Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-29 12:08:32 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_BattMonitor: Add cell monitoring

Browse Source
This commit is contained in:
Michael du Breuil 2017-04-07 20:27:31 -07:00 committed by Francisco Ferreira
parent c8d6311047
commit e39ae6d48c
2 changed files with 23 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
libraries/AP_BattMonitor/AP_BattMonitor.cpp
View File

@ -162,6 +162,9 @@ AP_BattMonitor::init()
// create each instance
for (uint8_t instance=0; instance<AP_BATT_MONITOR_MAX_INSTANCES; instance++) {
// clear out the cell voltages
memset(&state[instance].cell_voltages, 0xFF, sizeof(cells));
uint8_t monitor_type = _monitoring[instance];
switch (monitor_type) {
case BattMonitor_TYPE_ANALOG_VOLTAGE_ONLY:
@ -333,3 +336,13 @@ bool AP_BattMonitor::overpower_detected(uint8_t instance) const
return false;
#endif
}
// return the current cell voltages, returns the first monitor instances cells if the instance is out of range
const AP_BattMonitor::cells & AP_BattMonitor::get_cell_voltages(const uint8_t instance) const
{
if (instance >= AP_BATT_MONITOR_MAX_INSTANCES) {
return state[AP_BATT_PRIMARY_INSTANCE].cell_voltages;
} else {
return state[instance].cell_voltages;
}
}

10
libraries/AP_BattMonitor/AP_BattMonitor.h
View File

@ -3,6 +3,7 @@
#include <AP_Common/AP_Common.h>
#include <AP_Param/AP_Param.h>
#include <AP_Math/AP_Math.h>
#include <GCS_MAVLink/GCS_MAVLink.h>
// maximum number of battery monitors
#define AP_BATT_MONITOR_MAX_INSTANCES 2
@ -44,6 +45,10 @@ public:
BattMonitor_TYPE_MAXELL = 7
};
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
@ -54,6 +59,7 @@ public:
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
cells cell_voltages; // battery cell voltages in millivolts, 10 cells matches the MAVLink spec
};
// Return the number of battery monitor instances
@ -116,6 +122,10 @@ public:
bool overpower_detected() const;
bool overpower_detected(uint8_t instance) const;
// 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;
static const struct AP_Param::GroupInfo var_info[];
protected: