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AP_BattMonitor_UAVCAN: re-format text based fault reporting and add get_mavlink_fault_bitmask

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This commit is contained in:
Randy Mackay 2021-12-06 22:32:49 +09:00 committed by Tom Pittenger
parent 1724d4911d
commit dea7e969bd
5 changed files with 56 additions and 28 deletions
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12
libraries/AP_BattMonitor/AP_BattMonitor.cpp
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@ -689,6 +689,9 @@ MAV_BATTERY_CHARGE_STATE AP_BattMonitor::get_mavlink_charge_state(const uint8_t
switch (state[instance].failsafe) {
case Failsafe::None:
if (get_mavlink_fault_bitmask(instance) != 0 || !healthy()) {
return MAV_BATTERY_CHARGE_STATE_UNHEALTHY;
}
return MAV_BATTERY_CHARGE_STATE_OK;
case Failsafe::Low:
@ -702,6 +705,15 @@ MAV_BATTERY_CHARGE_STATE AP_BattMonitor::get_mavlink_charge_state(const uint8_t
return MAV_BATTERY_CHARGE_STATE_UNDEFINED;
}
// Returns mavlink fault state
uint32_t AP_BattMonitor::get_mavlink_fault_bitmask(const uint8_t instance) const
{
if (drivers[instance] == nullptr) {
return 0;
}
return drivers[instance]->get_mavlink_fault_bitmask();
}
namespace AP {
AP_BattMonitor &battery()

3
libraries/AP_BattMonitor/AP_BattMonitor.h
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@ -241,6 +241,9 @@ public:
// Returns mavlink charge state
MAV_BATTERY_CHARGE_STATE get_mavlink_charge_state(const uint8_t instance) const;
// Returns mavlink fault state
uint32_t get_mavlink_fault_bitmask(const uint8_t instance) const;
static const struct AP_Param::GroupInfo var_info[];
protected:

3
libraries/AP_BattMonitor/AP_BattMonitor_Backend.h
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@ -72,6 +72,9 @@ public:
// reset remaining percentage to given value
virtual bool reset_remaining(float percentage);
// return mavlink fault bitmask (see MAV_BATTERY_FAULT enum)
virtual uint32_t get_mavlink_fault_bitmask() const { return 0; }
// logging functions
void Log_Write_BAT(const uint8_t instance, const uint64_t time_us) const;
void Log_Write_BCL(const uint8_t instance, const uint64_t time_us) const;

