#pragma once #include #include #include #include // 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 #define AP_BATT_MONITOR_TIMEOUT 5000 #define AP_BATT_MONITOR_RES_EST_TC_1 0.5f #define AP_BATT_MONITOR_RES_EST_TC_2 0.1f // 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; 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; public: AP_BattMonitor(); /* Do not allow copies */ AP_BattMonitor(const AP_BattMonitor &other) = delete; AP_BattMonitor &operator=(const AP_BattMonitor&) = delete; // 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 }; // low voltage sources (used for BATT_LOW_TYPE parameter) enum BattMonitor_LowVoltage_Source { BattMonitor_LowVoltageSource_Raw = 0, BattMonitor_LowVoltageSource_SagCompensated = 1 }; 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 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 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 float voltage_resting_estimate; // voltage with sag removed based on current and resistance estimate float resistance; // resistance calculated by comparing resting voltage vs in flight voltage }; // Return the number of battery monitor instances uint8_t num_instances(void) const { return _num_instances; } // detect and initialise any available battery monitors void init(); /// Read the battery voltage and current for all batteries. Should be called at 10hz 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); } 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); } /// get voltage with sag removed (based on battery current draw and resistance) /// this will always be greater than or equal to the raw voltage float voltage_resting_estimate(uint8_t instance) const; float voltage_resting_estimate() const { return voltage_resting_estimate(AP_BATT_PRIMARY_INSTANCE); } /// 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); } /// 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); } /// 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); } /// 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; // cell voltages bool has_cell_voltages() { return has_cell_voltages(AP_BATT_PRIMARY_INSTANCE); } bool has_cell_voltages(const uint8_t instance) const; const cells & get_cell_voltages() const { 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; // get battery resistance estimate in ohms float get_resistance() const { return get_resistance(AP_BATT_PRIMARY_INSTANCE); } float get_resistance(uint8_t instance) const { return state[instance].resistance; } 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 _low_voltage_timeout; /// timeout in seconds before a low voltage event will be triggered AP_Int8 _low_voltage_source; /// voltage type used for detection of low voltage event 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 };