ardupilot/libraries/AP_BattMonitor/AP_BattMonitor.h

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#pragma once
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#include <AP_Common/AP_Common.h>
#include <AP_Param/AP_Param.h>
#include <AP_Math/AP_Math.h>
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#include <GCS_MAVLink/GCS_MAVLink.h>
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// maximum number of battery monitors
#define AP_BATT_MONITOR_MAX_INSTANCES 2
// first monitor is always the primary monitor
#define AP_BATT_PRIMARY_INSTANCE 0
#define AP_BATT_CAPACITY_DEFAULT 3300
#define AP_BATT_LOW_VOLT_TIMEOUT_DEFAULT 10 // low voltage of 10 seconds will cause battery_exhausted to return true
#define AP_BATT_MAX_WATT_DEFAULT 0
#define AP_BATT_SERIAL_NUMBER_DEFAULT -1
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#define AP_BATT_MONITOR_TIMEOUT 5000
// declare backend class
class AP_BattMonitor_Backend;
class AP_BattMonitor_Analog;
class AP_BattMonitor_SMBus;
class AP_BattMonitor_SMBus_Solo;
class AP_BattMonitor_SMBus_Maxell;
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class AP_BattMonitor
{
friend class AP_BattMonitor_Backend;
friend class AP_BattMonitor_Analog;
friend class AP_BattMonitor_SMBus;
friend class AP_BattMonitor_SMBus_Solo;
friend class AP_BattMonitor_SMBus_Maxell;
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public:
/// Constructor
AP_BattMonitor();
// Battery monitor driver types
enum BattMonitor_Type {
BattMonitor_TYPE_NONE = 0,
BattMonitor_TYPE_ANALOG_VOLTAGE_ONLY = 3,
BattMonitor_TYPE_ANALOG_VOLTAGE_AND_CURRENT = 4,
BattMonitor_TYPE_SOLO = 5,
BattMonitor_TYPE_BEBOP = 6,
BattMonitor_TYPE_MAXELL = 7
};
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struct cells {
uint16_t cells[MAVLINK_MSG_BATTERY_STATUS_FIELD_VOLTAGES_LEN];
};
// The BattMonitor_State structure is filled in by the backend driver
struct BattMonitor_State {
uint8_t instance; // the instance number of this monitor
bool healthy; // battery monitor is communicating correctly
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bool is_powering_off; // true if the battery is about to power off
float voltage; // voltage in volts
float current_amps; // current in amperes
float current_total_mah; // total current draw since start-up
uint32_t last_time_micros; // time when voltage and current was last read
uint32_t low_voltage_start_ms; // time when voltage dropped below the minimum
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cells cell_voltages; // battery cell voltages in millivolts, 10 cells matches the MAVLink spec
float temperature; // battery temperature in celsius
uint32_t temperature_time; // timestamp of the last recieved temperature message
};
// Return the number of battery monitor instances
uint8_t num_instances(void) const { return _num_instances; }
// detect and initialise any available battery monitors
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void init();
/// Read the battery voltage and current for all batteries. Should be called at 10hz
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void read();
#define _BattMonitor_STATE(instance) state[instance]
// healthy - returns true if monitor is functioning
bool healthy(uint8_t instance) const;
bool healthy() const { return healthy(AP_BATT_PRIMARY_INSTANCE); }
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bool is_powering_off(uint8_t instance) const;
bool is_powering_off() const { return is_powering_off(AP_BATT_PRIMARY_INSTANCE); }
/// has_current - returns true if battery monitor instance provides current info
bool has_current(uint8_t instance) const;
bool has_current() const { return has_current(AP_BATT_PRIMARY_INSTANCE); }
/// voltage - returns battery voltage in millivolts
float voltage(uint8_t instance) const;
float voltage() const { return voltage(AP_BATT_PRIMARY_INSTANCE); }
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/// current_amps - returns the instantaneous current draw in amperes
