From 8dea78a1695c8e87c36a33fd9c52030453e8ebba Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Sergi=20Hern=C3=A0ndez=20Juan?= <shernand@iri.upc.edu>
Date: Wed, 4 Jul 2012 08:04:08 +0000
Subject: [PATCH] Chnaged the driver to use the CFTDI class instead of the
CRS232 class.
---
src/examples/segway_battery_test.cpp | 3 +-
src/segway_battery.cpp | 77 ++++++++++++++++++++++------
src/segway_battery.h | 5 +-
3 files changed, 65 insertions(+), 20 deletions(-)
diff --git a/src/examples/segway_battery_test.cpp b/src/examples/segway_battery_test.cpp
index db77aef..543eae7 100755
--- a/src/examples/segway_battery_test.cpp
+++ b/src/examples/segway_battery_test.cpp
@@ -2,7 +2,7 @@
#include "exceptions.h"
#include <iostream>
-std::string battery_dev="/dev/ttyUSB0";
+std::string battery_dev="A600eByq";
int main(int argc, char *argv[])
{
@@ -12,6 +12,7 @@ int main(int argc, char *argv[])
{
try{
std::cout << "Battery voltage: " << battery.get_current_voltage() << " V" << std::endl;
+ std::cout << "Battery temperature: " << battery.get_current_temperature() << " ºC" << std::endl;
std::cout << "Input current: " << battery.get_input_current() << " mA" << std::endl;
std::cout << "Output current: " << battery.get_output_current() << " mA" << std::endl;
std::cout << "Remaining capacity: " << battery.get_remaining_capacity() << " mAh" << std::endl;
diff --git a/src/segway_battery.cpp b/src/segway_battery.cpp
index e28fb38..f88eb05 100755
--- a/src/segway_battery.cpp
+++ b/src/segway_battery.cpp
@@ -1,21 +1,32 @@
#include "segway_battery.h"
#include "exceptions.h"
#include <iostream>
+#include <math.h>
-CSegway_Battery::CSegway_Battery(std::string &serial_dev)
+CSegway_Battery::CSegway_Battery(std::string &serial_num)
{
- TRS232_config serial_config;
+ CFTDIServer *ftdi_server=CFTDIServer::instance();
+ TFTDIconfig ftdi_config;
try{
// create the serial port device to communicate with the battery
- this->serial=new CRS232(std::string("battery_monitor_dev"));
- // open the serial device
- this->serial->open((void *)&serial_dev);
- serial_config.baud=9600;
- serial_config.num_bits=8;
- serial_config.parity=none;
- serial_config.stop_bits=1;
- this->serial->config(&serial_config);
+ if(ftdi_server->get_num_devices()>0)
+ {
+ this->serial=ftdi_server->get_device(serial_num);
+ if(this->serial==NULL)
+ {
+ /* handle exceptions */
+ throw CException(_HERE_,"No such device");
+ }
+ ftdi_config.baud_rate = 9600;
+ ftdi_config.word_length = 8;
+ ftdi_config.stop_bits = 1;
+ ftdi_config.parity = 0;
+ ftdi_config.read_timeout = 1000;
+ ftdi_config.write_timeout = 1000;
+ ftdi_config.latency_timer = 16;
+ this->serial->config(&ftdi_config);
+ }
// initialize the battery information
this->info.battery_voltage=0.0;
this->info.temperature1=0.0;
@@ -86,6 +97,7 @@ void CSegway_Battery::parse_packet(unsigned char *data, int len)
{
int i=0;
static int pos=-2;
+ float vt=0.0,res=0.0,k=0.0;
static unsigned char packet_data[31];
for(i=0;i<len;i++)
@@ -111,6 +123,7 @@ void CSegway_Battery::parse_packet(unsigned char *data, int len)
if(pos==31)
{
pos=-2;
+ // convert voltage
this->info.battery_voltage=(packet_data[0])+(packet_data[1]<<8);
this->info.battery_voltage+=(packet_data[2])+(packet_data[3]<<8);
this->info.battery_voltage+=(packet_data[4])+(packet_data[5]<<8);
@@ -120,10 +133,26 @@ void CSegway_Battery::parse_packet(unsigned char *data, int len)
this->info.battery_voltage+=(packet_data[12])+(packet_data[13]<<8);
this->info.battery_voltage+=(packet_data[14])+(packet_data[15]<<8);
this->info.battery_voltage/=6.5536;
+ // convert temperature
+ vt=(packet_data[16]+packet_data[17]*256)*2500.0/32768.0;
+ res=230000*vt/(3300-vt);
+ k=(1/298.15)-(log(10000.0/res)/3435.0);
+ this->info.temperature1=(1-273.15*k)/k;
+ vt=(packet_data[18]+packet_data[19]*256)*2500.0/32768.0;
+ res=230000*vt/(3300-vt);
+ k=(1/298.15)-(log(10000.0/res)/3435.0);
+ this->info.temperature2=(1-273.15*k)/k;
+ // get the status
+ this->info.status=packet_data[20];
+ // convert input current
this->info.current_in=packet_data[21]+packet_data[22]*256;
+ // convert output current
this->info.current_out=packet_data[23]+packet_data[24]*256;
+ // convert remaining capacity
this->info.rem_capacity=packet_data[25]+packet_data[26]*256;
+ // convert time to charged
this->info.time_to_charged=packet_data[27]+packet_data[28]*256;
+ // convert time to discharged
this->info.time_to_discharged=packet_data[29]+packet_data[30]*256;
}
}
@@ -137,8 +166,7 @@ double CSegway_Battery::get_current_voltage(void)
double CSegway_Battery::get_current_temperature(void)
{
- return 0.0;
-
+ return (this->info.temperature1+this->info.temperature2)/2.0;
}
double CSegway_Battery::get_input_current(void)
@@ -168,27 +196,42 @@ double CSegway_Battery::get_time_to_discharged(void)
bool CSegway_Battery::is_battery_present(void)
{
- return false;
+ if(this->info.status&0x01)
+ return true;
+ else
+ return false;
}
bool CSegway_Battery::is_charger_present(void)
{
- return false;
+ if(this->info.status&0x02)
+ return true;
+ else
+ return false;
}
bool CSegway_Battery::is_load_enabled(void)
{
- return false;
+ if(this->info.status&0x04)
+ return true;
+ else
+ return false;
}
bool CSegway_Battery::under_voltage_protection(void)
{
- return false;
+ if(this->info.status&0x08)
+ return true;
+ else
+ return false;
}
bool CSegway_Battery::over_voltage_protection(void)
{
- return false;
+ if(this->info.status&0x10)
+ return true;
+ else
+ return false;
}
CSegway_Battery::~CSegway_Battery()
diff --git a/src/segway_battery.h b/src/segway_battery.h
index 5d1b246..c82e0bc 100755
--- a/src/segway_battery.h
+++ b/src/segway_battery.h
@@ -1,7 +1,8 @@
#ifndef _SEGWAY_BATTERY_H
#define _SEGWAY_BATTERY_H
-#include "rs232.h"
+#include "ftdiserver.h"
+#include "ftdimodule.h"
#include "threadserver.h"
#include "eventserver.h"
#include "mutex.h"
@@ -28,7 +29,7 @@ class CSegway_Battery
{
private:
// serial device object
- CRS232 *serial;
+ CFTDI *serial;
// thread attributes
CThreadServer *thread_server;
std::string battery_monitor_thread_id;
--
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