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AP_BattMonitor: rename more variables, types and defines

This commit is contained in:
Andrew Tridgell 2023-04-08 14:09:10 +10:00
parent 0e1927fc35
commit 11a2f5ed9c
5 changed files with 38 additions and 38 deletions
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4
libraries/AP_BattMonitor/AP_BattMonitor.cpp
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@ -23,7 +23,7 @@
#include <AP_HAL/AP_HAL.h>
#if HAL_ENABLE_LIBUAVCAN_DRIVERS
#if HAL_ENABLE_DRONECAN_DRIVERS
#include "AP_BattMonitor_DroneCAN.h"
#endif
@ -312,7 +312,7 @@ AP_BattMonitor::init()
break;
case Type::UAVCAN_BatteryInfo:
#if AP_BATTERY_UAVCAN_BATTERYINFO_ENABLED
drivers[instance] = new AP_BattMonitor_UAVCAN(*this, state[instance], AP_BattMonitor_UAVCAN::UAVCAN_BATTERY_INFO, _params[instance]);
drivers[instance] = new AP_BattMonitor_DroneCAN(*this, state[instance], AP_BattMonitor_DroneCAN::UAVCAN_BATTERY_INFO, _params[instance]);
#endif
break;
case Type::BLHeliESC:

4
libraries/AP_BattMonitor/AP_BattMonitor.h
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@ -37,7 +37,7 @@ class AP_BattMonitor_SMBus_Solo;
class AP_BattMonitor_SMBus_Generic;
class AP_BattMonitor_SMBus_Maxell;
class AP_BattMonitor_SMBus_Rotoye;
class AP_BattMonitor_UAVCAN;
class AP_BattMonitor_DroneCAN;
class AP_BattMonitor_Generator;
class AP_BattMonitor_INA2XX;
class AP_BattMonitor_INA239;
@ -56,7 +56,7 @@ class AP_BattMonitor
friend class AP_BattMonitor_SMBus_Generic;
friend class AP_BattMonitor_SMBus_Maxell;
friend class AP_BattMonitor_SMBus_Rotoye;
friend class AP_BattMonitor_UAVCAN;
friend class AP_BattMonitor_DroneCAN;
friend class AP_BattMonitor_Sum;
friend class AP_BattMonitor_FuelFlow;
friend class AP_BattMonitor_FuelLevel_PWM;

52
libraries/AP_BattMonitor/AP_BattMonitor_DroneCAN.cpp
View File

@ -17,14 +17,14 @@
extern const AP_HAL::HAL& hal;
const AP_Param::GroupInfo AP_BattMonitor_UAVCAN::var_info[] = {
const AP_Param::GroupInfo AP_BattMonitor_DroneCAN::var_info[] = {
// @Param: CURR_MULT
// @DisplayName: Scales reported power monitor current
// @Description: Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
// @Range: .1 10
// @User: Advanced
AP_GROUPINFO("CURR_MULT", 30, AP_BattMonitor_UAVCAN, _curr_mult, 1.0),
AP_GROUPINFO("CURR_MULT", 30, AP_BattMonitor_DroneCAN, _curr_mult, 1.0),
// Param indexes must be between 30 and 39 to avoid conflict with other battery monitor param tables loaded by pointer
@ -32,7 +32,7 @@ const AP_Param::GroupInfo AP_BattMonitor_UAVCAN::var_info[] = {
};
/// Constructor
AP_BattMonitor_UAVCAN::AP_BattMonitor_UAVCAN(AP_BattMonitor &mon, AP_BattMonitor::BattMonitor_State &mon_state, BattMonitor_UAVCAN_Type type, AP_BattMonitor_Params &params) :
AP_BattMonitor_DroneCAN::AP_BattMonitor_DroneCAN(AP_BattMonitor &mon, AP_BattMonitor::BattMonitor_State &mon_state, BattMonitor_DroneCAN_Type type, AP_BattMonitor_Params &params) :
AP_BattMonitor_Backend(mon, mon_state, params),
_type(type)
{
