mirror of https://github.com/ArduPilot/ardupilot
48 lines
1.8 KiB
C++
48 lines
1.8 KiB
C++
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#include "AP_BattMonitor_Backend.h"
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#include <AP_Logger/AP_Logger.h>
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extern const AP_HAL::HAL& hal;
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// Write BAT data packet(s)
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void AP_BattMonitor_Backend::Log_Write_BAT(const uint8_t instance, const uint64_t time_us) const
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{
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bool has_curr = has_current();
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const struct log_BAT pkt{
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LOG_PACKET_HEADER_INIT(LOG_BAT_MSG),
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time_us : time_us,
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instance : instance,
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voltage : _state.voltage,
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voltage_resting : _state.voltage_resting_estimate,
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current_amps : has_curr ? _state.current_amps : AP::logger().quiet_nanf(),
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current_total : has_curr ? _state.consumed_mah : AP::logger().quiet_nanf(),
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consumed_wh : has_curr ? _state.consumed_wh : AP::logger().quiet_nanf(),
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temperature : (int16_t) ( has_temperature() ? _state.temperature * 100 : 0),
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resistance : _state.resistance
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};
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AP::logger().WriteBlock(&pkt, sizeof(pkt));
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}
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// Write BCL data packet if has_cell_voltages
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void AP_BattMonitor_Backend::Log_Write_BCL(const uint8_t instance, const uint64_t time_us) const
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{
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if (!has_cell_voltages()) {
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return;
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}
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struct log_BCL cell_pkt{
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LOG_PACKET_HEADER_INIT(LOG_BCL_MSG),
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time_us : time_us,
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instance : instance,
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voltage : _state.voltage
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};
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for (uint8_t i = 0; i < ARRAY_SIZE(_state.cell_voltages.cells); i++) {
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cell_pkt.cell_voltages[i] = _state.cell_voltages.cells[i] + 1;
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}
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AP::logger().WriteBlock(&cell_pkt, sizeof(cell_pkt));
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// check battery structure can hold all cells
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static_assert(ARRAY_SIZE(_state.cell_voltages.cells) == ARRAY_SIZE(cell_pkt.cell_voltages),
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"Battery cell number doesn't match in library and log structure");
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}
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