float current_amps(uint8_t instance) const;
float current_amps() const { return current_amps(AP_BATT_PRIMARY_INSTANCE); }
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/// current_total_mah - returns total current drawn since start-up in amp-hours
float current_total_mah(uint8_t instance) const;
float current_total_mah() const { return current_total_mah(AP_BATT_PRIMARY_INSTANCE); }
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/// capacity_remaining_pct - returns the % battery capacity remaining (0 ~ 100)
virtual uint8_t capacity_remaining_pct(uint8_t instance) const;
uint8_t capacity_remaining_pct() const { return capacity_remaining_pct(AP_BATT_PRIMARY_INSTANCE); }
/// pack_capacity_mah - returns the capacity of the battery pack in mAh when the pack is full
int32_t pack_capacity_mah(uint8_t instance) const;
int32_t pack_capacity_mah() const { return pack_capacity_mah(AP_BATT_PRIMARY_INSTANCE); }
/// exhausted - returns true if the battery's voltage remains below the low_voltage for 10 seconds or remaining capacity falls below min_capacity
bool exhausted(uint8_t instance, float low_voltage, float min_capacity_mah);
bool exhausted(float low_voltage, float min_capacity_mah) { return exhausted(AP_BATT_PRIMARY_INSTANCE, low_voltage, min_capacity_mah); }
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/// get_type - returns battery monitor type
enum BattMonitor_Type get_type() { return get_type(AP_BATT_PRIMARY_INSTANCE); }
enum BattMonitor_Type get_type(uint8_t instance) { return (enum BattMonitor_Type)_monitoring[instance].get(); }
/// set_monitoring - sets the monitor type (used for example sketch only)
void set_monitoring(uint8_t instance, uint8_t mon) { _monitoring[instance].set(mon); }
bool get_watt_max() { return get_watt_max(AP_BATT_PRIMARY_INSTANCE); }
bool get_watt_max(uint8_t instance) { return _watt_max[instance]; }
/// true when (voltage * current) > watt_max
bool overpower_detected() const;
bool overpower_detected(uint8_t instance) const;
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// cell voltages
const cells & get_cell_voltages() { return get_cell_voltages(AP_BATT_PRIMARY_INSTANCE); };
const cells & get_cell_voltages(const uint8_t instance) const;
// temperature
bool get_temperature(float &temperature) const { return get_temperature(temperature, AP_BATT_PRIMARY_INSTANCE); };
bool get_temperature(float &temperature, const uint8_t instance) const;
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static const struct AP_Param::GroupInfo var_info[];
protected:
/// parameters
AP_Int8 _monitoring[AP_BATT_MONITOR_MAX_INSTANCES]; /// 0=disabled, 3=voltage only, 4=voltage and current
AP_Int8 _volt_pin[AP_BATT_MONITOR_MAX_INSTANCES]; /// board pin used to measure battery voltage
AP_Int8 _curr_pin[AP_BATT_MONITOR_MAX_INSTANCES]; /// board pin used to measure battery current
AP_Float _volt_multiplier[AP_BATT_MONITOR_MAX_INSTANCES]; /// voltage on volt pin multiplied by this to calculate battery voltage
AP_Float _curr_amp_per_volt[AP_BATT_MONITOR_MAX_INSTANCES]; /// voltage on current pin multiplied by this to calculate current in amps
AP_Float _curr_amp_offset[AP_BATT_MONITOR_MAX_INSTANCES]; /// offset voltage that is subtracted from current pin before conversion to amps
AP_Int32 _pack_capacity[AP_BATT_MONITOR_MAX_INSTANCES]; /// battery pack capacity less reserve in mAh
AP_Int16 _watt_max[AP_BATT_MONITOR_MAX_INSTANCES]; /// max battery power allowed. Reduce max throttle to reduce current to satisfy this limit
AP_Int32 _serial_numbers[AP_BATT_MONITOR_MAX_INSTANCES]; /// battery serial number, automatically filled in on SMBus batteries
AP_Int8 _volt_timeout;
private:
BattMonitor_State state[AP_BATT_MONITOR_MAX_INSTANCES];
AP_BattMonitor_Backend *drivers[AP_BATT_MONITOR_MAX_INSTANCES];
uint8_t _num_instances; /// number of monitors
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};