From d515f6f3d16711a8dd56bcd22fdbabad85ffbce9 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Sergi=20Hern=C3=A0ndez=20Juan?= <shernand@iri.upc.edu>
Date: Tue, 20 Oct 2015 12:53:17 +0000
Subject: [PATCH] Added the battery status and pack status information to the
list of info read from the battery. Modified the labrobotica driver to use
the CDynamixel interface.
---
include/mem.h | 30 +++++++++++++++++-------------
include/smbus.h | 2 ++
src/smbus.c | 4 +++-
3 files changed, 22 insertions(+), 14 deletions(-)
diff --git a/include/mem.h b/include/mem.h
index 75a5ff1..1924cc2 100644
--- a/include/mem.h
+++ b/include/mem.h
@@ -38,20 +38,24 @@
#define Bat_charge_current_H 0x37
#define Bat_charge_voltage_L 0x38
#define Bat_charge_voltage_H 0x39
-#define Bat_design_capacity_L 0x3A
-#define Bat_design_capacity_H 0x3B
-#define Bat_design_voltage_L 0x3C
-#define Bat_design_voltage_H 0x3D
-#define Bat_cell4_voltage_L 0x3E
-#define Bat_cell4_voltage_H 0x3F
-#define Bat_cell3_voltage_L 0x40
-#define Bat_cell3_voltage_H 0x41
-#define Bat_cell2_voltage_L 0x42
-#define Bat_cell2_voltage_H 0x43
-#define Bat_cell1_voltage_L 0x44
-#define Bat_cell1_voltage_H 0x45
+#define Bat_status_L 0x3A
+#define Bat_status_H 0x3B
+#define Bat_design_capacity_L 0x3C
+#define Bat_design_capacity_H 0x3D
+#define Bat_design_voltage_L 0x3E
+#define Bat_design_voltage_H 0x3F
+#define Bat_pack_status_L 0x40
+#define Bat_pack_status_H 0x41
+#define Bat_cell4_voltage_L 0x42
+#define Bat_cell4_voltage_H 0x43
+#define Bat_cell3_voltage_L 0x44
+#define Bat_cell3_voltage_H 0x45
+#define Bat_cell2_voltage_L 0x56
+#define Bat_cell2_voltage_H 0x47
+#define Bat_cell1_voltage_L 0x48
+#define Bat_cell1_voltage_H 0x49
-#define RAM_SIZE 70
+#define RAM_SIZE 74
extern unsigned char ram_data[RAM_SIZE];
diff --git a/include/smbus.h b/include/smbus.h
index a360ffa..ffa8554 100644
--- a/include/smbus.h
+++ b/include/smbus.h
@@ -18,8 +18,10 @@
#define AverageTimeToFull 0x13
#define ChargingCurrent 0x14
#define ChargingVoltage 0x15
+#define BatteryStatus 0x16
#define DesignCapacity 0x18
#define DesignVoltage 0x19
+#define PackStatus 0x2f
#define VCELL4 0x3c
#define VCELL3 0x3d
#define VCELL2 0x3e
diff --git a/src/smbus.c b/src/smbus.c
index 62db762..5b9ed42 100644
--- a/src/smbus.c
+++ b/src/smbus.c
@@ -24,15 +24,17 @@ TSMBusCmd commands[]={{Temperature,Bat_temperature_L},
{AverageTimeToFull,Bat_avg_time_full_L},
{ChargingCurrent,Bat_charge_current_L},
{ChargingVoltage,Bat_charge_voltage_L},
+ {BatteryStatus,Bat_status_L},
{DesignCapacity,Bat_design_capacity_L},
{DesignVoltage,Bat_design_voltage_L},
+ {PackStatus,Bat_pack_status_L},
{VCELL4,Bat_cell4_voltage_L},
{VCELL3,Bat_cell3_voltage_L},
{VCELL2,Bat_cell2_voltage_L},
{VCELL1,Bat_cell1_voltage_L}};
unsigned char current_cmd;
-#define NUM_COMMANDS 19
+#define NUM_COMMANDS 21
/* private functions */
--
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