@ -43,7 +43,7 @@ AP_BattMonitor_UAVCAN::AP_BattMonitor_UAVCAN(AP_BattMonitor &mon, AP_BattMonitor
_state.healthy = false;
}
void AP_BattMonitor_UAVCAN::subscribe_msgs(AP_DroneCAN* ap_dronecan)
void AP_BattMonitor_DroneCAN::subscribe_msgs(AP_DroneCAN* ap_dronecan)
{
if (ap_dronecan == nullptr) {
return;
@ -62,7 +62,7 @@ void AP_BattMonitor_UAVCAN::subscribe_msgs(AP_DroneCAN* ap_dronecan)
}
}
AP_BattMonitor_UAVCAN* AP_BattMonitor_UAVCAN::get_uavcan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id, uint8_t battery_id)
AP_BattMonitor_DroneCAN* AP_BattMonitor_DroneCAN::get_uavcan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id, uint8_t battery_id)
{
if (ap_dronecan == nullptr) {
return nullptr;
@ -72,7 +72,7 @@ AP_BattMonitor_UAVCAN* AP_BattMonitor_UAVCAN::get_uavcan_backend(AP_DroneCAN* ap
AP::battery().get_type(i) != AP_BattMonitor::Type::UAVCAN_BatteryInfo) {
continue;
}
AP_BattMonitor_UAVCAN* driver = (AP_BattMonitor_UAVCAN*)AP::battery().drivers[i];
AP_BattMonitor_DroneCAN* driver = (AP_BattMonitor_DroneCAN*)AP::battery().drivers[i];
if (driver->_ap_dronecan == ap_dronecan && driver->_node_id == node_id && match_battery_id(i, battery_id)) {
return driver;
}
@ -83,7 +83,7 @@ AP_BattMonitor_UAVCAN* AP_BattMonitor_UAVCAN::get_uavcan_backend(AP_DroneCAN* ap
AP::battery().get_type(i) == AP_BattMonitor::Type::UAVCAN_BatteryInfo &&
match_battery_id(i, battery_id)) {
AP_BattMonitor_UAVCAN* batmon = (AP_BattMonitor_UAVCAN*)AP::battery().drivers[i];
AP_BattMonitor_DroneCAN* batmon = (AP_BattMonitor_DroneCAN*)AP::battery().drivers[i];
if(batmon->_ap_dronecan != nullptr || batmon->_node_id != 0) {
continue;
}
@ -102,7 +102,7 @@ AP_BattMonitor_UAVCAN* AP_BattMonitor_UAVCAN::get_uavcan_backend(AP_DroneCAN* ap
return nullptr;
}
void AP_BattMonitor_UAVCAN::handle_battery_info(const uavcan_equipment_power_BatteryInfo &msg)
void AP_BattMonitor_DroneCAN::handle_battery_info(const uavcan_equipment_power_BatteryInfo &msg)
{
update_interim_state(msg.voltage, msg.current, msg.temperature, msg.state_of_charge_pct);
@ -111,7 +111,7 @@ void AP_BattMonitor_UAVCAN::handle_battery_info(const uavcan_equipment_power_Bat
_full_charge_capacity_wh = msg.full_charge_capacity_wh;
}
void AP_BattMonitor_UAVCAN::update_interim_state(const float voltage, const float current, const float temperature_K, const uint8_t soc)
void AP_BattMonitor_DroneCAN::update_interim_state(const float voltage, const float current, const float temperature_K, const uint8_t soc)
{
WITH_SEMAPHORE(_sem_battmon);
@ -139,7 +139,7 @@ void AP_BattMonitor_UAVCAN::update_interim_state(const float voltage, const floa
_interim_state.healthy = true;
}
void AP_BattMonitor_UAVCAN::handle_battery_info_aux(const ardupilot_equipment_power_BatteryInfoAux &msg)
void AP_BattMonitor_DroneCAN::handle_battery_info_aux(const ardupilot_equipment_power_BatteryInfoAux &msg)
{
WITH_SEMAPHORE(_sem_battmon);
uint8_t cell_count = MIN(ARRAY_SIZE(_interim_state.cell_voltages.cells), msg.voltage_cell.len);