43
libraries/AP_BattMonitor/AP_BattMonitor_UAVCAN.cpp
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@ -353,37 +353,44 @@ void AP_BattMonitor_UAVCAN::mppt_set_powered_state(bool power_on, bool force)
}
// report changes in MPPT faults
void AP_BattMonitor_UAVCAN::mppt_check_and_report_faults(const uint8_t flags)
void AP_BattMonitor_UAVCAN::mppt_check_and_report_faults(uint8_t fault_flags)
{
if (_mppt.fault_flags == flags) {
// only report flags when they change
// return immediately if no changes
if (_mppt.fault_flags == fault_flags) {
return;
}
_mppt.fault_flags = flags;
_mppt.fault_flags = fault_flags;
// handle recovery
if (_mppt.fault_flags == 0) {
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Battery %u: OK", (unsigned)_instance+1);
return;
}
// send battery faults via text messages
for (uint8_t fault_bit=0x01; fault_bit <= 0x08; fault_bit <<= 1) {
// this loop is to generate multiple messages if there are multiple concurrent faults, but also run once if there are no faults
if ((fault_bit & flags) != 0 || flags == 0) {
const MPPT_FaultFlags err = (flags == 0) ? MPPT_FaultFlags::NONE : (MPPT_FaultFlags)fault_bit;
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Battery %u: Fault: %s", (unsigned)_instance+1, mppt_fault_string(err));
}
if (flags == 0) {
return;
if ((fault_bit & fault_flags) != 0) {
const MPPT_FaultFlags err = (MPPT_FaultFlags)fault_bit;
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Battery %u: %s", (unsigned)_instance+1, mppt_fault_string(err));
}
}
}
// 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_UAVCAN::mppt_fault_string(MPPT_FaultFlags fault)
{
switch (fault) {
case MPPT_FaultFlags::NONE: return "None";
case MPPT_FaultFlags::OVER_VOLTAGE: return "Over-Voltage";
case MPPT_FaultFlags::UNDER_VOLTAGE: return "Under-Voltage";
case MPPT_FaultFlags::OVER_CURRENT: return "Over-Current";
case MPPT_FaultFlags::OVER_TEMPERATURE: return "Over-Temp";
case MPPT_FaultFlags::OVER_VOLTAGE:
return "over voltage";
case MPPT_FaultFlags::UNDER_VOLTAGE:
return "under voltage";
case MPPT_FaultFlags::OVER_CURRENT:
return "over current";
case MPPT_FaultFlags::OVER_TEMPERATURE:
return "over temp";
}
return "Unknown";
return "unknown";
}
// return mavlink fault bitmask (see MAV_BATTERY_FAULT enum)
@ -404,6 +411,8 @@ uint32_t AP_BattMonitor_UAVCAN::get_mavlink_fault_bitmask() const
}
if (_mppt.fault_flags & (uint8_t)MPPT_FaultFlags::OVER_TEMPERATURE) {
mav_fault_bitmask |= MAV_BATTERY_FAULT_OVER_TEMPERATURE;
}
return mav_fault_bitmask;
}
#endif

23
libraries/AP_BattMonitor/AP_BattMonitor_UAVCAN.h
View File

@ -19,14 +19,6 @@ public:
UAVCAN_BATTERY_INFO = 0
};
enum class MPPT_FaultFlags : uint8_t {
NONE = 0,
OVER_VOLTAGE = (1U<<0),
UNDER_VOLTAGE = (1U<<1),
OVER_CURRENT = (1U<<2),
OVER_TEMPERATURE = (1U<<3),
};
/// Constructor
AP_BattMonitor_UAVCAN(AP_BattMonitor &mon, AP_BattMonitor::BattMonitor_State &mon_state, BattMonitor_UAVCAN_Type type, AP_BattMonitor_Params &params);
@ -50,6 +42,9 @@ public:
bool get_cycle_count(uint16_t &cycles) const override;
// return mavlink fault bitmask (see MAV_BATTERY_FAULT enum)
uint32_t get_mavlink_fault_bitmask() const override;
static void subscribe_msgs(AP_UAVCAN* ap_uavcan);
static AP_BattMonitor_UAVCAN* get_uavcan_backend(AP_UAVCAN* ap_uavcan, uint8_t node_id, uint8_t battery_id);
static void handle_battery_info_trampoline(AP_UAVCAN* ap_uavcan, uint8_t node_id, const BattInfoCb &cb);
@ -67,13 +62,19 @@ private:
return (AP::battery().get_serial_number(instance) < 0) || (AP::battery().get_serial_number(instance) == (int32_t)battery_id);
}
// MPPT related methods
// MPPT related enums and methods
enum class MPPT_FaultFlags : uint8_t {
OVER_VOLTAGE = (1U<<0),
UNDER_VOLTAGE = (1U<<1),
OVER_CURRENT = (1U<<2),
OVER_TEMPERATURE = (1U<<3),
};
void handle_mppt_stream(const MpptStreamCb &cb);
void mppt_set_bootup_powered_state();
void mppt_set_armed_powered_state();
void mppt_set_powered_state(bool power_on, bool force);
void mppt_check_and_report_faults(const uint8_t flags);
static const char* mppt_fault_string(const MPPT_FaultFlags fault);
void mppt_check_and_report_faults(uint8_t fault_flags);
const char* mppt_fault_string(MPPT_FaultFlags fault);
AP_BattMonitor::BattMonitor_State _interim_state;
BattMonitor_UAVCAN_Type _type;