mirror of https://github.com/ArduPilot/ardupilot
117 lines
4.7 KiB
C++
117 lines
4.7 KiB
C++
#pragma once
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#include "AP_BattMonitor.h"
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#include "AP_BattMonitor_Backend.h"
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#include <AP_UAVCAN/AP_UAVCAN.h>
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#include <mppt/OutputEnable.hpp>
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#define AP_BATTMONITOR_UAVCAN_TIMEOUT_MICROS 5000000 // sensor becomes unhealthy if no successful readings for 5 seconds
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#ifndef AP_BATTMONITOR_UAVCAN_MPPT_DEBUG
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#define AP_BATTMONITOR_UAVCAN_MPPT_DEBUG 0
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#endif
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class BattInfoCb;
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class BattInfoAuxCb;
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class MpptStreamCb;
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class AP_BattMonitor_UAVCAN : public AP_BattMonitor_Backend
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{
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public:
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enum BattMonitor_UAVCAN_Type {
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UAVCAN_BATTERY_INFO = 0
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};
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/// Constructor
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AP_BattMonitor_UAVCAN(AP_BattMonitor &mon, AP_BattMonitor::BattMonitor_State &mon_state, BattMonitor_UAVCAN_Type type, AP_BattMonitor_Params ¶ms);
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static const struct AP_Param::GroupInfo var_info[];
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void init() override {}
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/// Read the battery voltage and current. Should be called at 10hz
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void read() override;
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/// capacity_remaining_pct - returns true if the percentage is valid and writes to percentage argument
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bool capacity_remaining_pct(uint8_t &percentage) const override;
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bool has_temperature() const override { return _has_temperature; }
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bool has_current() const override { return true; }
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bool has_consumed_energy() const override { return _has_consumed_energy; }
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bool has_time_remaining() const override { return _has_time_remaining; }
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bool has_cell_voltages() const override { return _has_cell_voltages; }
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bool get_cycle_count(uint16_t &cycles) const override;
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// return mavlink fault bitmask (see MAV_BATTERY_FAULT enum)
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uint32_t get_mavlink_fault_bitmask() const override;
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static void subscribe_msgs(AP_UAVCAN* ap_uavcan);
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static AP_BattMonitor_UAVCAN* get_uavcan_backend(AP_UAVCAN* ap_uavcan, uint8_t node_id, uint8_t battery_id);
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static void handle_battery_info_trampoline(AP_UAVCAN* ap_uavcan, uint8_t node_id, const BattInfoCb &cb);
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static void handle_battery_info_aux_trampoline(AP_UAVCAN* ap_uavcan, uint8_t node_id, const BattInfoAuxCb &cb);
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static void handle_mppt_stream_trampoline(AP_UAVCAN* ap_uavcan, uint8_t node_id, const MpptStreamCb &cb);
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void handle_outputEnable_response(const uint8_t nodeId, const bool enabled);
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private:
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void handle_battery_info(const BattInfoCb &cb);
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void handle_battery_info_aux(const BattInfoAuxCb &cb);
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void update_interim_state(const float voltage, const float current, const float temperature_K, const uint8_t soc);
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static bool match_battery_id(uint8_t instance, uint8_t battery_id) {
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// when serial number is negative, all batteries are accepted. Else, it must match
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return (AP::battery().get_serial_number(instance) < 0) || (AP::battery().get_serial_number(instance) == (int32_t)battery_id);
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}
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// MPPT related enums and methods
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enum class MPPT_FaultFlags : uint8_t {
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OVER_VOLTAGE = (1U<<0),
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UNDER_VOLTAGE = (1U<<1),
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OVER_CURRENT = (1U<<2),
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OVER_TEMPERATURE = (1U<<3),
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};
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void handle_mppt_stream(const MpptStreamCb &cb);
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void mppt_set_bootup_powered_state();
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void mppt_check_powered_state();
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void mppt_set_powered_state(bool power_on, bool force);
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#if AP_BATTMONITOR_UAVCAN_MPPT_DEBUG
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static void mppt_report_faults(const uint8_t instance, const uint8_t fault_flags);
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static const char* mppt_fault_string(const MPPT_FaultFlags fault);
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#endif
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AP_BattMonitor::BattMonitor_State _interim_state;
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BattMonitor_UAVCAN_Type _type;
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HAL_Semaphore _sem_battmon;
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AP_UAVCAN* _ap_uavcan;
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uint8_t _soc;
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uint8_t _node_id;
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uint16_t _cycle_count;
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float _remaining_capacity_wh;
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float _full_charge_capacity_wh;
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bool _has_temperature;
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bool _has_cell_voltages;
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bool _has_time_remaining;
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bool _has_consumed_energy;
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bool _has_battery_info_aux;
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uint8_t _instance; // instance of this battery monitor
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uavcan::Node<0> *_node; // UAVCAN node id
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AP_Float _curr_mult; // scaling multiplier applied to current reports for adjustment
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// MPPT variables
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struct {
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bool is_detected; // true if this UAVCAN device is a Packet Digital MPPT
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bool powered_state; // true if the mppt is powered on, false if powered off
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bool powered_state_changed; // true if _mppt_powered_state has changed and should be sent to MPPT board
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bool vehicle_armed_last; // latest vehicle armed state. used to detect changes and power on/off MPPT board
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uint8_t fault_flags; // bits holding fault flags
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uint32_t powered_state_remote_ms; // timestamp of when request was sent, zeroed on response. Used to retry
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} _mppt;
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};
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