@ -162,7 +162,7 @@ void AP_BattMonitor_UAVCAN::handle_battery_info_aux(const ardupilot_equipment_po
_has_battery_info_aux = true;
}
void AP_BattMonitor_UAVCAN::handle_mppt_stream(const mppt_Stream &msg)
void AP_BattMonitor_DroneCAN::handle_mppt_stream(const mppt_Stream &msg)
{
const bool use_input_value = option_is_set(AP_BattMonitor_Params::Options::MPPT_Use_Input_Value);
const float voltage = use_input_value ? msg.input_voltage : msg.output_voltage;
@ -197,27 +197,27 @@ void AP_BattMonitor_UAVCAN::handle_mppt_stream(const mppt_Stream &msg)
_mppt.fault_flags = msg.fault_flags;
}
void AP_BattMonitor_UAVCAN::handle_battery_info_trampoline(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_power_BatteryInfo &msg)
void AP_BattMonitor_DroneCAN::handle_battery_info_trampoline(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_power_BatteryInfo &msg)
{
AP_BattMonitor_UAVCAN* driver = get_uavcan_backend(ap_dronecan, transfer.source_node_id, msg.battery_id);
AP_BattMonitor_DroneCAN* driver = get_uavcan_backend(ap_dronecan, transfer.source_node_id, msg.battery_id);
if (driver == nullptr) {
return;
}
driver->handle_battery_info(msg);
}
void AP_BattMonitor_UAVCAN::handle_battery_info_aux_trampoline(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const ardupilot_equipment_power_BatteryInfoAux &msg)
void AP_BattMonitor_DroneCAN::handle_battery_info_aux_trampoline(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const ardupilot_equipment_power_BatteryInfoAux &msg)
{
AP_BattMonitor_UAVCAN* driver = get_uavcan_backend(ap_dronecan, transfer.source_node_id, msg.battery_id);
AP_BattMonitor_DroneCAN* driver = get_uavcan_backend(ap_dronecan, transfer.source_node_id, msg.battery_id);
if (driver == nullptr) {
return;
}
driver->handle_battery_info_aux(msg);
}
void AP_BattMonitor_UAVCAN::handle_mppt_stream_trampoline(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const mppt_Stream &msg)
void AP_BattMonitor_DroneCAN::handle_mppt_stream_trampoline(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const mppt_Stream &msg)
{
AP_BattMonitor_UAVCAN* driver = get_uavcan_backend(ap_dronecan, transfer.source_node_id, transfer.source_node_id);
AP_BattMonitor_DroneCAN* driver = get_uavcan_backend(ap_dronecan, transfer.source_node_id, transfer.source_node_id);
if (driver == nullptr) {
return;
}
@ -225,7 +225,7 @@ void AP_BattMonitor_UAVCAN::handle_mppt_stream_trampoline(AP_DroneCAN *ap_dronec
}
// read - read the voltage and current
void AP_BattMonitor_UAVCAN::read()
void AP_BattMonitor_DroneCAN::read()
{
uint32_t tnow = AP_HAL::micros();
@ -257,7 +257,7 @@ void AP_BattMonitor_UAVCAN::read()
}
/// capacity_remaining_pct - returns true if the percentage is valid and writes to percentage argument
bool AP_BattMonitor_UAVCAN::capacity_remaining_pct(uint8_t &percentage) const
bool AP_BattMonitor_DroneCAN::capacity_remaining_pct(uint8_t &percentage) const
{
if ((uint32_t(_params._options.get()) & uint32_t(AP_BattMonitor_Params::Options::Ignore_UAVCAN_SoC)) ||
