mirror of https://github.com/ArduPilot/ardupilot
119 lines
4.9 KiB
C++
119 lines
4.9 KiB
C++
#pragma once
|
|
|
|
#include "AP_BattMonitor.h"
|
|
#include "AP_BattMonitor_Backend.h"
|
|
#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
|
|
|
|
#ifndef AP_BATTMONITOR_UAVCAN_MPPT_DEBUG
|
|
#define AP_BATTMONITOR_UAVCAN_MPPT_DEBUG 0
|
|
#endif
|
|
|
|
class AP_BattMonitor_DroneCAN : public AP_BattMonitor_Backend
|
|
{
|
|
public:
|
|
enum BattMonitor_DroneCAN_Type {
|
|
UAVCAN_BATTERY_INFO = 0
|
|
};
|
|
|
|
/// Constructor
|
|
AP_BattMonitor_DroneCAN(AP_BattMonitor &mon, AP_BattMonitor::BattMonitor_State &mon_state, BattMonitor_DroneCAN_Type type, AP_BattMonitor_Params ¶ms);
|
|
|
|
static const struct AP_Param::GroupInfo var_info[];
|
|
|
|
void init() override {}
|
|
|
|
/// Read the battery voltage and current. Should be called at 10hz
|
|
void read() override;
|
|
|
|
/// capacity_remaining_pct - returns true if the percentage is valid and writes to percentage argument
|
|
bool capacity_remaining_pct(uint8_t &percentage) const override;
|
|
|
|
bool has_temperature() const override { return _has_temperature; }
|
|
|
|
bool has_current() const override { return true; }
|
|
|
|
// Always have consumed energy, either directly from BatteryInfoAux msg or by cumulative current draw
|
|
bool has_consumed_energy() const override { return true; }
|
|
|
|
bool has_time_remaining() const override { return _has_time_remaining; }
|
|
|
|
bool has_cell_voltages() const override { return _has_cell_voltages; }
|
|
|
|
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_DroneCAN* ap_dronecan);
|
|
static AP_BattMonitor_DroneCAN* get_dronecan_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);
|
|
|
|
void mppt_set_powered_state(bool power_on) override;
|
|
|
|
// reset remaining percentage to given value
|
|
bool reset_remaining(float percentage) override;
|
|
|
|
private:
|
|
void handle_battery_info(const uavcan_equipment_power_BatteryInfo &msg);
|
|
void handle_battery_info_aux(const ardupilot_equipment_power_BatteryInfoAux &msg);
|
|
void update_interim_state(const float voltage, const float current, const float temperature_K, const uint8_t soc);
|
|
|
|
static bool match_battery_id(uint8_t instance, uint8_t battery_id);
|
|
|
|
// 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 mppt_Stream &msg);
|
|
void mppt_check_powered_state();
|
|
|
|
#if AP_BATTMONITOR_UAVCAN_MPPT_DEBUG
|
|
static void mppt_report_faults(const uint8_t instance, const uint8_t fault_flags);
|
|
static const char* mppt_fault_string(const MPPT_FaultFlags fault);
|
|
#endif
|
|
|
|
// Return true if the DroneCAN state of charge should be used.
|
|
// Return false if state of charge should be calculated locally by counting mah.
|
|
bool use_CAN_SoC() const;
|
|
|
|
AP_BattMonitor::BattMonitor_State _interim_state;
|
|
|
|
HAL_Semaphore _sem_battmon;
|
|
|
|
AP_DroneCAN* _ap_dronecan;
|
|
uint8_t _soc;
|
|
uint8_t _node_id;
|
|
uint16_t _cycle_count;
|
|
float _remaining_capacity_wh;
|
|
float _full_charge_capacity_wh;
|
|
bool _has_temperature;
|
|
bool _has_cell_voltages;
|
|
bool _has_time_remaining;
|
|
bool _has_battery_info_aux;
|
|
uint8_t _instance; // instance of this battery monitor
|
|
|
|
AP_Float _curr_mult; // scaling multiplier applied to current reports for adjustment
|
|
// MPPT variables
|
|
struct {
|
|
bool is_detected; // true if this UAVCAN device is a Packet Digital MPPT
|
|
bool powered_state; // true if the mppt is powered on, false if powered off
|
|
bool vehicle_armed_last; // latest vehicle armed state. used to detect changes and power on/off MPPT board
|
|
uint8_t fault_flags; // bits holding fault flags
|
|
uint32_t powered_state_remote_ms; // timestamp of when request was sent, zeroed on response. Used to retry
|
|
} _mppt;
|
|
|
|
void handle_outputEnable_response(const CanardRxTransfer&, const mppt_OutputEnableResponse&);
|
|
|
|
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
|