AP_Scripting: added BatteryTag applet

Author: tridge

libraries/AP_Scripting/applets/BatteryTag.lua

@@ -0,0 +1,105 @@
+--[[
+    update and log battery tag information from BatteryTag periph nodes
+--]]
+
+local GLOBALTIME_ID = 344
+local GLOBALTIME_SIGNATURE = uint64_t(0xA5517744, 0x8A490F33)
+
+local BATTERYTAG_ID = 20500
+local BATTERYTAG_SIGNATURE = uint64_t(0x4A5A9B42, 0x099F73E1)
+
+local MAV_SEVERITY = {EMERGENCY=0, ALERT=1, CRITICAL=2, ERROR=3, WARNING=4, NOTICE=5, INFO=6, DEBUG=7}
+
+PARAM_TABLE_KEY = 49
+PARAM_TABLE_PREFIX = "BTAG_"
+
+-- add a parameter and bind it to a variable
+function bind_add_param(name, idx, default_value)
+    assert(param:add_param(PARAM_TABLE_KEY, idx, name, default_value), string.format('could not add param %s', name))
+    return Parameter(PARAM_TABLE_PREFIX .. name)
+end
+
+-- Setup Parameters
+assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 6), 'BatteryTag: could not add param table')
+
+--[[
+  // @Param: BTAG_ENABLE
+  // @DisplayName: enable battery info support
+  // @Description: enable battery info support
+  // @Values: 0:Disabled,1:Enabled
+  // @User: Standard
+--]]
+local BTAG_ENABLE = bind_add_param('ENABLE',  1, 1)
+
+if BTAG_ENABLE:get() == 0 then
+    return
+end
+
+-- a handle for receiving BatteryTag messages
+local batterytag_handle = DroneCAN_Handle(0, BATTERYTAG_SIGNATURE, BATTERYTAG_ID)
+batterytag_handle:subscribe()
+
+-- a handle for sending GlobalTime messages
+local globaltime_handle = DroneCAN_Handle(0, GLOBALTIME_SIGNATURE, GLOBALTIME_ID)
+
+--[[
+    check for BatteryTag messages
+--]]
+local function check_batterytag()
+    local payload, nodeid = batterytag_handle:check_message()
+    if not payload then
+        return
+    end
+    local serial_num, num_cycles, arm_hours, capacity, first_use, last_arm = string.unpack("IIfIII", payload)
+    if not serial_num then
+        return
+    end
+
+    -- log battery information
+    logger:write("BTAG",
+                 'Node,Ser,NCycle,ArmHr,Cap,FirstUse,LastArm',
+                 'BIIfIII',
+                 '#------',
+                 '-------',
+                 nodeid,
+                 serial_num, num_cycles, arm_hours,
+                 capacity, first_use, last_arm)
+end
+
+local last_globaltime_send = millis()
+
+--[[
+    see if we should send GlobalTime message
+--]]
+local function check_globaltime()
+    local now = millis()
+    if now - last_globaltime_send < 1000 then
+        return
+    end
+    if gps:num_sensors() < 1 or gps:status(0) < 3 then
+        return
+    end
+    last_globaltime_send = now
+
+    -- create 56 bit UTC microsecond timestamp
+    local utc_usec = gps:time_epoch_usec(0)
+    if utc_usec == 0 then
+        return
+    end
+    local usec_hi,usec_lo = utc_usec:split()
+    local payload8 = string.pack("II", usec_lo:toint(), usec_hi:toint())
+    local payload7 = string.sub(payload8, 1, 7)
+    globaltime_handle:broadcast(payload7)
+end
+
+local function update()
+    if BTAG_ENABLE:get() ~= 0 then
+        check_batterytag()
+        check_globaltime()
+    end
+    return update, 200
+end
+
+gcs:send_text(MAV_SEVERITY.INFO, "BatteryTag loaded")
+
+return update, 1000

libraries/AP_Scripting/applets/BatteryTag.md

@@ -0,0 +1,14 @@
+# Battery Tag Support
+
+This script implements logging of DroneCAN BatteryTag messages. It is
+used in combination with a BatteryTag AP_Periph node to log
+information about number of cycles a battery has been through along
+with the serial number and number of hours in an armed state.
+
+The log message in BTAG
+
+# Parameters
+
+## BTAG_ENABLE
+
+Allow for enable/disable of the script