_mppt.is_detected ||
@ -278,7 +278,7 @@ bool AP_BattMonitor_UAVCAN::capacity_remaining_pct(uint8_t &percentage) const
}
/// get_cycle_count - return true if cycle count can be provided and fills in cycles argument
bool AP_BattMonitor_UAVCAN::get_cycle_count(uint16_t &cycles) const
bool AP_BattMonitor_DroneCAN::get_cycle_count(uint16_t &cycles) const
{
if (_has_battery_info_aux) {
cycles = _cycle_count;
@ -288,7 +288,7 @@ bool AP_BattMonitor_UAVCAN::get_cycle_count(uint16_t &cycles) const
}
// request MPPT board to power on/off depending upon vehicle arming state as specified by BATT_OPTIONS
void AP_BattMonitor_UAVCAN::mppt_check_powered_state()
void AP_BattMonitor_DroneCAN::mppt_check_powered_state()
{
if ((_mppt.powered_state_remote_ms != 0) && (AP_HAL::millis() - _mppt.powered_state_remote_ms >= 1000)) {
// there's already a set attempt that didnt' respond. Retry at 1Hz
@ -310,7 +310,7 @@ void AP_BattMonitor_UAVCAN::mppt_check_powered_state()
// request MPPT board to power on or off
// power_on should be true to power on the MPPT, false to power off
// force should be true to force sending the state change request to the MPPT
void AP_BattMonitor_UAVCAN::mppt_set_powered_state(bool power_on)
void AP_BattMonitor_DroneCAN::mppt_set_powered_state(bool power_on)
{
if (_ap_dronecan == nullptr || !_mppt.is_detected) {
return;
@ -335,7 +335,7 @@ void AP_BattMonitor_UAVCAN::mppt_set_powered_state(bool power_on)
}
// callback from outputEnable to verify it is enabled or disabled
void AP_BattMonitor_UAVCAN::handle_outputEnable_response(const CanardRxTransfer& transfer, const mppt_OutputEnableResponse& response)
void AP_BattMonitor_DroneCAN::handle_outputEnable_response(const CanardRxTransfer& transfer, const mppt_OutputEnableResponse& response)
{
if (transfer.source_node_id != _node_id) {
// this response is not from the node we are looking for
@ -351,7 +351,7 @@ void AP_BattMonitor_UAVCAN::handle_outputEnable_response(const CanardRxTransfer&
#if AP_BATTMONITOR_UAVCAN_MPPT_DEBUG
// report changes in MPPT faults
void AP_BattMonitor_UAVCAN::mppt_report_faults(const uint8_t instance, const uint8_t fault_flags)
void AP_BattMonitor_DroneCAN::mppt_report_faults(const uint8_t instance, const uint8_t fault_flags)
{
// handle recovery
if (fault_flags == 0) {
@ -370,7 +370,7 @@ void AP_BattMonitor_UAVCAN::mppt_report_faults(const uint8_t instance, const uin
}
// returns string description of MPPT fault bit. Only handles single bit faults
const char* AP_BattMonitor_UAVCAN::mppt_fault_string(const MPPT_FaultFlags fault)
const char* AP_BattMonitor_DroneCAN::mppt_fault_string(const MPPT_FaultFlags fault)
{
switch (fault) {
case MPPT_FaultFlags::OVER_VOLTAGE:
@ -387,7 +387,7 @@ const char* AP_BattMonitor_UAVCAN::mppt_fault_string(const MPPT_FaultFlags fault
#endif
// return mavlink fault bitmask (see MAV_BATTERY_FAULT enum)
uint32_t AP_BattMonitor_UAVCAN::get_mavlink_fault_bitmask() const
uint32_t AP_BattMonitor_DroneCAN::get_mavlink_fault_bitmask() const
{
