AP_Scripting: Add BQ40Z shutdown example

libraries/AP_Scripting/examples/BQ40Z_bms_shutdown.lua

@@ -0,0 +1,93 @@
+-- TI BQ40Z BMS shutdown script
+---@diagnostic disable: param-type-mismatch
+
+local mavlink_msgs = require("MAVLink/mavlink_msgs")
+
+local COMMAND_ACK_ID = mavlink_msgs.get_msgid("COMMAND_ACK")
+local COMMAND_LONG_ID = mavlink_msgs.get_msgid("COMMAND_LONG")
+local msg_map = {}
+msg_map[COMMAND_ACK_ID] = "COMMAND_ACK"
+msg_map[COMMAND_LONG_ID] = "COMMAND_LONG"
+
+local PARAM_TABLE_KEY = 51
+local PARAM_TABLE_PREFIX = "BATT_BQ40Z_"
+-- 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
+assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 2), 'could not add param table')
+--[[
+  // @Param: BATT_BQ40Z_BUS
+  // @DisplayName: Bus number for the BQ40Z
+  // @Description: Bus number for the BQ40Z
+  // @Range: 0 3
+  // @User: Standard
+--]]
+local BATT_BQ40Z_BUS = bind_add_param('BUS', 1, 0)
+
+
+-- Initialize MAVLink rx with number of messages, and buffer depth
+mavlink:init(1, 10)
+
+-- Register message id to receive
+mavlink:register_rx_msgid(COMMAND_LONG_ID)
+
+local MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN = 246
+local MAV_RESULT_ACCEPTED = 0
+
+-- Init BMS i2c device
+assert(BATT_BQ40Z_BUS ~= nil, "BATT_BQ40Z_BUS not configured properly")
+assert(BATT_BQ40Z_BUS:get() ~= nil, "BATT_BQ40Z_BUS not retrievable")
+local bms = i2c:get_device(math.floor(BATT_BQ40Z_BUS:get()), 0x0B)
+assert(bms ~= nil, "BQ40Z bms script cant create i2c device")
+
+-- Exit emergency shutdown (for BQ40Z60, twice for redundancy)
+bms:transfer(string.pack("BBB", 0x00, 0xA7, 0x23), 0)
+bms:transfer(string.pack("BBB", 0x00, 0xA7, 0x23), 0)
+
+-- Function that is returned to the AP scheduler when we want to shutdown
+function shutdown_loop()
+    local ret = bms:transfer(string.pack("BBB", 0x00, 0x10, 0x00), 0)
+    if ret == nil then
+        gcs:send_text(0, "BQ40Z shutdown transfer failed")
+    end
+
+    return shutdown_loop, 500
+end
+
+-- Main loop
+function update()
+    local msg, chan = mavlink:receive_chan()
+    local parsed_msg = nil
+
+    if (msg ~= nil) then
+        parsed_msg = mavlink_msgs.decode(msg, msg_map)
+    end
+
+    if parsed_msg ~= nil and (parsed_msg.msgid == COMMAND_LONG_ID) and (parsed_msg.command == MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN) then
+        gcs:send_text(0, "Got MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN")
+
+        if parsed_msg.param1 == 2 then
+            gcs:send_text(0, "Shutting down BQ40Z!!!")
+
+            -- Send ack
+            local ack = {}
+            ack.command = parsed_msg.command
+            ack.result = MAV_RESULT_ACCEPTED
+            ack.progress = 0
+            ack.result_param2 = 0
+            ack.target_system = parsed_msg.sysid
+            ack.target_component = parsed_msg.compid
+            mavlink:send_chan(chan, mavlink_msgs.encode("COMMAND_ACK", ack))
+
+            -- Shutdown
+            return shutdown_loop, 0
+        end
+    end
+
+    return update, 1000
+end
+
+
+return update, 1000