->batgd_pingrp, this->batgd_pin) == PAL_LOW);

}

bool

Driver::isBatteryLow() const

{

  return (palReadPad(this->batlow_pingrp, this->batlow_pin) == PAL_HIGH);

}

const Driver::UpdateData&

Driver::getStatus() const

{

  return this->status;

}

msg_t

Driver::main(void)

{

  while (!this->shouldTerminate())

  {

    this->update();

    this->eventSource.broadcastFlags(0);

    this->waitAnyEventTimeout(ALL_EVENTS, MS2ST(1000));

  }

  return RDY_OK;

}

msg_t

Driver::stdCommand(const StandardCommand cmd, uint16_t &dst)

{

  uint8_t buffer[2];

  this->tx_params.txbuf = reinterpret_cast<const uint8_t*>(&cmd);

  this->tx_params.txbytes = 1;

  this->tx_params.rxbuf = buffer;

  this->tx_params.rxbytes = 2;

  this->i2c_driver->acquireBus();

  const msg_t res = this->i2c_driver->masterTransmit(&this->tx_params);

  this->i2c_driver->releaseBus();

  if (!res) {

    dst = uint16_t((buffer[1] << 8) | buffer[0]);

#ifndef NDEBUG

  } else {

    chprintf((BaseSequentialStream*) &global.sercanmux1, "%s(%d): ERROR: i2c transmit failed (%d)\n", __FILE__ , __LINE__ , res);

#endif

  }

  return res;

}

msg_t

Driver::readName()

{

  uint8_t buffer[9];

  uint8_t reg = 0x62u;

  this->tx_params.txbuf = ®

  this->tx_params.txbytes = 1;

  this->tx_params.rxbuf = &buffer[0];

  this->tx_params.rxbytes = 8;

  this->i2c_driver->acquireBus();

  const msg_t res = this->i2c_driver->masterTransmit(&this->tx_params);

  this->i2c_driver->releaseBus();

  buffer[buffer[0] + 1] = '\0';

  chprintf((BaseSequentialStream*) &global.sercanmux1, "name: %u - %s\n", buffer[0], (char*)&buffer[1]);

  return res;

}

msg_t

Driver::subCommand(const ControlSubcommand cmd, uint16_t *dst)

{

  uint8_t buffer[3] = {STD_CMD_CNTL, uint8_t(cmd & 0x00FFu), uint8_t((cmd & 0xFF00u) >> 8)};

  this->tx_params.txbuf = buffer;

  this->tx_params.txbytes = 3;

  this->tx_params.rxbytes = 0;

  this->i2c_driver->acquireBus();

  msg_t res = this->i2c_driver->masterTransmit(&this->tx_params);

  this->i2c_driver->releaseBus();

  if (dst) {

    this->tx_params.txbytes = 1;

    this->tx_params.rxbuf = &buffer[1];

    this->tx_params.rxbytes = 2;

    BaseThread::sleep(US2ST(2));

    this->i2c_driver->acquireBus();

    res |= this->i2c_driver->masterTransmit(&this->tx_params);

    this->i2c_driver->releaseBus();

  }

#ifndef NDEBUG

  if (res) {

    chprintf((BaseSequentialStream*) &global.sercanmux1, "%s(%d): ERROR: i2c transmit failed (%d)\n", __FILE__ , __LINE__ , res);

  }

#endif

  if (dst && !res) {

    *dst = uint16_t((buffer[2] << 8) | buffer[1]);

  }

  return res;

}

msg_t

Driver::extCommand(const ExtendedCommand cmd, const ExtendedCommandAccess rw, uint8_t* buf, const uint8_t length, const uint8_t offset)

{

  if (!buf) {

#ifndef NDEBUG

    chprintf((BaseSequentialStream*) &global.sercanmux1, "%s(%d): ERROR: received NULL-pointer as buffer\n", __FILE__ , __LINE__);

#endif

    return ~RDY_OK;

  }

  if (rw != EXT_CMD_WRITE && rw != EXT_CMD_READ) {

#ifndef NDEBUG

    chprintf((BaseSequentialStream*) &global.sercanmux1, "%s(%d): ERROR: invalid access mode selected\n", __FILE__ , __LINE__);

#endif

    return ~RDY_OK;

  }

  if (length > 33) {

#ifndef NDEBUG

    chprintf((BaseSequentialStream*) &global.sercanmux1, "%s(%d): ERROR: length exceeds maximum of 33 bytes\n", __FILE__ , __LINE__);

#endif

    return ~RDY_OK;

  }

  uint8_t in_buffer[34];

  in_buffer[0] = cmd + offset;

  if (rw == EXT_CMD_WRITE) {

    strncpy((char*)&in_buffer[1], (char*)buf, length);

  }

  this->tx_params.txbuf = in_buffer;

  this->tx_params.txbytes = 1 + ((rw == EXT_CMD_WRITE)? length : 0);

  this->tx_params.rxbuf = (rw == EXT_CMD_READ)? buf : NULL;

  this->tx_params.rxbytes = (rw == EXT_CMD_READ)? length : 0;

  this->i2c_driver->acquireBus();

  const msg_t res = this->i2c_driver->masterTransmit(&this->tx_params);

  this->i2c_driver->releaseBus();

#ifndef NDEBUG

  if (res) {

    chprintf((BaseSequentialStream*) &global.sercanmux1, "%s(%d): ERROR: i2c transmit failed (%d)\n", __FILE__ , __LINE__ , res);

  }

#endif

  return res;

}

msg_t

Driver::readDataFlashBlock(DataFlashBlock &block, const DataFlashSubClassID sub_id, const uint8_t sub_block)

{

  block.raw[0] = sub_id;

  block.raw[1] = sub_block;

  msg_t res = this->extCommand(EXT_CMD_DFCLS, EXT_CMD_WRITE, &block.raw[0]);

  res |= this->extCommand(EXT_CMD_DFBLK, EXT_CMD_WRITE, &block.raw[1]);

  BaseThread::sleep(US2ST(1)); // Without this delay the whole block is shifted and the first byte is lost. TODO: investigate

  res |= this->extCommand(EXT_CMD_DFD, EXT_CMD_READ, block.raw, 33);

  return res;

}