// return immediately if not mppt or no faults
if (!_mppt.is_detected || (_mppt.fault_flags == 0)) {

14
libraries/AP_BattMonitor/AP_BattMonitor_DroneCAN.h
View File

@ -2,7 +2,7 @@
#include "AP_BattMonitor.h"
#include "AP_BattMonitor_Backend.h"
#if HAL_ENABLE_LIBUAVCAN_DRIVERS
#if HAL_ENABLE_DRONECAN_DRIVERS
#include <AP_DroneCAN/AP_DroneCAN.h>
#define AP_BATTMONITOR_UAVCAN_TIMEOUT_MICROS 5000000 // sensor becomes unhealthy if no successful readings for 5 seconds
@ -11,15 +11,15 @@
#define AP_BATTMONITOR_UAVCAN_MPPT_DEBUG 0
#endif
class AP_BattMonitor_UAVCAN : public AP_BattMonitor_Backend
class AP_BattMonitor_DroneCAN : public AP_BattMonitor_Backend
{
public:
enum BattMonitor_UAVCAN_Type {
enum BattMonitor_DroneCAN_Type {
UAVCAN_BATTERY_INFO = 0
};
/// Constructor
AP_BattMonitor_UAVCAN(AP_BattMonitor &mon, AP_BattMonitor::BattMonitor_State &mon_state, BattMonitor_UAVCAN_Type type, AP_BattMonitor_Params &params);
AP_BattMonitor_DroneCAN(AP_BattMonitor &mon, AP_BattMonitor::BattMonitor_State &mon_state, BattMonitor_DroneCAN_Type type, AP_BattMonitor_Params &params);
static const struct AP_Param::GroupInfo var_info[];
@ -47,7 +47,7 @@ public:
uint32_t get_mavlink_fault_bitmask() const override;
static void subscribe_msgs(AP_DroneCAN* ap_dronecan);
static AP_BattMonitor_UAVCAN* get_uavcan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id, uint8_t battery_id);
static AP_BattMonitor_DroneCAN* get_uavcan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id, uint8_t battery_id);
static void handle_battery_info_trampoline(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_power_BatteryInfo &msg);
static void handle_battery_info_aux_trampoline(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const ardupilot_equipment_power_BatteryInfoAux &msg);
static void handle_mppt_stream_trampoline(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const mppt_Stream &msg);
@ -80,7 +80,7 @@ private:
#endif
AP_BattMonitor::BattMonitor_State _interim_state;
BattMonitor_UAVCAN_Type _type;
BattMonitor_DroneCAN_Type _type;
HAL_Semaphore _sem_battmon;
@ -109,7 +109,7 @@ private:
void handle_outputEnable_response(const CanardRxTransfer&, const mppt_OutputEnableResponse&);
Canard::ObjCallback<AP_BattMonitor_UAVCAN, mppt_OutputEnableResponse> mppt_outputenable_res_cb{this, &AP_BattMonitor_UAVCAN::handle_outputEnable_response};
Canard::ObjCallback<AP_BattMonitor_DroneCAN, mppt_OutputEnableResponse> mppt_outputenable_res_cb{this, &AP_BattMonitor_DroneCAN::handle_outputEnable_response};
Canard::Client<mppt_OutputEnableResponse> *mppt_outputenable_client;
};
#endif

2
libraries/AP_BattMonitor/AP_BattMonitor_config.h
View File

@ -31,7 +31,7 @@
#endif
#ifndef AP_BATTERY_UAVCAN_BATTERYINFO_ENABLED
#define AP_BATTERY_UAVCAN_BATTERYINFO_ENABLED AP_BATTERY_BACKEND_DEFAULT_ENABLED && HAL_ENABLE_LIBUAVCAN_DRIVERS
#define AP_BATTERY_UAVCAN_BATTERYINFO_ENABLED AP_BATTERY_BACKEND_DEFAULT_ENABLED && HAL_ENABLE_DRONECAN_DRIVERS
#endif
#ifndef AP_BATTERY_FUELFLOW_ENABLED